From f4a281d834998e55dfd0fbc53a2f51b36d5dd477 Mon Sep 17 00:00:00 2001
From: Samuel Leong <leowhiz@yahoo.com.sg>
Date: Wed, 4 May 2022 23:19:32 -0400
Subject: [PATCH] completed math for stuff

---
 Mapping.py | 4 +++-
 g2o        | 2 +-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/Mapping.py b/Mapping.py
index c5e4d01..8f5fe24 100644
--- a/Mapping.py
+++ b/Mapping.py
@@ -224,7 +224,9 @@ def plot(self, fig: plt.figure, show: bool = False):
         points_global = np.empty((0, 2))
         for kf in self.keyframes:
             points_global = np.vstack((points_global,kf.getPrunedFeaturesGlobalPosition()))
-        plt.scatter(points_global[:, 0], points_global[:, 1], marker='+', color='g',alpha=.8,label='Map Points')
+        
+        subsampleFactor = 4
+        plt.scatter(points_global[::subsampleFactor, 0], points_global[::subsampleFactor, 1], marker='+', color='g',alpha=.8,label='Map Points')
 
         if show:
             plt.show()
diff --git a/g2o b/g2o
index cc40301..b1ba729 160000
--- a/g2o
+++ b/g2o
@@ -1 +1 @@
-Subproject commit cc403018ea05475380794f433666a442d675f0e2
+Subproject commit b1ba729aa569267e179fa2e237db0b3ad5169e2e