46 lines
1.1 KiB
Matlab
46 lines
1.1 KiB
Matlab
VisualISAMGlobalVars
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%% Plot results
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tic
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% h=figure(2);clf
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% set(1,'NumberTitle','off','Name','Visual iSAM');
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h=gca;
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cla(h);
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hold on;
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sprintf('Computing marginals and plotting. Please wait...')
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for j=1:size(points,2)
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point_j = result.point(symbol('l',j));
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plot3(point_j.x, point_j.y, point_j.z,'marker','o');
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if (frame_i>1)
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P = isam.marginalCovariance(symbol('l',j));
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covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P);
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end
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end
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for ii=1:CAMERA_INTERVAL:frame_i
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pose_ii = result.pose(symbol('x',ii));
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if (frame_i>1)
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P = isam.marginalCovariance(symbol('x',ii));
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else
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P = []
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end
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plotPose3(pose_ii,P,10);
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if DRAW_TRUE_POSES % show ground truth
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plotPose3(cameras{ii}.pose,0.001*eye(6),10);
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end
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end
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axis([-40 40 -40 40 -10 20]);axis equal
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view(3)
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colormap('hot')
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sprintf('Done!')
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% figure(2);
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t=toc;
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% if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end
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if SAVE_FIGURES
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print(h,'-dpng',sprintf('VisualiSAM%03d.png',frame_i));
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end
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if SAVE_GRAPHS
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isam.saveGraph(sprintf('VisualiSAM%03d.dot',frame_i));
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end
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drawnow |