M-File Help: PoseGraph View code for PoseGraph

PoseGraph

Pose graph


PoseGraph.PoseGraph

the file data

we assume g2o format

VERTEX* vertex_id X Y THETA
EDGE* startvertex_id endvertex_id X Y THETA IXX IXY IYY IXT IYT ITT

vertex numbers start at 0


PoseGraph.linear_factors

the ids of the vertices connected by the kth edge

id_i=eids(1,k); id_j=eids(2,k);

extract the poses of the vertices and the mean of the edge

v_i=vmeans(:,id_i);
v_j=vmeans(:,id_j);
z_ij=emeans(:,k);

 

© 1990-2014 Peter Corke.