12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

improved plotting script

release/4.3a0
Varun Agrawal 2025-01-25 00:59:02 -05:00
parent 5cee0a2d34
commit effcfc7b7a
1 changed files with 19 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
examples/plot_city10000.m
View File

@ -2,13 +2,27 @@ clear;
gt = dlmread('Data/ISAM2_GT_city10000.txt'); 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; hold on;
axis equal; axis equal;
axis([-65 65 -75 60]) 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]); % figure(2)
% hold on;
plot(eh_poses(:,1), eh_poses(:,2), '-', 'LineWidth', 2, 'color', [0.1 0.1 0.9]); % 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;