diff --git a/matlab/examples/VisualISAM_gui/VisualISAMData_cube.m b/matlab/examples/VisualISAM_gui/VisualISAMData_cube.m deleted file mode 100644 index 3f4f015cf..000000000 --- a/matlab/examples/VisualISAM_gui/VisualISAMData_cube.m +++ /dev/null @@ -1,34 +0,0 @@ -function [ data ] = VisualISAMData_cube() -%VISUALISAMDATA_TRIANGLE Generate data for visual ISAM triangle example. -% Landmarks include 3 points around the world's origin on the z=0 plane. -% Cameras are on a circle at a certain height, looking at the origin. -%% Create a triangle target, just 3 points on a plane -nPoints = 8; -data.points = {gtsamPoint3([10 10 10]'),... - gtsamPoint3([-10 10 10]'),... - gtsamPoint3([-10 -10 10]'),... - gtsamPoint3([10 -10 10]'),... - gtsamPoint3([10 10 -10]'),... - gtsamPoint3([-10 10 -10]'),... - gtsamPoint3([-10 -10 -10]'),... - gtsamPoint3([10 -10 -10]')}; - -%% Create camera cameras on a circle around the triangle -nCameras = 10; -height = 0; -r = 30; -data.cameras = {}; -data.K = gtsamCal3_S2(500,500,0,640/2,480/2); -for i=1:nCameras - theta = (i-1)*2*pi/nCameras; - t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - data.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), data.K); -end - -data.posePriorNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 5.0 5.0 5.0]'); -data.odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 2.0 2.0 2.0]'); -data.pointPriorNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); -data.measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); - -end - diff --git a/matlab/examples/VisualISAM_gui/VisualISAMData_triangle.m b/matlab/examples/VisualISAM_gui/VisualISAMData_triangle.m deleted file mode 100644 index b5c4c0e11..000000000 --- a/matlab/examples/VisualISAM_gui/VisualISAMData_triangle.m +++ /dev/null @@ -1,32 +0,0 @@ -function [ data ] = VisualISAMData_triangle() -%VISUALISAMDATA_TRIANGLE Generate data for visual ISAM triangle example. -% Landmarks include 3 points around the world's origin on the z=0 plane. -% Cameras are on a circle at a certain height, looking at the origin. -%% Create a triangle target, just 3 points on a plane -nPoints = 3; -r = 10; -data.points = {}; -for j=1:nPoints - theta = (j-1)*2*pi/nPoints; - data.points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); -end - -%% Create camera cameras on a circle around the triangle -nCameras = 10; -height = 10; -r = 30; -data.cameras = {}; -data.K = gtsamCal3_S2(500,500,0,640/2,480/2); -for i=1:nCameras - theta = (i-1)*2*pi/nCameras; - t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - data.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), data.K); -end - -data.posePriorNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 5.0 5.0 5.0]'); -data.odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 2.0 2.0 2.0]'); -data.pointPriorNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); -data.measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); - -end - diff --git a/matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m b/matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m deleted file mode 100644 index 4f9df958e..000000000 --- a/matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m +++ /dev/null @@ -1,22 +0,0 @@ -%% data -%data = VisualISAMData_triangle(); -data = VisualISAMData_cube(); - -%% init -[isam results] = VisualISAMInitialize(data); -sprintf('Frame 1,2:') -results -figure(1); clf; -VisualISAMPlot(results, data); - -%% Next frame index -frame_i=2; -%% All steps -while (frame_i size(handles.results,2)) - [handles.isam handles.results{handles.frame_i}] = ... - VisualISAMStep(handles.frame_i, handles.isam, ... - handles.data, handles.results{handles.frame_i-1}); - end - handles.results{handles.frame_i}.estimates - cla(handles.resultAxes); - VisualISAMPlot(handles.results{handles.frame_i}, handles.data) - guidata(hObject,handles) - else - sprintf('Frame %d:', handles.frame_i) - sprintf('No more frame!') - end - - -function edit1_Callback(hObject, eventdata, handles) -% hObject handle to edit1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of edit1 as text -% str2double(get(hObject,'String')) returns contents of edit1 as a double - - -% --- Executes during object creation, after setting all properties. -function edit1_CreateFcn(hObject, eventdata, handles) -% hObject handle to edit1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - -% --- Executes on selection change in popupmenu1. -function popupmenu1_Callback(hObject, eventdata, handles) -% hObject handle to popupmenu1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu1 contents as cell array -% contents{get(hObject,'Value')} returns selected item from popupmenu1 - str = cellstr(get(hObject,'String')); - sel = get(hObject,'Value'); - handles.selectedDataset = str{sel} - handles=initialize(handles) - guidata(hObject, handles); - -% --- Executes during object creation, after setting all properties. -function popupmenu1_CreateFcn(hObject, eventdata, handles) -% hObject handle to popupmenu1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: popupmenu controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - -% --- Executes during object creation, after setting all properties. -function Dataset_CreateFcn(hObject, eventdata, handles) -% hObject handle to Dataset (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - - -% --- Executes on button press in backButton. -function backButton_Callback(hObject, eventdata, handles) -% hObject handle to backButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - if (handles.frame_i>2) - handles.frame_i = handles.frame_i-1; - sprintf('Frame %d:', handles.frame_i) - handles.results{handles.frame_i}.estimates - cla(handles.resultAxes); - VisualISAMPlot(handles.results{handles.frame_i}, handles.data) - guidata(hObject,handles) - else - sprintf('No more frame!'); - end - -% --- Executes on button press in runButton. -function runButton_Callback(hObject, eventdata, handles) -% hObject handle to runButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - for i=handles.frame_i+1:size(handles.data.cameras,2) - if (i > size(handles.results,2)) - [handles.isam handles.results{i}] = ... - VisualISAMStep(i, handles.isam, ... - handles.data, handles.results{i-1}); - end - handles.results{i}.estimates - cla(handles.resultAxes); - VisualISAMPlot(handles.results{i}, handles.data) - end - handles.frame_i = size(handles.data.cameras,2); - sprintf('Frame %d:', handles.frame_i) - guidata(hObject,handles) - - -% --- Executes on button press in stopButton. -function stopButton_Callback(hObject, eventdata, handles) -% hObject handle to stopButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - sprintf('Not yet implemented') - - -function edit8_Callback(hObject, eventdata, handles) -% hObject handle to edit8 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of edit8 as text -% str2double(get(hObject,'String')) returns contents of edit8 as a double - - -% --- Executes during object creation, after setting all properties. -function edit8_CreateFcn(hObject, eventdata, handles) -% hObject handle to edit8 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function odoTrans_Callback(hObject, eventdata, handles) -% hObject handle to odoTrans (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of odoTrans as text -% str2double(get(hObject,'String')) returns contents of odoTrans as a double - - -% --- Executes during object creation, after setting all properties. -function odoTrans_CreateFcn(hObject, eventdata, handles) -% hObject handle to odoTrans (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function measNoise_Callback(hObject, eventdata, handles) -% hObject handle to measNoise (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of measNoise as text -% str2double(get(hObject,'String')) returns contents of measNoise as a double - - -% --- Executes during object creation, after setting all properties. -function measNoise_CreateFcn(hObject, eventdata, handles) -% hObject handle to measNoise (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function posePriorRot_Callback(hObject, eventdata, handles) -% hObject handle to posePriorRot (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of posePriorRot as text -% str2double(get(hObject,'String')) returns contents of posePriorRot as a double - - -% --- Executes during object creation, after setting all properties. -function posePriorRot_CreateFcn(hObject, eventdata, handles) -% hObject handle to posePriorRot (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function posePriorTrans_Callback(hObject, eventdata, handles) -% hObject handle to posePriorTrans (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of posePriorTrans as text -% str2double(get(hObject,'String')) returns contents of posePriorTrans as a double - - -% --- Executes during object creation, after setting all properties. -function posePriorTrans_CreateFcn(hObject, eventdata, handles) -% hObject handle to posePriorTrans (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function pointPrior_Callback(hObject, eventdata, handles) -% hObject handle to pointPrior (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of pointPrior as text -% str2double(get(hObject,'String')) returns contents of pointPrior as a double - - -% --- Executes during object creation, after setting all properties. -function pointPrior_CreateFcn(hObject, eventdata, handles) -% hObject handle to pointPrior (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function odoRot_Callback(hObject, eventdata, handles) -% hObject handle to odoRot (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of odoRot as text -% str2double(get(hObject,'String')) returns contents of odoRot as a double - - -% --- Executes during object creation, after setting all properties. -function odoRot_CreateFcn(hObject, eventdata, handles) -% hObject handle to odoRot (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end diff --git a/matlab/examples/VisualISAM_gui2/VisualISAM_gui.fig b/matlab/examples/VisualISAM_gui2/VisualISAM_gui.fig deleted file mode 100644 index 24f5b2f01..000000000 Binary files a/matlab/examples/VisualISAM_gui2/VisualISAM_gui.fig and /dev/null differ diff --git a/matlab/examples/VisualISAM_gui2/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui2/VisualISAM_gui.m deleted file mode 100644 index d00d1cdc7..000000000 --- a/matlab/examples/VisualISAM_gui2/VisualISAM_gui.m +++ /dev/null @@ -1,235 +0,0 @@ -function varargout = VisualISAM_gui(varargin) -% VISUALISAM_GUI MATLAB code for VisualISAM_gui.fig -% VISUALISAM_GUI, by itself, creates a new VISUALISAM_GUI or raises the existing -% singleton*. -% -% H = VISUALISAM_GUI returns the handle to a new VISUALISAM_GUI or the handle to -% the existing singleton*. -% -% VISUALISAM_GUI('CALLBACK',hObject,eventData,handles,...) calls the local -% function named CALLBACK in VISUALISAM_GUI.M with the given input arguments. -% -% VISUALISAM_GUI('Property','Value',...) creates a new VISUALISAM_GUI or raises the -% existing singleton*. Starting from the left, property value pairs are -% applied to the GUI before VisualISAM_gui_OpeningFcn gets called. An -% unrecognized property name or invalid value makes property application -% stop. All inputs are passed to VisualISAM_gui_OpeningFcn via varargin. -% -% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one -% instance to run (singleton)". -% -% See also: GUIDE, GUIDATA, GUIHANDLES - -% Edit the above text to modify the response to help VisualISAM_gui - -% Last Modified by GUIDE v2.5 08-Jun-2012 14:00:55 - -% Begin initialization code - DO NOT EDIT -gui_Singleton = 1; -gui_State = struct('gui_Name', mfilename, ... - 'gui_Singleton', gui_Singleton, ... - 'gui_OpeningFcn', @VisualISAM_gui_OpeningFcn, ... - 'gui_OutputFcn', @VisualISAM_gui_OutputFcn, ... - 'gui_LayoutFcn', [] , ... - 'gui_Callback', []); -if nargin && ischar(varargin{1}) - gui_State.gui_Callback = str2func(varargin{1}); -end - -if nargout - [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); -else - gui_mainfcn(gui_State, varargin{:}); -end -% End initialization code - DO NOT EDIT - - -% --- Executes just before VisualISAM_gui is made visible. -function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin) -% This function has no output args, see OutputFcn. -% hObject handle to figure -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) -% varargin command line arguments to VisualISAM_gui (see VARARGIN) - -% Choose default command line output for VisualISAM_gui -%% Data Options -handles.TRIANGLE = true; -handles.NCAMERAS = 20; -handles.SHOW_IMAGES = false; - -%% iSAM Options -handles.HARD_CONSTRAINT = false; -handles.POINT_PRIORS = false; -handles.BATCH_INIT = true; -handles.REORDER_INTERVAL=10; -handles.ALWAYS_RELINEARIZE = false; - -%% Display Options -handles.SAVE_GRAPH = false; -handles.PRINT_STATS = true; -handles.DRAW_INTERVAL = 4; -handles.CAMERA_INTERVAL = 1; -handles.DRAW_TRUE_POSES = false; -handles.SAVE_FIGURES = false; -handles.SAVE_GRAPHS = false; - -handles = vData(handles); -handles = vInit(handles); -handles.output = hObject; - -% Update handles structure -guidata(hObject, handles); - -% UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME) -% uiwait(handles.figure1); - - -% --- Outputs from this function are returned to the command line. -function varargout = VisualISAM_gui_OutputFcn(hObject, eventdata, handles) -% varargout cell array for returning output args (see VARARGOUT); -% hObject handle to figure -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Get default command line output from handles structure -varargout{1} = handles.output; - -function handles = initialize(handles) - handles=vData(handles); - handles=vInit(handles); - handles.result = {}; - cla; - handles - -% --- Executes on button press in intializeButton. -function intializeButton_Callback(hObject, eventdata, handles) -% hObject handle to intializeButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - handles.DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')) ; - handles.NCAMERAS = str2num(get(handles.numCamEdit,'String')) ; - handles = initialize(handles) - guidata(hObject,handles) - -% --- Executes on button press in stepButton. -function stepButton_Callback(hObject, eventdata, handles) -% hObject handle to stepButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - if (handles.frame_i