show

Plot pose nodes, pose node edges, and landmark nodes of factor graph

Since R2024a

Syntax

show(fg)

show(fg,Name=Value)

ax = show(___)

Description

show(fg) plots the pose nodes and pose node edges of the specified factor graph in a figure. Pose nodes are nodes of type "POSE_SE2" or "POSE_SE3".

show(fg,Name=Value) specifies options using one or more name-value arguments. For example, Landmark="off" plots the factor graph without displaying landmark nodes.

ax = show(___) returns the axes handle of the factor graph plot using any of the input arguments from previous syntaxes.

Examples

Show 2-D Factor Graph

Import a factor graph containing 2-D pose nodes.

fg = importFactorGraph("sineFactorGraph.g2o");

Show the factor graph.

show(fg,Legend="on"); 

Input Arguments

fg — Factor graph to visualize

factorGraph object

Factor graph to visualize, specified as a factorGraph object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: show(fg,Landmark="on")includes the landmark nodes in the plot of the factor graph fg.

Parent — Axes on which to draw factor graph

Axes object

Axes on which to draw the factor graph, specified as an Axes object. By default, the function plots the factor graph in the active axes.

Landmark — Landmark node display

"on" (default) | "off"

Landmark node display, specified as "off" or "on".

If specified as "on", the factor graph plot includes landmark nodes of these types:

• "POINT_XY" — 2-D point

• "POINT_XYZ" — 3-D point

If fg contains no landmark nodes, then Landmark has no effect.

Orientation — Pose node orientation display

"off" (default) | "on"

Pose node orientation display, specified as "off" or "on".

If specified as "on", the factor graph plot includes the orientations of the pose nodes as frames.

OrientationFrameSize — Size of orientation frames

0.2 (default) | positive numeric scalar

Size of the orientation frames, specified as a positive numeric scalar.

Edge — Plot edges between nodes

"pose-edge" (default) | "off"

Plot the edges between nodes, specified as "pose-edge" or "off".

If specified as "pose-edge", the factor graph plots edges, represented by these factor objects, between the pose nodes:

• factorTwoPoseSE2

• factorTwoPoseSE3

• factorIMU

Legend — Plot legend

"off" (default) | "on"

Plot legend, specified as "off" or "on". By default, the legend contains a label for the pose nodes.

If Landmark is "on", the legend contains an additional label for the landmark nodes.

If Edge is "pose-edge", the legend contains an additional label for the edges between pose nodes.

Output Arguments

ax — Axes used to plot factor graph

Axes object

Axes used to plot the factor graph, returned as an Axes object.

Tips

• If you must update the figure frequently, set Legend to "off" to improve the update rate.

Version History

Introduced in R2024a