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post processing/cal_deter_error.m

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+function deter_error=cal_deter_error(err_temp)
+N=size(err_temp,1);
+x_tilda=err_temp(:,1)-mean(err_temp(:,1));
+y_tilda=err_temp(:,2)-mean(err_temp(:,2));
+var_x=mean(x_tilda.^2);
+var_y=mean(y_tilda.^2);
+var_xy=mean(x_tilda.*y_tilda);
+deter_error=var_x*var_y-var_xy^2;
+end

post processing/plotSamples.m

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+function plotSamples(samples,color)
+
+WAS_HOLD = ishold;
+
+if ~WAS_HOLD
+    hold on;
+end
+
+numSamples = size(samples, 1);
+
+for s = 1:numSamples
+    plotmarker(samples(s,1:2), color);
+end
+
+if ~WAS_HOLD
+    hold off;
+end

post processing/plotcov2d.m

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+function h = plotcov2d(centerX, centerY, cov, color, filled, fillColor, falpha, nSigma)
+% PLOTCOV2D Hacked-together function that plots a basic representation of covariance onto a graph
+% IN:    centerX - x coordinate of center point of the covariance
+%        centerY - y coordinate of center point of the covariance
+%        cov - covariance matrix, duh :)
+%        color - Color to plot in (e.g. 'r', 'g', etc.)
+% NOTES: The dog is always situated at the origin for the purposes of this model
+
+% Some of this code is borrowed from sample code at:
+% http://www.cs.columbia.edu/~jebara/6998-01/matlab.html
+
+cov = [cov(1,1) cov(1,2); cov(2,1) cov(2,2)];
+
+mu = [centerX; centerY];
+[V,D]=eig(cov);
+lam1 = D(1,1);
+lam2 = D(2,2);
+v1 = V(:,1);
+v2 = V(:,2);
+if v1(1)==0
+    theta = deg2rad(90);
+else
+    theta = atan(v1(2)/v1(1));
+end
+
+if ~exist('nSigma','var')
+    nSigma = 1;
+end
+a = nSigma*sqrt(lam1);
+b = nSigma*sqrt(lam2);
+
+% plot the ellipse
+np = 500;
+ang = [0:np]*2*pi/np;
+R = [cos(theta) -sin(theta); sin(theta) cos(theta)];
+pts = [centerX;centerY]*ones(size(ang)) + R*[cos(ang)*a; sin(ang)*b];
+
+h=plot( pts(1,:), pts(2,:), 'Color', color, 'LineWidth', 2);
+
+if filled
+    if falpha < 1
+        h=fill(pts(1,:), pts(2,:), fillColor, 'FaceAlpha', falpha);
+    else
+        h=fill(pts(1,:), pts(2,:), fillColor);
+    end
+end
+
+hold on;
+minor1 = mu-a*v1;
+minor2 = mu+a*v1;
+line([minor1(1) minor2(1)], [minor1(2) minor2(2)], 'Color', color)
+major1 = mu-b*v2; major2 = mu+b*v2;
+hl=line([major1(1) major2(1)], [major1(2) major2(2)], 'Color', color);
+

post processing/plotmarker.m

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+function h = plotmarker(markerPos, color)
+
+h = plot(markerPos(1), markerPos(2), '.', ...
+         'linewidth', 2, 'Color', color);
+