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label subplots for each estimator and hyphenate Geman-McClure

release/4.3a0
Varun Agrawal 2019-10-07 23:43:01 -04:00
parent 8280a082bd
commit 5c883caf16
1 changed files with 10 additions and 5 deletions
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15
matlab/gtsam_examples/VisualizeMEstimators.m
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@ -36,7 +36,7 @@ plot_m_estimator(x, cauchyNoiseModel, rho, 'Cauchy', 3, 'cauchy.png')
c = 1.0;
rho = gemanmcclure(x, c);
gemanmcclureNoiseModel = gtsam.noiseModel.mEstimator.GemanMcClure(c);
plot_m_estimator(x, gemanmcclureNoiseModel, rho, 'GemanMcClure', 4, 'gemanmcclure.png')
plot_m_estimator(x, gemanmcclureNoiseModel, rho, 'Geman-McClure', 4, 'gemanmcclure.png')
c = 2.9846;
rho = welsch(x, c);
@ -59,15 +59,20 @@ function plot_m_estimator(x, model, rho, plot_title, fig_id, filename)
figure(fig_id);
subplot(3, 1, 1);
plot(x, rho);
plot(x, rho, 'LineWidth',2);
title('rho function');
xlim([-5, 5]);
title(plot_title);
subplot(3, 1, 2);
plot(x, psi);
plot(x, psi, 'LineWidth',2);
title('influence function');
xlim([-5, 5]);
subplot(3, 1, 3);
plot(x, w);
plot(x, w, 'LineWidth',2);
title('weight function');
xlim([-5, 5]);
sgtitle(plot_title, 'FontSize', 26);
saveas(figure(fig_id), filename);
end