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plotBathyKalmanStep.m
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function plotBathyKalmanStep(bathy, priorBathy)
%
% plotBathyKalmanStep(bathy, priorBathy)
%
% plots a bathymetry result showing the bathymetry and error for any
% particular collection, sName (and corresponding cams)
%f = figure(1); clf;
cmap = colormap( 'jet' ); colormap( flipud( cmap ) );
hLim = [-1 10]; eLim = [-1.0 0];
subplot(231); pcolor(bathy.xm, bathy.ym, priorBathy.runningAverage.h);
shading flat; caxis(hLim); set(gca, 'ydir', 'nor');
axis equal; axis tight;
xlabel('x (Relative m)'); ylabel('y (Relative m)');
title('Prior');
h=colorbar('peer', gca); set(h, 'ydir', 'rev'); set(get(h,'title'),'string', 'h (m)')
subplot(232); pcolor(bathy.xm, bathy.ym, bathy.fCombined.h);
shading flat; caxis(hLim); set(gca, 'ydir', 'nor');
axis equal; axis tight;
xlabel('x (Relative m)'); ylabel('y (Relative m)');
titstr = datestr( epoch2Matlab(str2num(bathy.epoch)), ...
'mmm dd yyyy, HH:MM' );
title( titstr );
h=colorbar('peer', gca); set(h, 'ydir', 'rev'); set(get(h,'title'),'string', 'h (m)')
subplot(233); pcolor(bathy.xm, bathy.ym, bathy.runningAverage.h);
shading flat; caxis(hLim); set(gca, 'ydir', 'nor');
axis equal; axis tight;
xlabel('x (Relative m)'); ylabel('y (Relative m)');
title('Updated');
h=colorbar('peer', gca); set(h, 'ydir', 'rev'); set(get(h,'title'),'string', 'h (m)')
subplot(234);
pcolor(bathy.xm, bathy.ym, -priorBathy.runningAverage.hErr);
shading flat; caxis(eLim); set(gca, 'ydir', 'nor');
axis equal; axis tight;
xlabel('x (Relative m)'); ylabel('y (Relative m)');
title('Prior Err')
h=colorbar('peer', gca); set( h, 'ydir', 'rev' );
foo = get( h, 'yticklabel' );
foo = strrep(foo,'-','');
set( h, 'yticklabel', foo );
set( get(h,'title'), 'string', '(m)' );
subplot(235);
pcolor(bathy.xm, bathy.ym, -bathy.fCombined.hErr);
shading flat; caxis(eLim); set(gca, 'ydir', 'nor');
axis equal; axis tight;
xlabel('x (Relative m)'); ylabel('y (Relative m)');
title('Obs Err')
h=colorbar('peer', gca); set( h, 'ydir', 'rev' );
foo = get( h, 'yticklabel' );
foo = strrep(foo,'-','');
set( h, 'yticklabel', foo );
set( get(h,'title'), 'string', '(m)' );
subplot(236);
pcolor(bathy.xm, bathy.ym, bathy.runningAverage.K);
shading flat; caxis([0 1]); set(gca, 'ydir', 'nor');
axis equal; axis tight;
xlabel('x (Relative m)'); ylabel('y (Relative m)');
title('K')
h=colorbar('peer', gca);
foo = get( h, 'yticklabel' );
foo = strrep(foo,'-','');
set( h, 'yticklabel', foo );
%
% Copyright (C) 2017 Coastal Imaging Research Network
% and Oregon State University
% This program is free software: you can redistribute it and/or
% modify it under the terms of the GNU General Public License as
% published by the Free Software Foundation, version 3 of the
% License.
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
% You should have received a copy of the GNU General Public License
% along with this program. If not, see
% <http://www.gnu.org/licenses/>.
% CIRN: https://coastal-imaging-research-network.github.io/
% CIL: http://cil-www.coas.oregonstate.edu
%
%key cBathy
%