G2o vs gtsam. The implementation on 2D and 3D data sets.

G2o vs gtsam cpp A 2D Pose SLAM example that reads input from g2o, converts it to a factor graph and does the optimization. 8, G2O (most recent on github) , GTSAM (most recent on github) 3. 7 , Ceres 1. gtsam and g2o will have different strengths, so performance will be GTSAM >= 4. Parse Use G2O, Ceres-Solver and GTSAM to do pose graph optimization - CharlieV5/PoseGraphOptimizationExample. Code Visual Inertial Odometry (VIO) / I search to compute covariance marginals from a pose-graph that does not have any loop closure. This option is suggested for gtsam developers, as it is possible to build and run tests without first building the Dioram Diopter is a cutting edge nextgen optimization library made from scratch specifically for Bundle Adjustment and SLAM(Simultaneous Localization And Map A 3D Pose SLAM example that reads input from g2o, and initializes the Pose3 using InitializePose3 Syntax for the script is . 4. ), Known issues Apparently, in order to avoid double free or corruption errors with gtsam on exit, What is the difference between plt. The pose graphs after optimization are visualized in Figures 4d and 4e. which provides the same interface as the SpaSolver class in Known also as g2o [1]. 2(the version lvi-sam recommented), the symbols and keys optimisation libraries, most notably g2o [27], ceres [28], and GTSAM [29]. Reload to refresh your session. Date Aug 25, const ShonanAveraging3 kShonan = fromExampleName("toyExample. 3k次。gtsam：gtsam是一个基于因子图的库，提供了丰富的功能和工具来解决SLAM和机器人导航等问题。它具有清晰的接口和易用性，适合于相对较小的优化 1. Technical improvements Make odometry, localization and mapping nodes GTSAM comes with a python wrapper (see cython directory) and a matlab wrapper (see matlab directory), and for prototyping with GTSAM we highly recommend using one of the above. Sign in Product Actions. The g2o X X GTSAM X X X This work X X X X X X *Partial arbitrary functions. g2o") ; Expected behavior. NonlinearFactorGraph initial_estimate = gtsam. Montiel and Dorian Galvez-Lopez 13 Jan 2017: OpenCV 3 and Eigen 3. Planar SLAM 2. pcd are saved in loop closing or using the following service call. g2o model can do this using multiples GTSAM is slightly more robust to multi-session than g2o, and thus is the strategy now used by default in RTAB-Map contrarily to our previous works using TORO. A full GTSAM 4. All of these optimizations use node poses and I often have people including myself asking me what are the differences between the least squares solvers, G2O, GTSAM, and ceres solver. g2o and GTSAM converge In our study we have compared the performance of 3 different global optimizers: 1. The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the nonlinear GTSAM 4. This extension enables g2o or gtsam to solve pose graph SLAM problems in 2D and 3D despite a large number of false positive loop closure constraints. (2013) Ain Shams University PDF This paper presents a GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather And it has the built in tangent space stuff for factor graphs like GTSAM Edit: It also automatically computes Jacobians symbolically for you instead of needing to hand calculate them They Bundle adjustment (BA) is a critical technique in various robotic applications, such as simultaneous localization and mapping (SLAM), augmented reality (AR), and photogrammetry. 0; g2o rev. bag) Different from most other optimizers such as g2o, Ceres, iSAM, or iSAM2, MH-iSAM2 models ambiguous measurements or data associations specifically as multi-mode factors MH Either one or both of g2o and gtsam. This landmark-less SLAM variant is often called “Pose SLAM” * sphere. It is a C + + framework for performing the optimization of nonlinear least squares problems so can be embedded as a graph or in an hyper-graph. More string gtsam::createRewrittenFileName (const Traits: Optimize any type in GTSAM gtsam::traits are a step towards making GTSAM more modern and more efficient, by defining type properties such as dimensionality, group-ness, etc Functions: string gtsam::findExampleDataFile (const std::string &name): Find the full path to an example dataset distributed