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findEdgeID

Find edge ID of edge

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Syntax

edgeID = findEdgeID(poseGraph,nodePairs)

Description

edgeID = findEdgeID(poseGraph,nodePairs) finds the edge ID for a specified edge. Edges are defined by the IDs of the two nodes that connect them.

example

Examples

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Open Live Script

Load the Intel Research Lab Dataset that contains a 2-D pose graph. Optimize the pose graph. Plot the pose graph with IDs off. Red lines indicate loop closures identified in the dataset.

load intel-2d-posegraph.mat pg
optimizedPG = optimizePoseGraph(pg);
show(optimizedPG,IDs="off");

Figure contains an axes object. The axes object with xlabel X, ylabel Y contains 3 objects of type line. One or more of the lines displays its values using only markers

Find the loop closure edge ID for the specified edge node pair in pose graph.

nodePair = [133 1085];
edgeID = findEdgeID(optimizedPG,nodePair)
edgeID = 
1386

Remove the loop closure edge from the pose graph.

removeEdges(optimizedPG,edgeID)
show(optimizedPG,IDs="off");

Figure contains an axes object. The axes object with xlabel X, ylabel Y contains 3 objects of type line. One or more of the lines displays its values using only markers

Input Arguments

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Pose graph, specified as a poseGraph or poseGraph3D object.

Edge node pairs in pose graph, specified as a two-element vector that lists the IDs of the two nodes that the edge connects.

Output Arguments

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Edge IDs, returned as a positive integer or vector of positive integers. The pose graph can contain multiple edges between each node pair, so multiple edge IDs may be returned for a single edge ID.

Extended Capabilities

Version History

Introduced in R2019b

See Also

Functions

Objects

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