From effcfc7b7a2cbe825660a8132c684c34f1996b23 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 25 Jan 2025 00:59:02 -0500
Subject: [PATCH] improved plotting script

---
 examples/plot_city10000.m | 24 +++++++++++++++++++-----
 1 file changed, 19 insertions(+), 5 deletions(-)

diff --git a/examples/plot_city10000.m b/examples/plot_city10000.m
index 2387b442e..6d6a4637c 100644
--- a/examples/plot_city10000.m
+++ b/examples/plot_city10000.m
@@ -2,13 +2,27 @@ clear;
 
 gt = dlmread('Data/ISAM2_GT_city10000.txt');
 
-eh_poses = dlmread('../build/examples/ISAM2_TEST_city10000.txt');
+eh_poses = dlmread('../build/examples/ISAM2_city10000.txt');
 
-figure;
+h_poses = dlmread('../build/examples/HybridISAM_city10000.txt');
+
+% Plot the same number of GT poses as estimated ones
+% gt = gt(1:size(eh_poses, 1), :);
+gt = gt(1:size(h_poses, 1), :);
+eh_poses = eh_poses(1:size(h_poses, 1), :);
+
+
+figure(1)
 hold on;
 axis equal;
 axis([-65 65 -75 60])
+plot(gt(:,1), gt(:,2), '--', 'LineWidth', 4, 'color', [0.1 0.7 0.1 0.5]);
+% hold off;
 
-plot(gt(:,1), gt(:,2), '-', 'LineWidth', 4, 'color', [0.1 0.7 0.1]);
-
-plot(eh_poses(:,1), eh_poses(:,2), '-', 'LineWidth', 2, 'color', [0.1 0.1 0.9]);
+% figure(2)
+% hold on;
+% axis equal;
+% axis([-65 65 -75 60])
+plot(eh_poses(:,1), eh_poses(:,2), '-', 'LineWidth', 2, 'color', [0.9 0.1 0. 0.4]);
+plot(h_poses(:,1), h_poses(:,2), '-', 'LineWidth', 2, 'color', [0.1 0.1 0.9 0.4]);
+hold off;