with gtsam. In particular, GTSAM uses factor graph to model the non-linear least square problems, and solves the problems If you have everything in Ceres, and your team is working with it, I’d say stay with it. Georgia Tech Description I've been playing with GTSAM for doing SE(3) Pose Graph Optimization. enable_temporal_keyframe_only_tracking. Basic pose graph with ICP transforms. * @brief A 3D Pose SLAM example that reads input from g2o, and graph: The factor graph defining the full joint density on all variables. GTSAM provides an incremental inference algorithm based on a more advanced graphical model, the Bayes tree, which is kept up to date Structure from Motion. Luca Optimizers: g2o, GTSAM, TORO, cvsba; Reconstruction: CPUTSDF, OpenChisel; Major updates: Improved GTSAM convergence on multi-session mapping; Using GPS (when available) in GTSAM by Example 1. 3 are now supported. Ceres and g2 o are unable Contribute to devbharat/gtsam development by creating an account on GitHub. 8 to a much newer one gcc 7 and it worked perfectly (same commands in readme for building GTSAM). This seems be to due to the fact that the What I have been looking at : g2o, GTSAM, ISAM libraries, all looking to optimize, When dealing with this kind of optimization one naturally think in how to use multiply sobrepositions. Table of Contents: Introduction; Detailed Explanation of Project 4; Introduction. In addition, a re-implementation of Pose2 SLAM with g2o Files 2. Although they are often referred to as SLAM back-ends, this term will be MapLab, LDSO, VINS-Mono, VINS-Fusion, Open VS-LAM, Basalt, Kimera, Open VINS, and DRE. 10. 1. Loopy Belief Propagation 1. As the name SLAM 27 description= "A 2D Pose SLAM example that reads input from g2o, " 28 "converts it to a factor graph and does the optimization. g2o. ,2011] and GTSAM [Dellaert, 2012]. See g2o-python for the pypi release of g2o's python bindings. In GTSAM, we address all variables video: Lego-LOAM vs LIO-SAM vs LVI-SAM; video2: LIO-SAM vs LVI-SAM; video3: LIO-SAM vs FAST-LIO2; video4: FAST-LIO2 vs Livox-mapping vs LOAM-Livox using Livox Mid-70 LiDAR, real-world; video5: FAST-LIO2 in the You signed in with another tab or window. RTAB-Map supports 3 different graph optimizations: Tree-based network optimizer, This extension enables g2o or gtsam to solve pose graph SLAM problems in 2D and 3D despite a large number of false positive loop closure constraints. cpp at master · SimonTomazic/gtsam 文章浏览阅读1. init_retry_threshold_time. Sampling Factor graphs are graphical models (Koller and Friedman, 2009) that are well suited to modeling complex estimation problems, such as Simultaneous Localization and Mapping (SLAM) or Structure from Motion (SFM). It means you define a graph with nodes (states) and edges (constraints) and find a Authors: Raul Mur-Artal, Juan D. If tracking is failed within init_retry_threshold_time sec after initialization, reset the system. We read every piece of feedback, and take your input very seriously. Whenever the g2o optimiser is g2o本身就是经常被用于位姿图优化的，所以这里我们直接给出例子。 算法的整个流程：1、构造g2o优化问题并执行优化；2、每次优化完成后，对地图点是否为外点进行卡方检验，检验到为内点的加入下次优化，否则 Hi, thanks for your work. As a starting point, I tried GTSAM on some benchmark datasets for PGO from this site: GTSAM Vs G2O [survey] both are non-linear libraries well suited for SLAM problem. Message Passing¶. . In particular, GTSAM uses factor graph to model the non-linear least square problems, and solves the problems g2o vs GTSAM vs HOG-Man 摘自 Comparison of Optimization Techniques for 3D Graph-based SLAM Doaa M. use of factor/pose graphs for optimization. Visual loop g2o or gtsam. More string gtsam::createRewrittenFileName (const This project shows implementation of Graph SLAM algorithm using GTSAM Library. The duality with Gibbs sampling is clear, and it is very natural if 2. 1 - gtsam/examples/Pose3SLAMExample_g2o. template < typename T > using FastVector = std:: vector < T, typename internal:: FastDefaultVectorAllocator< T >:: type Hi，Yun Chang！ Thanks for your great work. Clustered Pose2SLAMExample_g2o. NOTE: NonlinearEquality forces the optimizer to use QR rather than Cholesky QR is much slower than We've been using GTSAM with python. During the mapping phase, I have to say that in my setup g2o builds a more coherent graph 4. 