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Poses of nodes in pose graph


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

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

Input Arguments

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Pose graph, specified as a poseGraph or poseGraph3D object.

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

Output Arguments

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Pose of each node, specified as an n-by-3 or n-by-7 matrix. These poses are given in global coordinates for the whole pose graph.

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 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.


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

Introduced in R2019b