# 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"`.```

example

````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

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Import a factor graph containing 2-D pose nodes.

`fg = importFactorGraph("sineFactorGraph.g2o");`

Show the factor graph.

`show(fg,Legend="on"); `

## Input Arguments

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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`.

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 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.

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.

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

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:

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

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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