From 017b591f2cd08ee40e346a26a4445151a8e79fad Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 20:09:30 +0000 Subject: [PATCH] remove visualISAM_gui folders --- .../VisualISAM_gui/VisualISAMData_cube.m | 34 -- .../VisualISAM_gui/VisualISAMData_triangle.m | 32 -- .../VisualISAMExample_triangle2.m | 22 - .../VisualISAM_gui/VisualISAMInitialize.m | 41 -- .../examples/VisualISAM_gui/VisualISAMPlot.m | 20 - .../examples/VisualISAM_gui/VisualISAMStep.m | 31 -- .../VisualISAM_gui/VisualISAM_gui.fig | Bin 8272 -> 0 bytes .../examples/VisualISAM_gui/VisualISAM_gui.m | 401 ------------------ .../VisualISAM_gui2/VisualISAM_gui.fig | Bin 6507 -> 0 bytes .../examples/VisualISAM_gui2/VisualISAM_gui.m | 235 ---------- matlab/examples/VisualISAM_gui2/vData.m | 51 --- matlab/examples/VisualISAM_gui2/vInit.m | 31 -- matlab/examples/VisualISAM_gui2/vPlot.m | 45 -- matlab/examples/VisualISAM_gui2/vStep.m | 52 --- 14 files changed, 995 deletions(-) delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMData_cube.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMData_triangle.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMInitialize.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMPlot.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMStep.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAM_gui.fig delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAM_gui.m delete mode 100644 matlab/examples/VisualISAM_gui2/VisualISAM_gui.fig delete mode 100644 matlab/examples/VisualISAM_gui2/VisualISAM_gui.m delete mode 100644 matlab/examples/VisualISAM_gui2/vData.m delete mode 100644 matlab/examples/VisualISAM_gui2/vInit.m delete mode 100644 matlab/examples/VisualISAM_gui2/vPlot.m delete mode 100644 matlab/examples/VisualISAM_gui2/vStep.m 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_i5(ibmRsN~~f6LaaK9M*NP>ZVr5``fj#cjn z{}Vz@9h!e9&VPDP-hr8-Cxhyvg2jro<~JJeUJ%i-v!