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findEdgeID

Find edge ID of edge

Description

example

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.

Examples

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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 contains 3 objects of type line.

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 contains 3 objects of type line.

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