importFactorGraph
Description
Examples
Import Factor Graph from G2o File
Import factor graph from the huskyGazebo2DPG.g2o
file.
fg = importFactorGraph("huskyGazebo2DPG.g2o")
fg = factorGraph with properties: NumNodes: 152 NumFactors: 357
Get the node type of the first pose node.
type = nodeType(fg,1)
type = "POSE_SE2"
Get all of the pose nodes of the same type.
poseIDs = nodeIDs(fg,NodeType=type)
poseIDs = 1×152
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49
Fix the first node so it is an anchor during optimization and then optimize the factor graph with default solver options.
fixNode(fg,0); optimize(fg); poses = nodeState(fg,poseIDs);
Plot the poses of the factor graph as an SE(2) transformations.
poseTFs = se2(poses,"xytheta"); plotTransforms(poseTFs,FrameSize=0.5); xlabel("x(m)") ylabel("y(m)") title("Imported Factor Graph")
Input Arguments
filename
— Name of G2o log file
string scalar | character vector
Name of the G2o log file to import a factor graph from, specified as a string scalar
or character vector. The specified G2o log file must contain either only
'EDGE_SE2'
and 'VERTEX_SE2'
tokens, or only
'EDGE_SE3:QUAT'
and 'VERTEX_SE3:QUAT'
tokens.
Output Arguments
graph
— Factor graph imported from G2o file
factorGraph
object
Factor graph imported from the G2o file, returned as a factorGraph
object.
Version History
Introduced in R2022a
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