&lrZCcR+jB+|Fv(rA9)8r6n zMO-WvID*@kv#GrGuta@zkk4=RRuyD@HVF)ASl``y_q+Hpori`)fs-RxdTG&BT8C#O zZQc`h(9v=nCMu1B2GO&fZ}~=(N9rZ;#=gjZduDn7Vy$s3vE;E5B%8qvOsigCL9Ib6 zTq7zE+r`w$!`H80tfvcokf?Y|5yxwut>>1IubblRy{2F#KkydI%}xEPWK+sLn(%d{ z%?>T;RPY@2`5A4ULd0dho8(TbAkTHq)siod6Stac0fI!G-h45Ie!fCkuAl#bm>VeX zl}0V?M)NN7y}#mK`VF!We){G(h8p;frReZ-Hn(@0wOVaT%!ltkW4{h^mlv!!$E^kK zh})irua49pU&pspk=*gE_fVIb>6cEQe(BHcSt6?znfn8w;n0s}a}>S z9uty+AxUQpOg-eJt{vCx0tJZcAD>Q^Y+g+!>|>5U6$s`s9%PUYt~3}PsOCe1LR$H* zpZ7=TW7Yd346$`^2=}eZDeMv6>a;uoUvwqfk2k``z$0*jR}{UIPHK#L$&&u7B{R=% zH6eHVZ4f`brzM?NUwx%FNp2VjGm`4HIa`Rq?>}FZpf)(h9Xxq+2-0!1hpFW~aCtx_N!E=zp?JUGrp^&EuNdR<#cIWpRlQ==P4D4a_dWc5!Q1h(?}MC7Du;f$7k!%U!Ae0XKc*d0?eqf zuD0&(EOahN<~aCT#6BV}uOq9qJHCCl*8n+8A#4eMY?i-Q%xZ4Fd3AYu>`N?|YKH6m z-ZZsZ1AQ)T!%k{v>cT#0qa9vIfl9@S_V5~z2}Ar;oHfty)Qs~BIR2rSU4J3&u!XHsRrZ7~H};J|~qq_03zktyaY~Q29+raSruI9V$%)M)oq!8N-fy1I;?7 zMyt&r7F|lk*S$~u8K^fZ^BmnBm9quW@JhrI2Hy5J>iy`|r@udsjy1dxl|DtC)D>Cs4weFiA_X5cz!i_cif79v zV1eA*J={9JGFHDC6EJu_*2| z0+Gpual}QMj7fyhd)$J|AH43b+g$0=8$oO2uWNP64uuJGyn(PKdoM)KSh~$#brO^0 zux`c_H?yx0CVv3BoYVSAqb3bpmUhy-ZHA*V4=yIpYWFA0Ou4qAcj1ra3!nai-tox% zVTKJEJ)!tu&s_MM=`d?MYCB&)m`a-FmV|%+k3TRS|4(aWS<(FX#^N!3g)D)Rk!5P- zWh9Xy2XOyalPWoz?kWx2^zc!ltes3letwKpx%Ep)V=PG=#beTm)mC=htuL+jJ>tlD zxFmbVLKX`0tLy=34-&AyhBt8mu-q0;M`)~picPv+1%$?lHs>u$SS$fd`cZtFVqj-O zbVqv(UpjF2xrhRf`4-`~Xi?%yIQ6}}kkl_VzBKw7Zv|#R>^rg>-2{-4Y`0W*A*lI= z%qJ-dh0CH`K*riK#Tt~N8u6t5Hyo4RYP!-E&GA*}P=b^SD?W>!?D8C(?(!_Rhq~K; zwjyH>$eC|&*~uQA61CsSHbJ}->zqFya43(RkYvcoJU-v{TAB`VeSV(F2S(o5biCEw zh6xJX2H71pX~0TpVXn);=H8O&tCIU91N^EDNdYB>EEL;5ZS4jb*&bKW-A>nSa zuxDqT<6J(?x3>E)&Lu&Co<%sE9kl)WDIVpigUs(hZf}w5LGhOv6uMUps5#Bxo(dcY zd@|m&kY64525=dihnw+xsyx;xd9@$j4Zg+|?Lxpc!){adp3 zJ1X39aFcrEt6GBW{P@h1M*qFqz2%C3c~AdLB}k3=u5k%_K;b6a1E*#(M> z-c8JPvKn~CXe?L1pf%Je0gQMcjk=2Uo}OmIu=+14F8HerO@97zNKY5h&FbtrBcFR~n3cm$V?OA@8+2u4fV<39*n1tUl~W z4)9(2JT(ipDNVQ3T;OO!2dDk9oO>1~=MG2%ZE13R>Hu3doQJ>YTvVJs7Dktcoi+-p z&32m3HVPJ8_Rn?