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

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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.

Answers (2)

Zheng Dong
Zheng Dong on 6 Dec 2023
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
It will save the updated poseGraph (updatedPG) to the new.mat file.

Remo Pillat
Remo Pillat on 6 Dec 2023
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.

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