46 lines
1.3 KiB
Matlab
46 lines
1.3 KiB
Matlab
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function vPlot( handles )
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%VPLOT Summary of this function goes here
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% Detailed explanation goes here
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if (handles.frame_i<2)
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sprintf('Cannot plot the first frame')
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return
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end
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sprintf('Plotting to frame %d', handles.frame_i)
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cla;
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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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hold on;
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for j=1:handles.nPoints
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P = handles.isam.marginalCovariance(symbol('l',j));
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point_j = handles.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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covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P);
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end
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for ii=1:handles.CAMERA_INTERVAL:handles.frame_i
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P = handles.isam.marginalCovariance(symbol('x',ii));
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pose_ii = handles.result.pose(symbol('x',ii));
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plotPose3(pose_ii,P,10);
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if handles.DRAW_TRUE_POSES % show ground truth
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plotPose3(handles.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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% figure(2);
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t=toc;
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if handles.DRAW_INTERVAL~=handles.NCAMERAS, plot(handles.frame_i,t,'b.'); end
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if handles.SAVE_FIGURES
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print(h,'-dpng',sprintf('VisualiSAM%03d.png',handles.frame_i));
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end
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if handles.SAVE_GRAPHS
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handles.isam.saveGraph(sprintf('VisualiSAM%03d.dot',handles.frame_i));
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end
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hold off;
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end
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