gtsam.examples.plot_city10000 Namespace Reference

Functions
def	main ()
def	parse_args ()
def	plot_estimates (gt, estimates, int fignum, estimate_color=(0.1, 0.1, 0.9, 0.4), estimate_label="Hybrid Factor Graphs")

Detailed Description

GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved

See LICENSE for the license information

Script to plot City10000 results.
Can be used to plot results from both C++ and python scripts.

Usage:
```
python plot_city10000.py ../../../examples/Data/ISAM2_GT_city10000.txt \
--estimates ../../../build/examples/ISAM2_city10000.txt \
    ../../../build/examples/Hybrid_City10000.txt
```

NOTE: We can pass in as many estimates as we need,
though we also need to pass in the same number of --colors and --labels.

You can generate estimates by running
- `make ISAM2_City10000.run` for the ISAM2 version
- `make Hybrid_City10000.run` for the Hybrid Smoother version

Author: Varun Agrawal

Function Documentation

main()

def gtsam.examples.plot_city10000.main

(

)

Main runner

Definition at line 89 of file plot_city10000.py.

parse_args()

def gtsam.examples.plot_city10000.parse_args

(

)

Parse command line arguments

Definition at line 34 of file plot_city10000.py.

plot_estimates()

def gtsam.examples.plot_city10000.plot_estimates	(		gt,
			estimates,
		int	fignum,
			estimate_color = (0.1, 0.1, 0.9, 0.4),
			estimate_label = "Hybrid Factor Graphs"
	)

Plot the City10000 estimates against the ground truth.

Args:
    gt (np.ndarray): The ground truth trajectory as xy values.
    estimates (np.ndarray): The estimates trajectory as xy values.
    fignum (int): The figure number for multiple plots.
    estimate_color (tuple, optional): The color to use for the graph of estimates.
        Defaults to (0.1, 0.1, 0.9, 0.4).
    estimate_label (str, optional): Label for the estimates, used in the legend.
        Defaults to "Hybrid Factor Graphs".

Definition at line 54 of file plot_city10000.py.