problem using tutorial_slam2d with g2o_viewer about g2o HOT 5 CLOSED

Can you add line like
FIX node_id
where node_id is one of the VERTEX_XY ids. Example
FIX 0

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i just add the line as you said. the first "VERTEX_XY" in the tutorial has node_id 1, so i added "FIX 1". g2o_viewer still fails to optimize. Actually, g2o_viewer also outputs that "graph is fixed by node 1131", witch is the last node in the tutorial, as if the "FIX 1" wouldn't work for "VERTEX_XY". If i use it with the EDGE_SE2 with node_id 0 the output says "graph is fixed by priors or nodes are already fixed".But it still fails to optimize. I think that the "Optimization failed, result might be invalid" thing has something to do with the tutorial, because if i use the .g2o generated by the g2o_simulator2d it works fine. Actually, the "tutorial_after.g2o" viewed with "g2o_viewer" (after i apply the changes) seems to be correct, so there is no problem with the tutorial itself. In other words, i don't know whats wrong.

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You cannot fix a graph using a single landmark. Fixing the first pose should be fine.
The tutorial is using parameters. So you would need to map
TUTORIAL_EDGE_SE2_POINT_XY -> EDGE_SE2_POINTXY_OFFSET

But there still seems to be some issue with the pure mapping. I pushed 7549292 which enables the type registration for the types in the tutorial. Based on this you may use g2o to re-run on the original file.

$ bin/tutorial_slam2d

followed by

$ bin/g2o -i 10 -v -typeslib lib/libg2o_tutorial_slam2d.so tutorial_before.g2o

should give similar results (the second call will automatically fix a different pose).

The purpose of the tutorial is to show how to implement types and parameters. There are no viewer actions implemented for those types. Loading them in the viewer will not result in any visualization but optimization should also work.

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oh, i see. thanks for the explanation and the changes!

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Then how to solve the display problem?

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