## Visualization Function Reference

### RoMEPlotting

`RoMEPlotting.drawLandms`

— Function.```
drawLandms(fg; from, to, minnei, meanmax, lbls, showmm, drawhist, c, MM, api)
```

2D plot of landmarks, assuming `:l1, :l2, ... :ln`

. Use `from`

and `to`

to control the range of landmarks `n`

to include.

`RoMEPlotting.drawPoses`

— Function.```
drawPoses(fg; from, to, meanmax, lbls, drawhist, spscale, api)
```

2D plot of all poses, assuming poses are labeled from ``::Symbol`

type `:x0, :x1, ..., :xn`

. Use `to`

and `from`

to limit the range of numbers `n`

to be drawn. The underlying histogram can be enabled or disabled, and the size of maximum-point belief estimate cursors can be controlled with `spscale`

.

Future:

- Relax to user defined pose labeling scheme, for example
`:p1, :p2, ...`

`RoMEPlotting.drawPosesLandms`

— Function.```
drawPosesLandms(fgl; from, to, minnei, meanmax, lbls, drawhist, MM, showmm, spscale, window, api, xmin, xmax, ymin, ymax)
```

2D plot of both poses and landmarks contained in factor graph. Assuming poses and landmarks are labeled `:x1, :x2, ...`

and `:l0, :l1, ...`

, respectively. The rnage of numbers to include can be controlled with `from`

and `to`

along with other keyword functionality for manipulating the plot.

`KernelDensityEstimatePlotting.plotKDE`

— Function.```
plotKDE(fgl, sym; axis, dims, c, levels, title)
```

A peneric KDE plotting function that allows marginals of higher dimensional beliefs and various keyword options.

Example:

```
p = kde!(randn(3,100))
plotKDE(p)
plotKDE(p, dims=[1;2], levels=3)
plotKDE(p, dims=[1])
q = kde!(5*randn(3,100))
plotKDE([p;q])
plotKDE([p;q], dims=[1;2], levels=3)
plotKDE([p;q], dims=[1])
```

`RoMEPlotting.plotPose`

— Function.```
plotPose(fgl, syms; levels, c, axis, show, filepath, app)
```

Example: pl = plotPose(fg, [:x1; :x2; :x3])

`RoMEPlotting.plotProductVsKDE`

— Function.```
plotProductVsKDE(fgl, sym; levels, c)
```

Analysis function to compare KDE plots between the factor graph centric product of a variable with current value stored in the factor graph object.

**WORK IN PROGRESS** Not all functions have been added to this directory yet.