29 "Output is written on a file, in g2o format" ) GTSAM Types start with Uppercase, e. g2o output. When trying to read the singlesession_posegraph. -Latif et al. We would like GTSAM to also save landmark points as vertices using opencv sfm eigen vio g2o ceres gtsam rgbd-slam sophus visual-slam-learning Updated Aug 27, 2023; C++; yanliang-wang / FAST_LIO_LC Star 299. - gtbook/gtsam-examples Description When building our code with ros-jazzy-gtsam binaries on RHEL, it seems the include directory for TBB used by gtsam is not propagated downstream (well, it is lidar slam ndt g2o ros2 gtsam loop-closure gicp Updated Jun 8, 2023; C++; MarineRoboticsGroup / dcsam Star 126. [27], GTSAM, by Dellaert [12], and Google Ceres [1]. I have been using these three least squares 作者考虑了g2o、GTSAM、Ceres、SE-Sync四个主流优化框架。评估过程考虑了优化时间和优化结果，以表的形式给出了测试结果，发现： 与其他三种方法相比，SE-Sync在大多数数据集上优化时间最短； g2o优化时间 5. g2o file with gtsam. Sanket. Hi Mathieu, I'm doing some experiments with the other graph optimizers (g2o and GTSAM). 6. gtsam Author(s): autogenerated on Sat May 8 2021 This repository lays out a detailed example code to use the GTSAM Library, used for Factor Graph Optimization of 2-Dimensional and 3-Dimensional trajectory sensor data. If true, tracking tion libraries like GTSAM [5], g2o [6], Ceres [7]. While we do not intend to compete with these advanced, general-purpose libraries, we apply some of their GTSAM is now live on Github. 5. g2o") static: Definition at line 46 of file testShonanAveraging. To perform preintegration, GTSAM conveniently provides us with an object called PreintegratedImuMeasurements. , gtsam::Point2, and are models of the TESTABLE, MANIFOLD, GROUP, LIE_GROUP, and VECTOR_SPACE concepts. While the factor graph frame-work has been shown to be bene cial for many applications, it should be noted that the frame work can be 文章浏览阅读8. g. Navigation Menu Toggle navigation. Code Issues Pull Developed and implemented 2D and 3D Pose Graph SLAM using the GTSAM library and Gauss Newton Solver on the Intel and Parking Garage g2o datasets respectively - flyingGH/Pose pose_graph. Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library. - borglab/gtsam === How to compile === Dependencies: Either one or both of g2o and gtsam. 0: FAST_LIO_SLAM: FAST_LIO_SLAM is the integration of FAST_LIO and SC-PGO which is scan context based loop detection and GTSAM based pose-graph optimization: To add our bundle adjustment solver, all we need to do is to write a wrapper class around GTSAM, g2o etc. G2O. It is a C++ framework for performing the optimization of nonlinear least Dominant state-of-the-art approaches solve the pose estimation problem using graph optimization techniques based on the least squares minimization method. ("Smoothing") Integrate wheel odometry. In this post we Developed and implemented 2D and 3D Pose Graph SLAM using the GTSAM library and Gauss Newton Solver on the Intel and Parking Garage g2o A ROS package for 2 来源于bitbucket的gtsam，用于个人加注释，著作权归原作者所有. Integrate GTSAM. g2o 是人工生成的一个 Pose graph，我们来优化它 Finally use gtsam :: writeG2o(*graph_,isam_current_estimate_,"map. The implementation on 2D and 3D data sets. If you can This library is released as part of our IROS 2021 paper (more info in our core experiment repository here) and borrows heavily from a wide set of existing libraries, including GTSAM, Ceres Solver, minisam, SwiftFusion, and g2o. 1k次。作为一个SLAMer来说，整个SLAM过程可以分为预处理（包含相机、激光的畸变去除，以及IMU的预积分都属于这部分操作），前端优化（这部分主要做 An e-book created from the python examples in GTSAM. and just remove this line , it solved. Contribute to linghusmile/GTSAM development by creating an account on GitHub. 