Log centralized estimates

Author: lajoiepy

cpp/src/distributed_mapper/evaluation_utils.cpp

@@ -504,6 +504,9 @@ namespace evaluation_utils{
  Values centralized = centralizedEstimation(full_graph_with_prior,
  model, prior_model,
  use_between_noise);
+
+ std::string dataset_file_name = "log/datasets/centralized.g2o";
+ gtsam::writeG2o(full_graph_with_prior, centralized, dataset_file_name);
  double centralized_error = chordal_graph.error(centralized);
  std::cout << "Centralized Two Stage Error: " << centralized_error << std::endl;