importFactorGraph

Import factor graph from g2o log file

Since R2022a

Syntax

graph = importFactorGraph(filename)

Description

graph = importFactorGraph(filename) imports a factor graph from the specified G2o file filename.

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