nodeEstimates

Poses of nodes in pose graph

Syntax

measurements = nodeEstimates(poseGraph)

measurements = nodeEstimates(poseGraph,nodeIDs)

Description

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

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

Examples

Add Landmark Point Node to Pose Graph

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);

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

poseGraph — Pose graph

poseGraph object | poseGraph3D object

Pose graph, specified as a poseGraph or poseGraph3D object.

nodeIDs — Node IDs

positive integer | vector of positive integers

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

Output Arguments

measurements — Measurements between nodes

n-by-3 matrix | n-by-7 matrix

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

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

R2019b: nodeEstimates was renamed

The nodeEstimates object function was renamed from nodes. Use nodeEstimates when calling the function.