Put back Alex's change that I foolishly undid.
parent
7d3db1c962
commit
984032e29e
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@ -10,9 +10,10 @@ cla(h);
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hold on;
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%% Plot points
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for k=1:length(data.J{M})
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j = data.J{M}{k};
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jj = symbol('l', j);
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% Can't use data because current frame might not see all points
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pointKeys = result.allPoints().keys();
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for j=0:N-1 % NOTE: uses indexing directly from a C++ vector, so zero-indexed
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jj = pointKeys.at(j);
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point_j = result.point(jj);
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plot3(point_j.x, point_j.y, point_j.z,'marker','o');
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P = isam.marginalCovariance(jj);
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