Is there any way to load a g2o file posegraph in matlab?

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Haris Khan 2021-7-8

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回答： Remo Pillat 2023-12-6

I am wondering if there is any way to load a posegraph (available in the form of g2o file) in MATLAB and also store the optimized pose graph in a file? I have searched for it in official documentation but there is no answer to this.

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晓航邵 2022-6-6

在 MATLAB Online 中打开

G = importFactorGraph("factorGraphLog.g2o");

This may help.

See importFactorGraph

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Answer 1

Zheng Dong 2023-12-6

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在 MATLAB Online 中打开

Hi Haris,

Unfortunately, there is no existing tool which supports importing a g2o file to be a poseGraph object. I have created an enhancement task based on your request. Our team will consider enabling this functionality in the future.

However, there is a function importFactorGraph which accpets g2o files and it will create a factorGraph object based on the g2o file. Factor graph is a powerful frame we currently work on which is similar to poseGraph but supports much more kinds of edges and different SLAM workflows. You can give it a try if you are interested.

Besides, you can store optimized poseGraph by

save('new','updatedPG')

It will save the updated poseGraph (updatedPG) to the new.mat file.

Best,

Zheng

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Answer 2

Remo Pillat 2023-12-6

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Another option would be to look at Peter Corke's RVC3 toolbox. It has a function, g2oread, which implements what you are asking for. In addition to returning a poseGraph object, it can also extract lidar scans that may be stored in the g2o file.