Put back Alex's change that I foolishly undid.
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				|  | @ -10,9 +10,10 @@ cla(h); | |||
| hold on; | ||||
| 
 | ||||
| %% Plot points | ||||
| for k=1:length(data.J{M}) | ||||
|     j = data.J{M}{k}; | ||||
|     jj = symbol('l', j); | ||||
| % Can't use data because current frame might not see all 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); | ||||
|     point_j = result.point(jj); | ||||
|     plot3(point_j.x, point_j.y, point_j.z,'marker','o'); | ||||
|     P = isam.marginalCovariance(jj); | ||||
|  |  | |||
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