show

Plot pose graph

Syntax

show(poseGraph)

show(poseGraph,Name,Value)

axes = show(___)

Description

show(poseGraph) plots the specified pose graph in a figure.

show(poseGraph,Name,Value) specifies options using Name,Value pair arguments. For example, 'IDs','on' plots all node and edge IDs of the pose graph.

axes = show(___) returns the axes handle that the pose graph is plotted to using any of previous syntaxes.

Examples

Optimize a 2-D Pose Graph

Optimize a pose graph based on the nodes and edge constraints. The pose graph used in this example is from the Intel Research Lab Dataset and was generated from collecting wheel odometry and a laser range finder sensor information in an indoor lab.

Load the Intel data set that contains a 2-D pose graph. Inspect the poseGraph object to view the number of nodes and loop closures.

load intel-2d-posegraph.mat pg
disp(pg)

  poseGraph with properties:

               NumNodes: 1228
               NumEdges: 1483
    NumLoopClosureEdges: 256
     LoopClosureEdgeIDs: [1228 1229 1230 1231 1232 1233 1234 1235 1236 ... ]
        LandmarkNodeIDs: [1x0 double]

Plot the pose graph with IDs off. Red lines indicate loop closures identified in the dataset.

show(pg,'IDs','off');
title('Original Pose Graph')

Optimize the pose graph. Nodes are adjusted based on the edge constraints and loop closures. Plot the optimized pose graph to see the adjustment of the nodes with loop closures.

updatedPG = optimizePoseGraph(pg);
figure
show(updatedPG,'IDs','off');
title('Updated Pose Graph')

Optimize a 3-D Pose Graph

Optimize a pose graph based on the nodes and edge constraints. The pose graph used in this example is taken from the MIT Dataset and was generated using information extracted from a parking garage.

Load the pose graph from the MIT dataset. Inspect the poseGraph3D object to view the number of nodes and loop closures.

load parking-garage-posegraph.mat pg
disp(pg);

  poseGraph3D with properties:

               NumNodes: 1661
               NumEdges: 6275
    NumLoopClosureEdges: 4615
     LoopClosureEdgeIDs: [128 129 130 132 133 134 135 137 138 139 140 ... ]
        LandmarkNodeIDs: [1x0 double]

Plot the pose graph with IDs off. Red lines indicate loop closures identified in the dataset.

title('Original Pose Graph')
show(pg,'IDs','off');
view(-30,45)

Optimize the pose graph. Nodes are adjusted based on the edge constraints and loop closures. Plot the optimized pose graph to see the adjustment of the nodes with loop closures.

updatedPG = optimizePoseGraph(pg);
figure
title('Updated Pose Graph')
show(updatedPG,'IDs','off');
view(-30,45)

Input Arguments

poseGraph — Pose graph

poseGraph object | poseGraph3D object

Pose graph, specified as a poseGraph or poseGraph3D object.

Name-Value Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'IDs','off'

Parent — Axes used to plot pose graph

Axes object | UIAxes object

Axes used to plot the pose graph, specified as the comma-separated pair consisting of 'Parent' and either an Axes or UIAxesobject. See axes or uiaxes.

IDs — Display of IDs on pose graph

'loopclosures' (default) | 'all' | 'nodes' | 'landmarks' | 'off'

Display of IDs on pose graph, specified as the comma-separated pair consisting of 'IDs' and one of the following:

• 'all' — Plot all node and edge IDs.

• 'nodes' — Plot all node IDs and loop closure IDs.

• 'loopclosures' — Plot only loop closure edge IDs.

• 'landmarks' — Plot landmark edge IDs.

• 'off' — Do not plot any IDs.

Output Arguments

axes — Axes used to plot the map

Axes object | UIAxes object

Axes used to plot the map, returned as either an Axes or UIAxes object. See axes or uiaxes.