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Pose graph
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
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.