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Put back Alex's change that I foolishly undid.

release/4.3a0
Frank Dellaert 2012-06-14 03:55:01 +00:00
parent 7d3db1c962
commit 984032e29e
1 changed files with 4 additions and 3 deletions
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7
matlab/VisualISAMPlot.m
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@ -10,9 +10,10 @@ cla(h);
hold on; hold on;
%% Plot points %% Plot points
for k=1:length(data.J{M}) % Can't use data because current frame might not see all points
j = data.J{M}{k}; pointKeys = result.allPoints().keys();
jj = symbol('l', j); 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); 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);