(Ez`01+h9L#bR!$|!g*l9yENJzf)KzH3|w=|@<0!>5r#$aUG(Dr zF}Qy%#zar=q2i;$Or(rwXo`9k?-f#oizaK(p{ z;RN;_JL*EGUBf{q+jO7Wg}X~6oLW`_0_siM)8z-khK0i9FC|cy;}f~p$?VZ(9~i#7 zn>JIrEWckb|DZ(*cCw#AP!=KJO;x?FITH+fJzBgSxfRrc)u)DUT;b3BUY~$FDXF{D z4?bl(B~kF*bIM>C_eL9dBCIJxfi?sbKg{ebRx7TfUY>UDd9PA@KEB|HYIp`;ek3tc ztVqa%C@A&U4ZZkG^Se6ys5Q3upb%0v+nt*YYfDhA7yC8x#K{2!&#kJ$!oPMG7 z3@e$v`(u1wBTOv&*gex)kGrD7p=5%kS{+EO$f{x#0QD`T_CE?}>jHTN(yW2@u#k!rT<@>t-0 zM_2yfl*s%8R`-4qr@ItYcEKxUBBao`!-(tYnUj{fW(5}x$0^X+_-bO;{PS9+JDDk6 zL=l?IhU<6sjehnuH_g4Ep;-JKSrI|wy%))2V-BP+=qS1m++E2N@DwK1l~vjNw2$%(TsFJ!p_1q?bZ^sOa`_SMfRpza#03sq72>%g_SN67 z1EU2I90q6}_(M0(sw$au%JW_UR{+#5$Gg`ld-}0)!GN|D=7o@3Ui7&N9T!M)BcBmi z2)fck<~o&ECIY{5fK0m|Smo`&|LdLZFaMKR;urleeFLvbCm(^oUdR=+36u~Rm$zs? zLur7X;#8sL0n4CPHSJm6*?0k6Kkwqi$pV2}s{hS!Mc2Oyj|#>e=`22)DcU~nCgE`} zYP2~0slV)IVNQ{m>0!~~?$og4;g%Eqp}5Mr1F&01S1Qphzo98}#n1=&DM4c3BrZCB z;OAcNY)ro0Erj7jb&hqQw*d`iZ~1-A0^Nz5|NM6U_-TaO!(sKT)v8;k4Dq_s$t&%n z-mgz$qe+fghxMaGf0h_`Fox~7@RQVr(bz?*4dcGUtrZ%1XejnP{P<=saZm!n|H#B* zg!shYHhlttIeUF2((icnfO%NMEPIiM4fAYoIRyxi()HRjy^FrZuwf7|d6hwFLr|ID z0qQgOkzHXgFTeiUfcxOzZxlpkkzWjA_XuZAPF()npk{qro!g{lG*!YX*wrP_#Fzwk z1`zphxZuo^liJ9aKb>mizoUZcMLWz@(kg$ysYD;|caN(=^xtsmcTdA64{BD`>+3k3080^WV&iS*6qNA}82aJJ3U9*3S zjI>4Jmu9A2O9zmb==-}W(kaFHN{0!C5#b+B^VYFM1THJD{^Up@uAMS{*O&D#aQ=_# zJ7v3VR04DD9UO|A3?hmvKE44Y^v-kzOSb)KXMQzbnQ^h)S+1AVuF*gz8|@WsI+CK7 zFPz)st2s%)#f2yUd^C5&Or0&7QJ~}>GRH14`39K81V2k^>})jPxS{gmq;dTmODt1h zqaN+Q858sXyo1N`c~3qi9o%YIfW)sF^!d(=T0c3^Du?D6L;Y3C!W2&jBLw;?EKsO* zZDzG$G;L)X^pn7H%opfSm8V(w$k2<-1fr*SGj=AhSoaKCR+G7li=H(COPh_#2xRT3@a*jTHY|55g_WJ>-lf-uu;!aSgu0Ir0($&4%VRgwH%iF{SUF5wWS=uzZ=jT0c6%X2h6UnZdJG{ zcHST~;c;P4kGl5Fi_+)CQs%7-GR(Qo;w#)&m*-`aCc(--8?A|kz_H&a9+E+6%+MdPfg`K<4VF0pk~etWui;Cx zz>!;acO1DJL+Yh9bX24e(YWbS%uU*xx;Zk`9E^yhZ;q!OF}6rg{|=n^3OB-6FBx`%uD z^M*1nP}7y+%0i3SE7q$j$ZqS)dr7G4K2V>2<9;Pi%g;|;Zpesg21x!TwrtajMdT@Y zUl0RwH;AG9`)5Rr#W+OXdQ5KwO3cmP+Ix@o=C!