From 436afafa03ae86a7e414107bdb8d3c4bdf88a954 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 14 Jun 2012 03:14:53 +0000
Subject: [PATCH] Fixed Remaining problems with GUI

---
 gtsam/nonlinear/Values.cpp | 4 +---
 matlab/VisualISAMPlot.m    | 6 +++---
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp
index a6804c1a6..bb66943eb 100644
--- a/gtsam/nonlinear/Values.cpp
+++ b/gtsam/nonlinear/Values.cpp
@@ -165,10 +165,8 @@ namespace gtsam {
   /* ************************************************************************* */
   FastList<Key> Values::keys() const {
     FastList<Key> result;
-    for(const_iterator key_value = begin(); key_value != end(); ++key_value) {
+    for(const_iterator key_value = begin(); key_value != end(); ++key_value)
       result.push_back(key_value->key);
-      cout << result.back() << endl;
-    }
     return result;
   }
 
diff --git a/matlab/VisualISAMPlot.m b/matlab/VisualISAMPlot.m
index 90c542662..a2950b5dc 100644
--- a/matlab/VisualISAMPlot.m
+++ b/matlab/VisualISAMPlot.m
@@ -10,9 +10,9 @@ cla(h);
 hold on;
 
 %% Plot points
-pointKeys = result.allPoints().keys();
-for j=0:N-1  % NOTE: uses indexing directly from a C++ vector, so zero-indexed
-    jj = pointKeys.at(j);
+for k=1:length(data.J{M})
+    j = data.J{M}{k};
+    jj = symbol('l', j);
     point_j = result.point(jj);
     plot3(point_j.x, point_j.y, point_j.z,'marker','o');
     P = isam.marginalCovariance(jj);