From 9dbe61a05e63808f6b5da33a26bf918b35f527aa Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 28 Jan 2016 00:57:24 -0800
Subject: [PATCH] Cleaned up plot

---
 python/gtsam_utils/__init__.py           |  2 +-
 python/gtsam_utils/{_plot.py => plot.py} | 34 ++++++++++++------------
 2 files changed, 18 insertions(+), 18 deletions(-)
 rename python/gtsam_utils/{_plot.py => plot.py} (66%)

diff --git a/python/gtsam_utils/__init__.py b/python/gtsam_utils/__init__.py
index 0ef2dfcd3..56c55aa94 100644
--- a/python/gtsam_utils/__init__.py
+++ b/python/gtsam_utils/__init__.py
@@ -1 +1 @@
-from ._plot import *
+from .plot import *
diff --git a/python/gtsam_utils/_plot.py b/python/gtsam_utils/plot.py
similarity index 66%
rename from python/gtsam_utils/_plot.py
rename to python/gtsam_utils/plot.py
index f1603bbf5..84a388bbb 100644
--- a/python/gtsam_utils/_plot.py
+++ b/python/gtsam_utils/plot.py
@@ -1,11 +1,11 @@
-import numpy as _np
-import matplotlib.pyplot as _plt
+import numpy as np
+import matplotlib.pyplot as plt
 from mpl_toolkits.mplot3d import Axes3D as _Axes3D
 
 def plotPoint3(fignum, point, linespec):
-    fig = _plt.figure(fignum)
+    fig = plt.figure(fignum)
     ax = fig.gca(projection='3d')
-    ax.plot([point.x()],[point.y()],[point.z()], linespec)
+    ax.plot([point.x()], [point.y()], [point.z()], linespec)
 
 
 def plot3DPoints(fignum, values, linespec, marginals=None):
@@ -19,7 +19,7 @@ def plot3DPoints(fignum, values, linespec, marginals=None):
     # Plot points and covariance matrices
     for key in keys:
         try:
-            p = values.point3_at(key);
+            p = values.atPoint3(key);
             # if haveMarginals
             #     P = marginals.marginalCovariance(key);
             #     gtsam.plotPoint3(p, linespec, P);
@@ -27,11 +27,11 @@ def plot3DPoints(fignum, values, linespec, marginals=None):
             plotPoint3(fignum, p, linespec);
         except RuntimeError:
             continue
-            #I guess it's not a Point3
+            # I guess it's not a Point3
 
 def plotPose3(fignum, pose, axisLength=0.1):
     # get figure object
-    fig = _plt.figure(fignum)
+    fig = plt.figure(fignum)
     ax = fig.gca(projection='3d')
 
     # get rotation and translation (center)
@@ -39,21 +39,21 @@ def plotPose3(fignum, pose, axisLength=0.1):
     C = pose.translation().vector()
 
     # draw the camera axes
-    xAxis = C+gRp[:,0]*axisLength
-    L = _np.append(C[_np.newaxis], xAxis[_np.newaxis], axis=0)
-    ax.plot(L[:,0],L[:,1],L[:,2],'r-')
+    xAxis = C + gRp[:, 0] * axisLength
+    L = np.append(C[np.newaxis], xAxis[np.newaxis], axis=0)
+    ax.plot(L[:, 0], L[:, 1], L[:, 2], 'r-')
     
-    yAxis = C+gRp[:,1]*axisLength
-    L = _np.append(C[_np.newaxis], yAxis[_np.newaxis], axis=0)
-    ax.plot(L[:,0],L[:,1],L[:,2],'g-')
+    yAxis = C + gRp[:, 1] * axisLength
+    L = np.append(C[np.newaxis], yAxis[np.newaxis], axis=0)
+    ax.plot(L[:, 0], L[:, 1], L[:, 2], 'g-')
     
-    zAxis = C+gRp[:,2]*axisLength
-    L = _np.append(C[_np.newaxis], zAxis[_np.newaxis], axis=0)
-    ax.plot(L[:,0],L[:,1],L[:,2],'b-')
+    zAxis = C + gRp[:, 2] * axisLength
+    L = np.append(C[np.newaxis], zAxis[np.newaxis], axis=0)
+    ax.plot(L[:, 0], L[:, 1], L[:, 2], 'b-')
 
     # # plot the covariance
     # if (nargin>2) && (~isempty(P))
     #     pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame    
     #     gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame
     #     gtsam.covarianceEllipse3D(C,gPp);  
-    # end
\ No newline at end of file
+    # end