fix test g2o export

Project.toml

@@ -36,15 +36,15 @@ TransformUtils = "9b8138ad-1b09-5408-aa39-e87ed6d21b63"
 [compat]
 ApproxManifoldProducts = "0.6.2"
 CoordinateTransformations = "0.5, 0.6"
-DistributedFactorGraphs = "0.18.4, 0.19"
+DistributedFactorGraphs = "0.19, 0.20"
 Distributions = "0.24, 0.25"
 DocStringExtensions = "0.8, 0.9"
 FileIO = "1"
 IncrementalInference = "0.32"
 JLD2 = "0.3, 0.4"
 KernelDensityEstimate = "0.5.1, 0.6"
 Manifolds = "0.8.11"
-ManifoldsBase = "0.13"
+ManifoldsBase = "0.13, 0.14"
 Optim = "0.22, 1"
 OrderedCollections = "1"
 ProgressMeter = "1"

test/testG2oExportSE3.jl

@@ -10,6 +10,14 @@ using Test
 @testset "Test g2o SE3 export" begin
 ##
 
+# fg = initfg()
+# addVariable!.(fg, [:x0;:x1;:x2;:x3], Pose3)
+# addFactor!(fg, [:x0], PriorPose3(MvNormal(zeros(6),diagm(0.1*ones(6)))))
+# addFactor!(fg, [:x0;:x1], Pose3Pose3(MvNormal([1;0;0;0;0;0.],diagm(0.1*ones(6)))); graphinit=false)
+# addFactor!(fg, [:x1;:x2], Pose3Pose3(MvNormal([1;0;0;0;0;0.],diagm(0.1*ones(6)))); graphinit=false)
+# addFactor!(fg, [:x2;:x3], Pose3Pose3(MvNormal([1;0;0;0;0;0.],diagm(0.1*ones(6)))); graphinit=false)
+# saveDFG(joinpath(@__DIR__,"testdata","g2otest.tar.gz"), fg)
+
 fg = loadDFG(joinpath(@__DIR__,"testdata","g2otest.tar.gz"))
 
 setPPE!.(fg, ls(fg), :parametric)