&J{fm3V#$QRkep~xTj0g&WX8YkV zifd?d?In&WR{&M@}i-Q*gGSXLuvV%oj`aN%9wG zrMaYt$zjz#GK~*&1h_R6@eFIc|MyZNkol+nSdqGqMSuh2gok}W*G_=FLrGiK`m%$- zy}3J{%c&3Zs)1;&pCZyKT+Ob5 zOu(C4R&VU|8idahLv8P!k@ueb-OWC*AneBxUQl*B3;)L{9Jk!Vt~B8bk-NTd73)ct zdOQJ)h^lf@#a@>5=E_JCs@ywcq+BQ$p-Nbinjg&z(ha6z%R zlC0J9yceJrne#wd9eEgRCU|GW=jX8=X>Whaa-65^jXRjM6O3Fc+FY5jnbXPXoN!p0 zwhy&o5b3m%=IJc$oh&4|*{x?T94p1VYQTly7iE2LsG4tCpD~%_W4RqJ>9h$yy5dH= zdZq=GUn;y-W&3jT@V#Uw4e-}Ke)ryWK3aD1ek>DKe&V<{{MzaT^KsedE5#F4`jjjp zjCG|GnD0EIbmh3oC)WDez4K(rc&rei6k2_FBvX&{7fpxoP`7kQ!LAHyFwSXkKy=M| zes*Jc@N*`Rp%Z6zyd5!0;u-eFx;H8DB?sd>p5Ewpu1Rsh-S5Yo4ntsm%mP#zET3!< z8*{G;!Wm9a7K46YUjlH!H$}vh_$SgqtpyF8&j0R16;inHDE8iKf&6gF`>z+X}o}lw8Wmb?eCeM<4kc$xBe=Yih{H?()oY!K$;UtnclzK*`kW z6W$C`fOHLa9^Kcy4!F(#h_TtU?uyVO|034+`u?6L^+h`OQt$st<2+T9;_Uk+e4oTx zTEf3Vy|$!pt*_HACA9a}DFu@Z))~`1m=}AdQ%sb$&1-g~>8qFLdk6q7m$TLxMhHYj zt@VEC(hBtp>9haw-I4Blb4rfQ#~@mgDdn?Uau!UeHcGg6FtS6AmcrmFa!kk<*0X+upR7pEQvGTL<*9V_7-6*gn2$RgUVqKJSDTJ( z_aB}u-n|*?o%uppQ@HV)6c?C$qloH=T`(4;O_I}REZX*nV^sz)o2|8OHFqCBZeX{x z0S@837C?^4{$!M7941+fbi?~4=O$$+ZiwsnvCXjF%K^vL`hygb`2K_5xO_#H7QOX0 za~oPP=5!9~YbmpB8Ql^q`^HowEV*36I>o*03DQ5X#x(rlsT9YL3NViw-Ay<}2p#$H z>74k92?w!cF|F=|w;k0JJ0H0d&sts;A@Xkybtok<+%Y8J*HvukvUANh?JzOqIgpTB-c4!tljp!v#Co zT81!XWimX)eFFCw)!{XJV-{xR?42ue{$z2UW%s@y!X|EJn)nM?d%(hGdx)Za)Fcpu&HXnMrN4W0yS0fv#z;`CB1a*}( zim^;J)pWZTN?X{$J<8={c znf&Rz=K6+YN|t&x@BYmZ7-*$?V?KD^FcDA^N-rnO?I^ zU|wJz+>;}+{5Dnl5a11tdu6rD$*)(Rmvw`K%V5w@U#Yu9!!rR<&6Mtl4kyD+sm8jn z+7xMKNJN@=ax-JgTkq&0$)2Nz4}liXvWhfZNB70b^k(Mw7Vj!9*0dC@HICf?4vvDU zUulzhzU$%TMh$tpeV#mzUq4%kJ73|4igu`y3DRw_JoC(h*~mJa={sG{J;ez3clvEt z148^0hktd>&Ed@wP!hcihi7Q+sqN9a{a+L18e$FcaS+{-A}iq@-AiHySmr=VU()0Z z@=;sOY%@(f34_4Ei>ozJrX8h7D^|Z;)|JNS^7Jr5BZxW}88!uG$?nwmW~6wQY8y=9 znlYZ0;dGJAW!