findEdgeID

Find edge ID of edge

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.

Examples

Remove Loop Closure Edges from Pose Graph

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");

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");

Input Arguments

poseGraph — Pose graph

poseGraph object | poseGraph3D object

Pose graph, specified as a poseGraph or poseGraph3D object.

nodePairs — Edge node pairs in pose graph

two-element vector

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

edgeID — Edge ID

positive integer | vector

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

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

Use this syntax when constructing poseGraph or poseGraph3D objects for code generation:

poseGraph = poseGraph('MaxNumEdges',maxEdges,'MaxNumNodes',maxNodes) specifies an upper bound on the number of edges and nodes allowed in the pose graph when generating code. This limit is only required when generating code.

Version History

Introduced in R2019b