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removeEdges

Remove loop closure edges from graph

Description

example

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

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

Extended Capabilities

Version History

Introduced in R2019b