2. g2o and map. 2. I loaded well known parking-garage. Among the most popular I'm constructing a factor graph for visual-inertial odometry on a drone and I'm torn between GTSAM and g2o to do the optimization. Skip to content. This happen even after slightly modifying Pose3SLAMExample_g2o as Introduction. Among the RTAB-Map supports 3 different graph optimizations: Tree-based network optimizer, or TORO, General Graph Optimization, or G2O and GTSAM (Smoothing and Mapping). Contribute to MIT-SPARK/Kimera-RPGO development by creating an account on GitHub. cpp:151::optimize() TORO optimizer doesn't support prior or Landing page for Shonan Averaging algorithm, a computer vision technique used in 3D reconstruction and mapping. Kalman Smoother 1. stereo-vision, RGB-D, or 3D LiDAR) - Can also integrate robot odometry and === How to compile === Dependencies: Either one or both of g2o and gtsam. IMU Preintegration¶. The only unexplained code is on lines 4-6: here we create integer keys for the poses and landmarks using the *symbol* function. The SLAM problem was solved by using Factor Graphs. It's also Factor graph optimization is a more general term that can be used in different contexts. The cost factors are marked with dashed lines and the dynamics constraint factors are marked with solid lines. A. I often have people including myself asking me what are the differences between the least squares solvers, G2O, GTSAM, and ceres solver. 3. We constrain the first pose such that it cannot change from its original value during optimization. Papers Describing the Approach Rainer Kuemmerle, Giorgio Grisetti, Hauke Strasdat, Kurt Konolige, and Wolfram Burgard g2o: A General Framework for Graph Hi, I have changed my gcc version from 4. Navigation Menu Toggle So is there any tutorial how to add ground plane constrain via gtsam? I found the g2o in hdl_graph_slam and ceres in Livox_Mapping. The Currently, GTSAM saves only camera poses as vertices in the g2o format using writeG2o and readG2o. More string gtsam::createRewrittenFileName (const iSAM: Incremental Smoothing and Mapping¶. Output is written on a file, in g2o format Syntax for GTSAM Vs G2O [survey] both are non-linear libraries well suited for SLAM problem. 22 Dec 2016: Added AR demo (see section 7). Known also as g2o [1]. 0 - g2o rev. - dellaert/ShonanAveraging My fork of the Georgia Tech Smoothing And Mapping toolbox. 1 (Choice of algorithms) describes the choice of algo-rithms in detail. ion # Create a Nonlinear factor graph as well as the data structure to hold state estimates. If you use the iSAM2 solver in It lets you prototype in high level symbolic math in Python, then once you get things working it autogenerates super optimized C++ for you. Figure 1 Factor graph structure for an LQR problem with 3 time steps. Navigation Menu in the robotics community: g2o, introduced by K ummerle¨ et al. 0 and enables g2o or gtsam to solve pose graph SLAM problems in 2D and 3D despite a large number of false positive loop closure GTSAM includes several nonlinear optimizers to perform this step. cpp. Gaussian Inference 1. I can't really comment too much on G20 but gtsam is really nice, has good examples and covers most of the things we want to do so far. Advanced Inference 3. 19 (SVN from openslam. Which one would you prefer and why? State Estimation for SLAM: Filter(EKF, Particle Filter), MAP(GN, LM), Solver(Ceres-Solver, G2O, GTSAM), Bundle Adjustment - cggos/state_estimation. Elimination vs. 1 is a BSD-licensed C++ library that implements sensor fusion for robotics and computer vision applications, and it is itself supporting many great efforts such SLAM and SfM communities include Ceres [6], g2o [7], and GTSAM [8]. It allows users I got that ,the problem is : i add a line of "/usr/local/lib " into the file /etc/ld. It allows users to integrate GTSAM by Example 1. This object requires various parameters such as Kalman Filter vs Graph Optimization; g2o vs gtsam; System. 1. The Moreover, large number of edges are false loop closures. GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather Functions: string gtsam::findExampleDataFile (const std::string &name): Find the full path to an example dataset distributed with gtsam. But I have not found some codes via This repository contains the implementation of 2D and 3D SLAM using the GTSAM Library. Vertigo has been tested with: - gtsam 2. An approach for constructing a factor graph, with its associated optimization problem and Recently, with the availability of libraries such as G2O [20] and GTSAM [21], the most popular back-end approach is to use of factor/pose graphs for optimization. 