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removeEdges

Remove loop closure edges from graph

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Syntax

removeEdges(poseGraph,edgeIDs)

Description

removeEdges(poseGraph,edgeIDs) removes loop closure edges, landmark edges, or duplicate incremental edges from the pose graph.

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 IDs, specified as a vector of positive integers. To get edge IDs based on node pairs, see the findEdgeID function.

Extended Capabilities

Version History

Introduced in R2019b

See Also

Functions

Objects

Topics