Fixed some comments
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				|  | @ -1,5 +1,5 @@ | |||
| function [data,truth] = VisualISAMGenerateData(options) | ||||
| % VisualISAMGenerateData: create data for viusalSLAM::iSAM examples | ||||
| % VisualISAMGenerateData creates data for viusalSLAM::iSAM examples | ||||
| % Authors: Duy Nguyen Ta and Frank Dellaert | ||||
| 
 | ||||
| %% Generate simulated data | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function [noiseModels,isam,result,nextPoseIndex] = VisualISAMInitialize(data,truth,options) | ||||
| % VisualInitialize: initialize visualSLAM::iSAM object and noise parameters | ||||
| % VisualISAMInitialize initializes visualSLAM::iSAM object and noise parameters | ||||
| % Authors: Duy Nguyen Ta, Frank Dellaert and Alex Cunningham | ||||
| 
 | ||||
| %% Initialize iSAM | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function VisualISAMPlot(truth, data, isam, result, options) | ||||
| % VisualISAMPlot: plot current state of ISAM2 object | ||||
| % VisualISAMPlot plots current state of ISAM2 object | ||||
| % Authors: Duy Nguyen Ta and Frank Dellaert | ||||
| 
 | ||||
| h=gca; | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function [isam,result,nextPoseIndex] = VisualISAMStep(data,noiseModels,isam,result,truth,nextPoseIndex) | ||||
| % VisualISAMStep: execute one update step of visualSLAM::iSAM object | ||||
| % VisualISAMStep executes one update step of visualSLAM::iSAM object | ||||
| % Authors: Duy Nguyen Ta and Frank Dellaert | ||||
| 
 | ||||
| % iSAM expects us to give it a new set of factors  | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function values = circlePose2(numPoses, radius, symbolChar) | ||||
| % circlePose3: generate a set of poses in a circle. This function | ||||
| % circlePose2 generates a set of poses in a circle. This function | ||||
| % returns those poses inside a gtsam.Values object, with sequential | ||||
| % keys starting from 0. An optional character may be provided, which | ||||
| % will be stored in the msb of each key (i.e. gtsam.Symbol). | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function values = circlePose3(numPoses, radius, symbolChar) | ||||
| % circlePose3: generate a set of poses in a circle. This function | ||||
| % circlePose3 generates a set of poses in a circle. This function | ||||
| % returns those poses inside a gtsam.Values object, with sequential | ||||
| % keys starting from 0. An optional character may be provided, which | ||||
| % will be stored in the msb of each key (i.e. gtsam.Symbol). | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function covarianceEllipse(x,P,color) | ||||
| % covarianceEllipse: plot a Gaussian as an uncertainty ellipse | ||||
| % covarianceEllipse plots a Gaussian as an uncertainty ellipse | ||||
| % Based on Maybeck Vol 1, page 366 | ||||
| % k=2.296 corresponds to 1 std, 68.26% of all probability | ||||
| % k=11.82 corresponds to 3 std, 99.74% of all probability | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function covarianceEllipse3D(c,P) | ||||
| % covarianceEllipse3D: plot a Gaussian as an uncertainty ellipse | ||||
| % covarianceEllipse3D plots a Gaussian as an uncertainty ellipse | ||||
| % Based on Maybeck Vol 1, page 366 | ||||
| % k=2.296 corresponds to 1 std, 68.26% of all probability | ||||
| % k=11.82 corresponds to 3 std, 99.74% of all probability | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function [graph,initial] = load3D(filename,model,successive,N) | ||||
| % load3D: read TORO 3D pose graph | ||||
| % load3D reads a TORO-style 3D pose graph | ||||
| % cannot read noise model from file yet, uses specified model | ||||
| % if [successive] is tru, constructs initial estimate from odometry | ||||
| 
 | ||||
|  |  | |||
|  | @ -1,5 +1,7 @@ | |||
| function plot3DTrajectory(values,linespec,frames,scale,marginals) | ||||
| % plot3DTrajectory | ||||
| % plot3DTrajectory plots a 3D trajectory | ||||
| % plot3DTrajectory(values,linespec,frames,scale,marginals) | ||||
| 
 | ||||
| if ~exist('scale','var') || isempty(scale), scale=1; end | ||||
| if ~exist('frames','var'), scale=[]; end | ||||
| 
 | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function plotPoint2(p,color,P) | ||||
| % plotPoint2: show a Point2, possibly with covariance matrix | ||||
| % plotPoint2 shows a Point2, possibly with covariance matrix | ||||
| if size(color,2)==1 | ||||
|     plot(p.x,p.y,[color '*']); | ||||
| else | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function plotPose2(pose,color,P,axisLength) | ||||
| % plotPose2: show a Pose2, possibly with covariance matrix | ||||
| % plotPose2 shows a Pose2, possibly with covariance matrix | ||||
| if nargin<4,axisLength=0.1;end | ||||
| 
 | ||||
| plot(pose.x,pose.y,[color '*']); | ||||
|  |  | |||
|  | @ -1,5 +1,5 @@ | |||
| function plotPose3(pose, P, axisLength) | ||||
| % plotPose3: show a Pose, possibly with covariance matrix | ||||
| % plotPose3 shows a Pose, possibly with covariance matrix | ||||
| if nargin<3,axisLength=0.1;end | ||||
| 
 | ||||
| % get rotation and translation (center) | ||||
|  |  | |||
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