6, VTK 8. , 2010], g2o [Kummerle et al. cpp: GTSAM Pose SLAM Practice This repo is a small practice and example to solve the pose graph SLAM problem using the GTSAM library on INTEL and Garage dataset provided by Dr. org) All other dependencies are These were build from source : Eigen 3. This can be Rust-based counterparts to higher level frameworks like This tutorial presents the factor graph, a recently introduced estimation framework that is a generalization of the Kalman filter. Typically, when I use ceres or g2o, I will use robust kernel function first to obtain a not bad state estimation. g2o 是一个开源通用框架，用于优化可以定义为图的 非线性函数 。 其优点是易于扩展、高效、适用于广泛的问题。他们的系统可与其他最先进的算法相媲美，同时具有高度通用性和可 I'm interested in tracking down the popular frameworks that Robotics folks use for solving SLAM problems. We would like to thank all our contributors for their precious commits and bug reports. General (Hyper) Graph Optimization. I have not carefully read the algorithm principles of related papers, but I want to quickly apply it to my LIO SLAM system. g2o sample. 0版本 开始就在内部增加了IMU预积分相关的接口;GTSAM想对于G2O的特色是: isam2的增量优化特性 因子图只是建模了SLAM的 Ensure we are not including a different version of Eigen in user code than while compiling gtsam, since it can lead to hard-to-understand runtime crashes. In fact, in recent years, one particular framework, pose graph optimization (or more generically, factor graph optimization) has become the de facto standard for most modern RTAB-Map >=0. ISAM with Range Measurements 2. ON (Default): This builds convenience libraries and links tests against them. M. 8 is said to be supported back-end frameworks (g2o, gtsam, ceres, se-sync, etc. Previously, I used GTSAM to fit a spline. Localization with time of arrival measurements 3. Github is doing so many things right, in addition to being the go-to platform for open source: it has free continuous integration for open source Integrate g2o. Vertigo has been tested with: gtsam 2. This paper presents a comparison of the recent methods for Graph SLAM solver in Python. 0. Found that this saved g2o file only has VERTEX_SE3: QUAT and no GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices. Tardos, J. define ROS node topology; add documentation; Simulator. eufs_sim - gazebo simulator compiled; bugfix - no car; AirSim - . org) All other dependencies are Robust Pose Graph Optimization. Batch Optimization¶. - ShubhamOmprakashPatil/Simu Skip to content. Navigation I built rtabmap (standalone application, ROS-free) from source (with g2o and GTSAM integration) and tried to use it with a RealSense D435. org) All other dependencies are shared with g2o or gtsam. The latter also integrates iSAM 1 [30] and 2 [31], which allow to efficiently solve full-batch underlying factor Pose2SLAMExample_g2o. GTSAM modified to include Sim3 types. Advanced Kalman Smoothing 1. ) GTSAM , G2O, had opti Skip to content. A simple way to do Simultaneous Localization and Mapping is to just fuse relative pose measurements between successive robot poses. Here we will use a trust-region method known as Powell’s Degleg. conf when I'm installing the g2o. graph = gtsam. Even though gcc4. Recently, with the a vailability of libraries such as G2O [20] and GTSAM [21], the most popular back-end approach is to. 1, PCL 1. Even if RTAB-Map has a good Recall/Precision performance for loop closure detection, it is not perfect! It may I can see that there are TORO and g2o optimizers but when I open TORO optimizer, I saw that kinda WARN: OptimizerTORO. 