|>>BlhcT8eYVz^;sIG+_!y3LqvYNO^*MXgurLr>w9BrKTzrN zw@gwFixIZp4|t(5TfVZN+)}2vJr?L^mXq3*?Y`;%^P9*?jk zF*acnN`T8z-Wns*SjcBd(cZ$r?ef8~W2ph2?q^>D?|eT@BU&)?R7`PGrVx|Z@BrRU zM0v;y%UU8&WJzO6F1=d~Fhx<6ZV%}!9_Y%S<_}ju&k&fDXzU}`?Wtym=j@l9X^*Aa z>2J83$$s0>kYK5PsabwF{(^Ab>=NMs@Px{i%MgXWp8N&75L$kPrSJ0tCte>G2cNch z;=^`Fg)^4EhaZgcO(sGzjjUC{F!wFokIqQTlyt0>iBFIFf=TC#ZBls~=E&|dgUi6b zGW8<>;rww2Z-q+&OX1tYJ6LJWYl%(J`R8yr;*sQWeTWy{NzdOIaxwi5xim|-MC{cc zbjh=B#sg!SG_@)|b9-iPOiT|@f^Z*CB)qAiNsCn{n^cwFZTrZIERJW(Puv7axr75B zMF@izd}%%4RN8xy)Uqt`GbsJ@V2!^4Ss5%*p{DEp&T?n%I`Y?wxeJXVJA!%%#}dwY zAgK3V6I`&2EBUP^WbK#tODWwoLfbt009+37TDV^D- zr}!V_1+*B7|5D_la%TOUaNj)f<+SD_Z;MLZSxN2ukL|7whAm>h0@5Xu&L|{(HYH9T zN}jT`dMPe{dyb9V$m&aWt#q)6T_)D6x9;paz6MO*=E;n(Qn2~G{W{JO?K1-$Vq;Nm ze}YI7FGidBJs(hg9YWYZvPH=z?4$XrTs{A4_Xof;ly2pPCGz>3`C(nN@{;PblsXu| zs4gLD;Lk$e6Nj@*q3M32tgpXW-Xm2T0;YCJ8(aI^JGN}M1NWG_BM+9`{$Ndv%ydbB zXBltU1bJf?D!VC!9P^UD$ebY1spURu%nl*UkI|Zm782VIAIhRaO31Fh&L2+@G}I_d zX~w37V$3_mqSPlA^}2GW5h)ypD{2R9FjBudRNWK%6Y9%;+JKKOF_;7xDm@(db6Aeh z7z22Gnh<+t{HD_x!=j%ny5X%pT7nuWJ$HW0frOvCPDWl8(*3oS8>nG)SBsHKd=L0; zmDXu8NW|n*s3w(M#UnFvGmI^J`dTFs*jA(LPRZ78D9jD*tjjO=+$+!zBX*;yjdfR) ziD>RTER2+;#030!P$&kcK)eh;>~M>6H>IsHXLG|tg;BbHj%y59*446T;!o5_1}gN( zRZ|kVh^Vc3D$rGcp3U4WjnqIpW~s5F;Tr5rKxoiH zXb?zX03;|rA}Y2fQ32nL3t_r{ahG*ZN8zuJ5|uvM7Sp_pA(o*Urt@pMb67^=!!lfG(~!;&SqKNgm^bKPbdC{68h) p6!Lls?};R 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 24f5b2f01deaf3b175661bdc9819c1c7c559f70f..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 6507 zcma)gXHXLWlQzAGpeRL(G(kj~^iDtwy(_&*FA5=aga86kl^`M=A|0fJCN(svf(gBM z0z~N@LIU}G?{2=C`*%A#yF2@1XLe_wot;Nd^_8ybb1o^7XIy%!uY_IP-#QC%8NRjm za{>8y%Kyu$X-P{8ajE$@+xs~?ae=(#xzv5!xwQSgxVU7w#3bdPNyv+dbBRCuXa283 z@_^{Sg;-1P&cEm#GZ9fx&aMR##4g1UsBERpb~L8;f$S+48S`waj%{Jw_qfgE>($RMs90#}?