showNoiseDistribution
Display noise parameter effects
Syntax
Description
showNoiseDistribution( shows
the noise distribution for a default odometry pose update, number of samples and
the current noise parameters on the input object.ommObj)
axes =
showNoiseDistribution( shows
the noise distribution and returns the axes handle.ommObj)
showNoiseDistribution(
provides additional options specified by one or more
ommObj,Name,Value)Name,Value pairs. Name is the property name and Value is
the corresponding value. Name must appear inside single quotes ('
'). You can specify several name-value pair arguments in any order
as Name1,Value1,...,NameN,ValueN. Properties not specified
retain their default values.
Examples
Show Noise Distribution Effects for Odometry Motion Model
This example shows how to visualize the effect of different noise parameters on the odometryMotionModel class. An odometryMotionModel object contains the motion model noise parameters for a differential drive vehicle. Use showNoiseDistribution to visualize how changing these values affect the distribution of predicted poses.
Create a motion model object.
motionModel = odometryMotionModel;
Show the distribution of particles with the existing noise parameters. Each particle is a hypothesis for the predicted pose.
showNoiseDistribution(motionModel);
Show the distribution with a specified odometry pose change and number of samples. The change in odometry is used as the final pose with hypotheses distributed around based on the Noise parameters.
showNoiseDistribution(motionModel, ... 'OdometryPoseChange', [0.5 0.1 0.25], ... 'NumSamples', 1000);
Change the Noise parameters and visualize the effects. Use the same odometry pose change and number of samples.
motionModel.Noise = [0.2 1 0.2 1]; showNoiseDistribution(motionModel, ... 'OdometryPoseChange', [0.5 0.1 0.25], ... 'NumSamples', 1000);
