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Fixed up display options in gtsamExamples

release/4.3a0
Frank Dellaert 2012-06-13 12:22:31 +00:00
parent 89d5f2c4ec
commit 2678be0646
6 changed files with 17 additions and 5 deletions
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2
matlab/examples/LocalizationExample.m
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@ -49,6 +49,7 @@ result.print(sprintf('\nFinal result:\n '));
cla; cla;
plot(result.xs(),result.ys(),'k*-'); hold on plot(result.xs(),result.ys(),'k*-'); hold on
marginals = graph.marginals(result); marginals = graph.marginals(result);
P={};
for i=1:result.size() for i=1:result.size()
pose_i = result.pose(i); pose_i = result.pose(i);
P{i}=marginals.marginalCovariance(i); P{i}=marginals.marginalCovariance(i);
@ -56,3 +57,4 @@ for i=1:result.size()
end end
axis([-0.6 4.8 -1 1]) axis([-0.6 4.8 -1 1])
axis equal axis equal
view(2)

2
matlab/examples/OdometryExample.m
View File

@ -47,6 +47,7 @@ result.print(sprintf('\nFinal result:\n '));
cla; cla;
plot(result.xs(),result.ys(),'k*-'); hold on plot(result.xs(),result.ys(),'k*-'); hold on
marginals = graph.marginals(result); marginals = graph.marginals(result);
P={};
for i=1:result.size() for i=1:result.size()
pose_i = result.pose(i); pose_i = result.pose(i);
P{i}=marginals.marginalCovariance(i); P{i}=marginals.marginalCovariance(i);
@ -54,3 +55,4 @@ for i=1:result.size()
end end
axis([-0.6 4.8 -1 1]) axis([-0.6 4.8 -1 1])
axis equal axis equal
view(2)

2
matlab/examples/PlanarSLAMExample.m
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@ -84,5 +84,7 @@ end
plot([pose{1}.x;point{1}.x],[pose{1}.y;point{1}.y],'c-'); plot([pose{1}.x;point{1}.x],[pose{1}.y;point{1}.y],'c-');
plot([pose{2}.x;point{1}.x],[pose{2}.y;point{1}.y],'c-'); plot([pose{2}.x;point{1}.x],[pose{2}.y;point{1}.y],'c-');
plot([pose{3}.x;point{2}.x],[pose{3}.y;point{2}.y],'c-'); plot([pose{3}.x;point{2}.x],[pose{3}.y;point{2}.y],'c-');
axis([-0.6 4.8 -1 1])
axis equal axis equal
view(2)

3
matlab/examples/Pose2SLAMExample.m
View File

@ -60,9 +60,12 @@ cla;
plot(result.xs(),result.ys(),'k*-'); hold on plot(result.xs(),result.ys(),'k*-'); hold on
plot([result.pose(5).x;result.pose(2).x],[result.pose(5).y;result.pose(2).y],'r-'); plot([result.pose(5).x;result.pose(2).x],[result.pose(5).y;result.pose(2).y],'r-');
marginals = graph.marginals(result); marginals = graph.marginals(result);
P={};
for i=1:result.size() for i=1:result.size()
pose_i = result.pose(i); pose_i = result.pose(i);
P{i}=marginals.marginalCovariance(i); P{i}=marginals.marginalCovariance(i);
plotPose2(pose_i,'g',P{i}) plotPose2(pose_i,'g',P{i})
end end
axis([-0.6 4.8 -1 1])
axis equal axis equal
view(2)

6
matlab/examples/Pose3SLAMExample.m
View File

@ -45,5 +45,9 @@ plot3(initial.xs(),initial.ys(),initial.zs(),'g-*');
result = fg.optimize(initial); result = fg.optimize(initial);
%% Show Result %% Show Result
hold on; plot3DTrajectory(result,'b-*', true, 0.3); axis equal; hold on; plot3DTrajectory(result,'b-*', true, 0.3);
axis([-2 2 -2 2 -1 1]);
axis equal
view(-37,40)
colormap hot
result.print(sprintf('\nFinal result:\n')); result.print(sprintf('\nFinal result:\n'));

7
matlab/examples/SFMExample.m
View File

@ -78,7 +78,6 @@ for i=1:result.nrPoses
pose_i = result.pose(symbol('x',i)); pose_i = result.pose(symbol('x',i));
plotPose3(pose_i,P,10); plotPose3(pose_i,P,10);
end end
axis([-35 35 -35 35 -15 15]); axis([-40 40 -40 40 -10 20]);axis equal
axis equal view(3)
view(-37,40) colormap('hot')
colormap hot