9 lines
307 B
Matlab
9 lines
307 B
Matlab
%% Plot result, including covariance ellipses
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figure(1);clf; plot(initial.xs(),initial.ys(),'g-*'); axis equal
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hold on; plot(result.xs(),result.ys(),'b-*')
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for i=1:result.size()-1
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pose_i = result.pose(i);
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P{i}=marginals.marginalCovariance(i);
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covarianceEllipse([pose_i.x;pose_i.y],P{i},'b')
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end
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