Visualization Function Reference
drawLandms(fg; from, to, minnei, meanmax, lbls, showmm, drawhist, c, MM, api)
2D plot of landmarks, assuming
:l1, :l2, ... :ln. Use
to to control the range of landmarks
n to include.
drawPoses(fg; from, to, meanmax, lbls, drawhist, spscale, api)
2D plot of all poses, assuming poses are labeled from `
:x0, :x1, ..., :xn. Use
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
- Relax to user defined pose labeling scheme, for example
:p1, :p2, ...
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
to along with other keyword functionality for manipulating the plot.
plotKDE(fgl, sym; axis, dims, c, levels, title)
A peneric KDE plotting function that allows marginals of higher dimensional beliefs and various keyword options.
p = kde!(randn(3,100)) plotKDE(p) plotKDE(p, dims=[1;2], levels=3) plotKDE(p, dims=) q = kde!(5*randn(3,100)) plotKDE([p;q]) plotKDE([p;q], dims=[1;2], levels=3) plotKDE([p;q], dims=)
plotPose(fgl, syms; levels, c, axis, show, filepath, app)
Example: pl = plotPose(fg, [:x1; :x2; :x3])
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.