removeEdges

Remove loop closure edges from graph

Syntax

removeEdges(poseGraph,edgeIDs)

Description

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

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.

edgeIDs — Edge IDs

vector of positive integers

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

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