>_*qPCq+(aH}XScCatGSNQS98J!zeEDJr*yp@nQ=EI1i zSKB*Bw|!I_dua(T+qg`s>pZh|mCXPHDmK$MM|>j4DFw2MqwA!B4`cNDSae4zYm%}O zjJcAb=C$!w0?kj21fOrUNWRtVBe_+;lCdrA$SGLxj=YvnNb-1QhN&-e}l>I3$eb=d?Zat{`L!cXOuFy$UC5G|0I;m z31jigi&p&4t=^yt7|$%ELqjE?!(ebH8_uYt=;=GPvT=#JmXo`dV!OutO`M=6n4TzP zfjn;7w*sXIS|`HD@G-m@^1waJ?u0UnP>pTef^tZ7cw(_#tOH7Ka$FX#$M56o!~7FF zySrB%yv3VY*lDXNT%$rdPss?;oD4UV8c)3z$=U|$os&PgYKxTJ9il1N0)Fa(vOalY zUHCRPb`(f%=WQ-Jna@>YtTJP-#2d%#g#W}P@U@iL^qQ*E^B3rst|m^RB^L0AC0w1T z%2c6_4K+(k`c=)(K_;t~jhvX)kUzL9`a^a~ebhb(!Q8cvRhtJf9vG0QxhO&9sR89! z>e898bjEA&99FVqM(QHRoS-)L*EJ{Vcg4x>9jkNg0B&x^Kh+Cim^EVK#f_z*eN<2& z_EJo^lM7xyT-<^^$=BAD<4R6s)U25q(l#N0{N_3>pmsw#TLqU-Evxtf$xp$C#jV0$ zEfjk4^vhXzsC>TI)$7*L+AtrvnA*S{#)o=nBei}GgIDkK`pu)*7ELx^9HY#r{AV_= zd-Z7>Z^L;ErkHDsZpc~<|CH)mTK62uFS2jb$-Lx5MNGFEM|CFY_A#g~8SW4kQn5oLWSSp-G&>dS>FI>Fx+=b*0 zRPkZJGX1TI5+iT02Fbo0>Ar{LU6mgbZo7Cnnb5q7Ich9agk%Kf1(y{A)JTm`97VZ> zsfET}MuGu09tXQVZQI&yPcbT0d!w|s&qJ#)_{;u~q_w>hGnKakV+P#p^}uc4O~i-!Da$=hlJA4bB!!2aOO>)tXf7xQ zirXd7{q%xE!frdQ0Qf4DP8i&vAxo1=2@Az2E_}<$KI$f;C6s+V>FK?z1O=ItW?$a| z1w8Z(w(#>}^L-5pE5IXPBiPuJLrW`&eh#s3Ml6}M_)74W66c&JCbLou?e?|KM!+Jg zH{IPt+fp8;BLI7b`w#i zPcz9gyW_Bi=TX~4i}I~x5gd^>Z7+0*>JxL3|F=9!|Ou5@NosbS-e5% z^k3i<%Mn#BEi1G09lzh>6}ivToM!rqeVc7>S>G$3{=Lb*^p$<-ZIYL~M(HMyVQ^7v zWJ0Lh-VOQKHur-UZSeWKKhAcC8{a~dC}{-fCKDG7+U4Ue9RVYT^DDN8SV|%y0%6xo z6*TdTAwWk#jBY|jbGPf0#JC8RY?V#hSOTry&NT7!=eEabmdyd)?B5i?s=L2MRTeK9 zy|)Z%6rRr;ba^dJ*R~e#NzWSQG4LJeDC4kljVm(HTXA3tU#fh{?JT1i6Msg-k%az{ z%s{!Q5jGfjte=4!X{Wo!d=F3Zvv$LE3?%RYuygpsj`WIx_o$|O>C#ob;YZc0&Vc6y67L==U_wXas4d-%maHiXhubS=hTFXvt8BeQoCz}!hqKd%!HnI_NVJL?GL4vS-RwJ ze6i-AXzJkJy2Ghtl~qGh4eAegrKz1+7q~m#TFlBb5!*kpXH(>vZk+m|R}YvsSG)By zlDDZ^r_WHO>9yoES$>6`p!`>y`4nsA&`O;Ne8mk&l=kfOhspcMMBxFW(p|p7a{H~9 zZYgoQ_q3f#6Nzb?f;15Wqb#8s8%!@ukFUfMWmBC3li@MjO$$K1&8+j|C4lJRp+v)n zT(Tz%Nh+^ud!