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nodeEstimates

Poses of nodes in pose graph

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Syntax

measurements = nodeEstimates(poseGraph)
measurements = nodeEstimates(poseGraph,nodeIDs)

Description

measurements = nodeEstimates(poseGraph) lists all poses in the specified pose graph.

example

measurements = nodeEstimates(poseGraph,nodeIDs) lists the poses with the specified node IDs.

Examples

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Open Live Script

Create a 2-D pose graph object.

pg = poseGraph;

Add relative poses to the pose graph.

addRelativePose(pg,[1 1 pi/2]);
addRelativePose(pg,[2 2 pi/3]);

Add a landmark point node to the last pose node in the pose graph.

addPointLandmark(pg,[1 1]);
show(pg);

Figure contains an axes object. The axes object with xlabel X, ylabel Y contains 4 objects of type line. One or more of the lines displays its values using only markers

List all poses in the pose graph.

nodeEstimates(pg)
ans = 4×3

         0         0         0
    1.0000    1.0000    1.5708
   -1.0000    3.0000    2.6180
   -2.3660    2.6340       NaN

Input Arguments

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Pose graph, specified as a poseGraph or poseGraph3D object.

Node IDs, specified as a positive integer or vector of positive integers. Each node added gets an ID sequentially in the graph.

Output Arguments

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Measurements between nodes, returned as an n-by-3 matrix or n-by-7 matrix.

For poseGraph (2-D), each row is an [x y theta] vector, which defines the relative xy-position and orientation angle, theta, of a pose in the graph. For landmark positions, theta is returned as NaN.

For poseGraph3D, each row is an [x y z qw qx qy qz] vector, which defines the relative xyz-position and quaternion orientation, [qw qx qy qz], of a pose in the graph.

Note

Many other sources for 3-D pose graphs, including .g2o formats, specify the quaternion orientation in a different order, for example, [qx qy qz qw]. Check the source of your pose graph data before adding nodes to your poseGraph3D object.

Extended Capabilities

Version History

Introduced in R2019b

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See Also

Functions

Objects

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