G2oWrapper for Octave

• it runs on Octave. I've said Octave, not Matlab.

...still ongoing.

G2o file Loading

Basic usage is:

g2o_data = load_g2o("test_data/sphere_base.g2o")

you get the following structure

Loading g2o file: test_data/sphere_base.g2o

g2o_data =

  scalar structure containing the fields:

    VERTEX_SE3_QUAT =

      1x150 struct array containing the fields:

        id
        x
        y
        z
        quat

    EDGE_SE3_QUAT =

      1x559 struct array containing the fields:

        id_from
        id_to
        x
        y
        z
        quat
        Omega

Visualization

Working on speeding-up the visualization (copy on vectorized structures, and so on...). For a full, but slow visualization (all edges and reference frames) set full_visualization = true.

addpath './graphics/'

full_visualization = true; % plots all the edges and reference frames (slow)
plotGraph(g2o_data, full_visualization);