38 lines
880 B
Matlab
38 lines
880 B
Matlab
|
function plot2DPoints(values, linespec, marginals)
|
||
|
|
%PLOT2DPOINTS Plots the Point2's in a values, with optional covariances
|
||
|
|
% Finds all the Point2 objects in the given Values object and plots them.
|
||
|
|
% If a Marginals object is given, this function will also plot marginal
|
||
|
|
% covariance ellipses for each point.
|
||
|
|
|
||
|
|
import gtsam.*
|
||
|
|
|
||
|
|
if ~exist('linespec', 'var') || isempty(linespec)
|
||
|
|
linespec = 'g';
|
||
|
|
end
|
||
|
|
haveMarginals = exist('marginals', 'var');
|
||
|
|
keys = KeyVector(values.keys);
|
||
|
|
|
||
|
|
holdstate = ishold;
|
||
|
|
hold on
|
||
|
|
|
||
|
|
% Plot points and covariance matrices
|
||
|
|
for i = 0:keys.size-1
|
||
|
|
key = keys.at(i);
|
||
|
|
p = values.at(key);
|
||
|
|
if isa(p, 'gtsam.Point2')
|
||
|
|
if haveMarginals
|
||
|
|
P = marginals.marginalCovariance(key);
|
||
|
|
gtsam.plotPoint2(p, linespec, P);
|
||
|
|
else
|
||
|
|
gtsam.plotPoint2(p, linespec);
|
||
|
|
end
|
||
|
|
end
|
||
|
|
end
|
||
|
|
|
||
|
|
if ~holdstate
|
||
|
|
hold off
|
||
|
|
end
|
||
|
|
|
||
|
|
end
|
||
|
|
|