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Fixed Remaining problems with GUI

release/4.3a0
Frank Dellaert 2012-06-14 03:14:53 +00:00
parent dd0574ebeb
commit 436afafa03
2 changed files with 4 additions and 6 deletions
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4
gtsam/nonlinear/Values.cpp
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@ -165,10 +165,8 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
FastList<Key> Values::keys() const { FastList<Key> Values::keys() const {
FastList<Key> result; 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); result.push_back(key_value->key);
cout << result.back() << endl;
}
return result; return result;
} }

6
matlab/VisualISAMPlot.m
View File

@ -10,9 +10,9 @@ cla(h);
hold on; hold on;
%% Plot points %% Plot points
pointKeys = result.allPoints().keys(); for k=1:length(data.J{M})
for j=0:N-1 % NOTE: uses indexing directly from a C++ vector, so zero-indexed j = data.J{M}{k};
jj = pointKeys.at(j); jj = symbol('l', j);
point_j = result.point(jj); point_j = result.point(jj);
plot3(point_j.x, point_j.y, point_j.z,'marker','o'); plot3(point_j.x, point_j.y, point_j.z,'marker','o');
P = isam.marginalCovariance(jj); P = isam.marginalCovariance(jj);