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change of point density to make it plotable

release/4.3a0
lvzhaoyang 2015-01-19 16:52:48 -05:00
parent b202bbd5f1
commit 1c5cdb830b
3 changed files with 5 additions and 6 deletions
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5
matlab/+gtsam/plotFlyingResults.m
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@ -24,16 +24,17 @@ for i = 0:keys.size - 1
P = marginals.marginalCovariance(key); P = marginals.marginalCovariance(key);
h_result = gtsam.plotPose3(pose, P, 1); h_result = gtsam.plotPose3(pose, P, 1);
end end
%% plot point covariance %% plot point covariance
if exist('h_result', 'var') if exist('h_result', 'var')
delete(h_result); delete(h_result);
end end
if ~holdstate if ~holdstate
hold off hold off
end end

2
matlab/+gtsam/points2DTrackStereo.m
View File

@ -101,7 +101,7 @@ for i = 1:pointsNum
end end
%% plot the result with covariance ellipses %% plot the result with covariance ellipses
plotFlyingResults(pts2dTracksStereo.pts3d, pts2dTracksStereo.cov, initialiEstimate, marginals); plotFlyingResults(pts2dTracksStereo.pt3d, pts2dTracksStereo.cov, initialEstimate, marginals);
%plot3DTrajectory(initialEstimate, '*', 1, 8, marginals); %plot3DTrajectory(initialEstimate, '*', 1, 8, marginals);
%view(3); %view(3);

4
matlab/gtsam_examples/CameraFlyingExample.m
View File

@ -26,7 +26,7 @@ options.cylinder.cylinderNum = 15; % pls be smaller than 20
options.cylinder.radius = 3; % pls be smaller than 5 options.cylinder.radius = 3; % pls be smaller than 5
options.cylinder.height = 10; options.cylinder.height = 10;
% point density on cylinder % point density on cylinder
options.cylinder.pointDensity = 1; options.cylinder.pointDensity = 0.05;
%% set up the camera %% set up the camera
% parameters set according to the stereo camera: % parameters set according to the stereo camera:
@ -162,8 +162,6 @@ else
% use Stereo Camera % use Stereo Camera
[pts2dTracksStereo, estimateValuesStereo] = points2DTrackStereo(options.camera.stereoK, ... [pts2dTracksStereo, estimateValuesStereo] = points2DTrackStereo(options.camera.stereoK, ...
cameraPoses, options.camera.resolution, cylinders); cameraPoses, options.camera.resolution, cylinders);
plotFlyingResults(pts2dTracksStereo.pt3d, pts2dTracksStereo.cov, estimateValuesStereo, options, figID);
end end
%% plot all the projected points %% plot all the projected points