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different plots for each mEstimator

release/4.3a0
Varun Agrawal 2019-09-18 23:41:20 -04:00
parent c8e18c95d0
commit ab044b693b
1 changed files with 33 additions and 21 deletions
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54
matlab/gtsam_examples/VisualizeMEstimators.m
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@ -7,57 +7,69 @@ x = linspace(-10, 10, 1000);
% x = linspace(-10, 10, 21) % x = linspace(-10, 10, 21)
[rho, psi, w] = fair(x); [rho, psi, w] = fair(x);
figure(1);
plot_rho(x, rho, 1, -1, 30) plot_rho(x, rho, 1, -1, 30)
title('Fair'); title('Fair');
plot_psi(x, psi, 7, -3, 3); plot_psi(x, psi, 2, -3, 3);
plot_w(x, w, 13, 3); plot_w(x, w, 3, 3);
saveas(figure(1), 'fair.png');
[rho, psi, w] = huber(x); [rho, psi, w] = huber(x);
plot_rho(x, rho, 2, -1, 30); figure(2);
plot_rho(x, rho, 1, -1, 30);
title('Huber'); title('Huber');
plot_psi(x, psi, 8, -15, 15); plot_psi(x, psi, 2, -15, 15);
plot_w(x, w, 14, 5); plot_w(x, w, 3, 5);
saveas(figure(2), 'huber.png');
[rho, psi, w] = cauchy(x); [rho, psi, w] = cauchy(x);
plot_rho(x, rho, 3, -0.1, 0.1); figure(3);
plot_rho(x, rho, 1, -0.1, 0.1);
title('Cauchy'); title('Cauchy');
plot_psi(x, psi, 9, -0.2, 0.2); plot_psi(x, psi, 2, -0.2, 0.2);
plot_w(x, w, 15, 1.5); plot_w(x, w, 3, 1.5);
saveas(figure(3), 'cauchy.png');
[rho, psi, w] = gemancclure(x); [rho, psi, w] = gemancclure(x);
plot_rho(x, rho, 4, -1, 1); figure(4);
plot_rho(x, rho, 1, -1, 1);
title('Geman-McClure'); title('Geman-McClure');
plot_psi(x, psi, 10, -1, 1); plot_psi(x, psi, 2, -1, 1);
plot_w(x, w, 16, 1.5); plot_w(x, w, 3, 1.5);
saveas(figure(4), 'gemanmcclure.png');
[rho, psi, w] = welsch(x); [rho, psi, w] = welsch(x);
plot_rho(x, rho, 5, -5, 10); figure(5);
plot_rho(x, rho, 1, -5, 10);
title('Welsch'); title('Welsch');
plot_psi(x, psi, 11, -2, 2); plot_psi(x, psi, 2, -2, 2);
plot_w(x, w, 17, 2); plot_w(x, w, 3, 2);
saveas(figure(5), 'welsch.png');
[rho, psi, w] = tukey(x); [rho, psi, w] = tukey(x);
plot_rho(x, rho, 6, -5, 10); figure(6);
plot_rho(x, rho, 1, -5, 10);
title('Tukey'); title('Tukey');
plot_psi(x, psi, 12, -2, 2); plot_psi(x, psi, 2, -2, 2);
plot_w(x, w, 18, 2); plot_w(x, w, 3, 2);
saveas(figure(6), 'tukey.png');
function plot_rho(x, y, idx, yll, ylu) function plot_rho(x, y, idx, yll, ylu)
subplot(3, 6, idx); subplot(3, 1, idx);
plot(x, y); plot(x, y);
xlim([-15, 15]); xlim([-15, 15]);
ylim([yll, ylu]); ylim([yll, ylu]);
end end
function plot_psi(x, y, idx, yll, ylu) function plot_psi(x, y, idx, yll, ylu)
subplot(3, 6, idx); subplot(3, 1, idx);
plot(x, y); plot(x, y);
xlim([-15, 15]); xlim([-15, 15]);
ylim([yll, ylu]); ylim([yll, ylu]);
end end
function plot_w(x, y, idx, yl) function plot_w(x, y, idx, yl)
subplot(3, 6, idx); subplot(3, 1, idx);
plot(x, y); plot(x, y);
xlim([-15, 15]); xlim([-15, 15]);
ylim([-yl, yl]); ylim([-yl, yl]);
@ -131,7 +143,7 @@ function [rho, psi, w] = welsch(x)
c = 2.9846; c = 2.9846;
rho = (c^2 / 2) * ( 1 - exp(-(x ./ c) .^2 )); rho = (c^2 / 2) * ( 1 - exp(-(x ./ c) .^2 ));
est = noiseModel.mEstimator.Welsh(c); est = noiseModel.mEstimator.Welsch(c);
w = zeros(size(x)); w = zeros(size(x));
for i = 1:size(x, 2) for i = 1:size(x, 2)