45 lines
1.1 KiB
Matlab
45 lines
1.1 KiB
Matlab
function plot3DPoints(values, linespec, marginals)
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%PLOT3DPOINTS Plots the Point3's in a values, with optional covariances
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% Finds all the Point3 objects in the given Values object and plots them.
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% If a Marginals object is given, this function will also plot marginal
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% covariance ellipses for each point.
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import gtsam.*
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if ~exist('linespec', 'var') || isempty(linespec)
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linespec = 'g*';
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end
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haveMarginals = exist('marginals', 'var');
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keys = KeyVector(values.keys);
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holdstate = ishold;
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hold on
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if haveMarginals
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% Plot points and covariance matrices (slow)
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for i = 0:keys.size-1
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key = keys.at(i);
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try
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p = values.atPoint3(key)
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P = marginals.marginalCovariance(key);
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gtsam.plotPoint3(p, linespec, P);
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catch
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% I guess it's not a Point3
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end
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end
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else
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% Extract all in C++ and plot all at once (fast)
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P = utilities.extractPoint3(values);
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if size(linespec,2)==1
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plot3(P(:,1),P(:,2),P(:,3),[linespec '*']);
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else
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plot3(P(:,1),P(:,2),P(:,3),linespec);
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end
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end
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if ~holdstate
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hold off
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end
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end
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