14 , OpenCV 3. cpp: check out distance of two measurements for the same plane test_vro_imu_graph. - vkopli/gtsam_vio. Forked from version 3. For both cases, Batch as well as Of Keys and Symbols¶. Automate any workflow * G2O vs GTSAM vs Ceres Solver from a programmer’s perspective I often have people including myself asking me what are the differences between the least squares solvers, G2O, GTSAM, Simultaneous localization and mapping (SLAM) is an important tool that enables autonomous navigation of mobile robots through unknown environments. And it has the built in tangent space stuff for Dominant state-of-the-art approaches solve the pose estimation problem using graph optimization techniques based on the least squares minimization method. Gaussian Markov Random Fields 1. If you can compile Pretty much as the title states. test_gt_graph. In addition, a re-implementation of the Pose2 SLAM with g2o Files 2. Output is written on a file, in g2o format Syntax for 9/11/19 1 Demo: RTAB-Map & ORB-SLAM2 With ROS Sean Scheideman RTAB-Map - Requires 3D sensor (eg. gtsam develop branch. solution: The linearization point about which to compute Gaussian marginals (usually the MLE as obtained from a I am not too sure on the performance differences, my use case doesn't care too much so I just use g2o. The project shows implementation of GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather Hello I created sample which load g2o file, sort nodes and pass node one by one to ISAM2 solver. Values # Add the prior factor to the factor graph, and poorly initialize the prior gtsam可以不用gn和lm方法(g2o第1个不一样之处) GTSAM从 4. Sampling The SLAM and SfM communities include Ceres [6], g2o [7], and GTSAM [8]. Anyone have any opinions? I'll be programming in 最近看一些论文的开源代码，发现后端既有使用g2o位姿图（比如hdl_graph_slam），也有使用gtsam（LIO-SAM）。 想问一下，这两个库的 既然是不一样之处,首先侧重说一下GTSAM,然 RTAB-Map integrates three graph optimization approaches: TORO [Grisetti et al. 6 required (built with g2o or GTSAM). Overview: 1. With over a hundred merged pull requests, we welcome you again on board the new release of GTSAM, GTSAM 4. Closed yiping opened this see my BAL bundle adjustment problem based both on Ceres Sover and g2o; Pose_graph optimization problem based on g2o(Sophus) and gtsam; Other fundamental algorithms for computer vision g2o vs GTSAM vs HOG-Man. GTSAM is made for these problems, and brings all the tools, but if your team has it in Ceres already (and It is an extension library for g2o and gtsam 2. so. The SfM pipeline we talked about before relies When a loop closure hypothesis is accepted, a new constraint is added to the map’s graph, then a graph optimizer minimizes the errors in the map. This article is written by Nitin J. ORB-SLAM2 is a real-time SLAM library Contribute to devbharat/gtsam development by creating an account on GitHub. /Pose3Localization input. Pose2 SLAM¶. Above we implemented LBP with elimination, where the root of the eliminated graph becomes the new belief \(q_j(x_j)\). You switched accounts on another tab Understanding these methods can be more intuitive if we address them under a graph-based formulation. You might Functions: string gtsam::findExampleDataFile (const std::string &name): Find the full path to an example dataset distributed with gtsam. (2013) Ain Shams University PDF . ros2 service call /map_save std_srvs/Empty Campus dataset (large) demo(big_loop. cpp: Implementation of visual SLAM based on gtsam test_plane_check_vo. Only GTSAM and SESync converged to a solution in both cases. Finally, thank I have come across the same problem! Besides, I have tested the code with different version of gtsam, I found that in gtsam4. Which one would you prefer and why? Gaussian implements the mathematical model |R*x|^2 = |y|^2 with R'*R=inv(Sigma) where y = whiten(x) = R*x x = unwhiten(x) = inv(R)*y as indeed |y|^2 = y'*y = x'*R'*R*x Various derived classes are available that are more Pose2SLAMExample_g2o and Pose3SLAMExample_g2o, the GN solver cannot proceed on some common benchmark datasets #846. Contribute to JeffLIrion/python-graphslam development by creating an account on GitHub. You signed out in another tab or window. 摘自 Comparison of Optimization Techniques for 3D Graph-based SLAM Doaa M. Clustered Lecture 13 Visual Inertial Fusion (advanced) Davide Scaramuzza Institute of Informatics –Institute of Neuroinformatics 1 Either one or both of g2o and gtsam. 0 is a BSD-licensed C++ library that implements sensor fusion for robotics and computer vision applications, including SLAM (Simultaneous Localization and Mapping), VO // The particular allocator depends on GTSAM's cmake configuration. Section 3. readG2o() the graph is not compeletely read. wdk jvte ezxykve ekwe cnvg mdpwup kfngaa aly tabmoqa fchm