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improve plotting script for City10000

release/4.3a0
Varun Agrawal 2025-01-30 10:53:52 -05:00
parent b60baff4df
commit 3c67e1fc21
1 changed files with 3 additions and 3 deletions
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6
examples/plot_city10000.m
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@ -6,7 +6,7 @@ gt = dlmread('Data/ISAM2_GT_city10000.txt');
eh_poses = dlmread('../build/examples/ISAM2_city10000.txt'); eh_poses = dlmread('../build/examples/ISAM2_city10000.txt');
% Generate by running `make Hybrid_City10000.run` % Generate by running `make Hybrid_City10000.run`
h_poses = dlmread('../build/examples/HybridISAM_city10000.txt'); h_poses = dlmread('../build/examples/Hybrid_City10000.txt');
% Plot the same number of GT poses as estimated ones % Plot the same number of GT poses as estimated ones
% gt = gt(1:size(eh_poses, 1), :); % gt = gt(1:size(eh_poses, 1), :);
@ -18,7 +18,7 @@ figure(1)
hold on; hold on;
axis equal; axis equal;
axis([-65 65 -75 60]) axis([-65 65 -75 60])
title('City10000 result with Hybrid Factor Graphs'); % title('City10000 result with Hybrid Factor Graphs');
plot(gt(:,1), gt(:,2), '--', 'LineWidth', 4, 'color', [0.1 0.7 0.1 0.5]); plot(gt(:,1), gt(:,2), '--', 'LineWidth', 4, 'color', [0.1 0.7 0.1 0.5]);
plot(h_poses(:,1), h_poses(:,2), '-', 'LineWidth', 2, 'color', [0.1 0.1 0.9 0.4]); plot(h_poses(:,1), h_poses(:,2), '-', 'LineWidth', 2, 'color', [0.1 0.1 0.9 0.4]);
legend('Ground truth', 'Hybrid Factor Graphs'); legend('Ground truth', 'Hybrid Factor Graphs');
@ -28,7 +28,7 @@ figure(2)
hold on; hold on;
axis equal; axis equal;
axis([-65 65 -75 60]) axis([-65 65 -75 60])
title('City10000 result with ISAM2'); % title('City10000 result with ISAM2');
plot(gt(:,1), gt(:,2), '--', 'LineWidth', 4, 'color', [0.1 0.7 0.1 0.5]); plot(gt(:,1), gt(:,2), '--', 'LineWidth', 4, 'color', [0.1 0.7 0.1 0.5]);
plot(eh_poses(:,1), eh_poses(:,2), '-', 'LineWidth', 2, 'color', [0.9 0.1 0. 0.4]); plot(eh_poses(:,1), eh_poses(:,2), '-', 'LineWidth', 2, 'color', [0.9 0.1 0. 0.4]);
legend('Ground truth', 'ISAM2'); legend('Ground truth', 'ISAM2');