From 97ae9fde87e61ee976434b2211990d1fdaffe6e0 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 22 Jan 2025 19:56:40 -0500 Subject: [PATCH] matlab script to plot results for City10000 --- examples/Data/ISAM2_GT_city10000.txt | 10000 +++++++++++++++++++++++++ examples/plot_city10000.m | 14 + 2 files changed, 10014 insertions(+) create mode 100644 examples/Data/ISAM2_GT_city10000.txt create mode 100644 examples/plot_city10000.m diff --git a/examples/Data/ISAM2_GT_city10000.txt b/examples/Data/ISAM2_GT_city10000.txt new file mode 100644 index 000000000..6c2e1ebdf --- /dev/null +++ b/examples/Data/ISAM2_GT_city10000.txt @@ -0,0 +1,10000 @@ +-1.83361e-22 5.41728e-22 -1.21355e-20 +1 4.73904e-07 4.21293e-07 +2 1.17319e-06 -2.15184e-07 +3 2.55619e-06 1.21252e-06 +4 3.77861e-06 2.26594e-06 +5 6.05447e-06 2.23579e-06 +6 7.87162e-06 1.99434e-06 +7 8.9391e-06 2.04704e-06 +8 1.08111e-05 2.1408e-06 +9 1.34125e-05 6.59254e-07 +10 1.38708e-05 9.70282e-07 +11 1.51083e-05 9.06834e-07 +12 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-12.9999 1.5708 +50 -11.9999 1.5708 +50 -10.9999 1.5708 +50 -9.99993 1.5708 +50 -8.99993 1.5708 +50 -7.99993 1.5708 +50 -6.99993 1.5708 +50 -5.99993 1.5708 +50 -4.99993 1.5708 +50 -3.99993 1.5708 +50 -2.99993 1.5708 +50 -1.99993 1.5708 +50 -0.999933 1.5708 diff --git a/examples/plot_city10000.m b/examples/plot_city10000.m new file mode 100644 index 000000000..2387b442e --- /dev/null +++ b/examples/plot_city10000.m @@ -0,0 +1,14 @@ +clear; + +gt = dlmread('Data/ISAM2_GT_city10000.txt'); + +eh_poses = dlmread('../build/examples/ISAM2_TEST_city10000.txt'); + +figure; +hold on; +axis equal; +axis([-65 65 -75 60]) + +plot(gt(:,1), gt(:,2), '-', 'LineWidth', 4, 'color', [0.1 0.7 0.1]); + +plot(eh_poses(:,1), eh_poses(:,2), '-', 'LineWidth', 2, 'color', [0.1 0.1 0.9]);