-IJJaPp;Tf`HwL;avDm^CWS-W@X-zK=s#CAXk>~~=MN!0>0QDUMm zQ>3G;^>PP!2bRzoCi2yb(BDfq-V@(m*9zvKlTZqM9wx4o^LI`6jw@ogGS)zTrs4Xf z6284O_RfFu_NjmEJu^8_r`{#8qA-pd(*J^rxhjYa$iM;0i8J-sG1b)KyZiO7HV=7< z53znNx~P|@#3ZMvA<`1Pbo6d8$Yn0q6KtU5y*gN{5k{iHOLk4pzM3@1Sw?nGgEwO? z_iR7O6R|A&feGL)fy=vS4?aQu&c=%0Aqvt`{LuTTn0I-ZVGnqO5X>V#TZ+7bq^`(0 z-`R9}c?Hs41;xpzowX_SgYQq54aowO2q~koSD{1)_F*)Z;l>~_lto~T9VF*nM}J%>?88bk81)97dgZEo zJeC|*zdAg>Cy{ILXw#KQ-HyGpvRPM>@L_gj6n}axD=KdJs`V|~zfWs5cJRC5knBdr zSYhDLX8zZ8&1R`03rbFpJf_^TTb8)ocveLDKZaQRt*grX=;b)VT{E+)6sf|qAMT## z8a8pkW)fQh>Cn<@L?1sbIet2H5)0cxz;kCeU&E|(-og--r_jELI|5rAn!~i}EnX{; zTeW-QFiR8l47S$2i#W z9jav&)s`{uzQVdW=x@z?bMC1zxH+rq!e4XIXA|XBPk9={LSEHM<-@RJ+(@t5>N$Mz zj!_~PDN@9wsxjLmto!VMT>3>0>DKEL(#f6hSS<1Jy;Y!GTSpJL0&1pq%H~%qSo4^B zc`TS1J<>%yNp#oe4|gD&Pey|Ydo0y$r`{U_)kfZSY32EzC040;n7Kq?%Yyv*c0{bBEF3gJQa#S6+*X*T(8bX(1tX`mFB* z8ZXX`g15S3he9ZR&4`}LWvh2?irru&!^;z|gE@Z3CvNqn}NrmlXa0sA&U}ML{NX?f0>hN0>)WM*&u9U zqmSU%p~cddcy>AVP;faNX!vX^A^1Q`nTaN+?IZ8i2okQ!zdExbq}#ZntsPEAf&GCh ztVm8ys{wZID4JsK%R?tyQc$&Zt3kFsM%ylwt)mRqBZ=q@3w}VT=;q&&<)I)bW<98w z`zWP(=s>|2yQP|B$6!QaCE}QXdN)W^97!dbFk!nXv>ISi7lEgo6K&6nx&Bs z(~c}1!X6>rIECS~m(|pibLvKBW~yNv6y(@l|4h!kzY~jQDVNsM9fEP1XWPh_NqFS@ zv)PZIlhAw@7;<6gpK6Z2^ef}bt3=}Q6I&wePRVt8>df#}7|WL3Bp!Y?_Vnu=(w6V@ zn?7y?UkQ*>MZ7$_NX7#=yvqr<8aeK)^KAh7LQ#itQ7G7E{5YkxF{zZ5e@O66m@6bN z@|f9viNFaf4ga6hHln}q>_MQ8>Idq{yPHg}Ms65nRP=4&!&-$Q!J{FDEEI z-shvcuW&@gF6XoCE?U$6i^G1L&=)~pA0Q$l2QUYMCyCT28maT~>2wKO_XtM-*Pw0H61}Z|*O&0J+`He`nTh_C zM@7ShgsPS2_CI4(Bu;07f8Lx+g@YFqGOAdnmQ8VYGyRBjYij(sKAeQ4Vbt)|7AtT4 zArzY8{mnSHGtl2U2*^ys>M`N0=CcDSe^5*a!!E+AYTPJ}w<-6dmFoBN)G8 zZ`prtabccq_F6OhQ`O@pSR`BUY=R>DTDiYm`JSV0B7ak9&oC!&QzjUBWE-`xW8KHb zd|`0o9qjeT|6Wr^Q5DSIQ6@R-h%Z?nUr=3k=fVSkwI%!BnfTh7d~vWR>=*R5 zogLH7Urn>7OPQ|P%$#eL+B;7Fa2^|8nVH+qo_4ihdcAO7S!3{Fyr>%3N^kom&w(K` zqHor0FD8)-xKl!AIDg4DZ5W{$E2zb0P(R={So8!lm*dLGGa}!JRv3u8)R7x;>8`H} zm^h#LL>w%gT1Q_t+!X0*_d)szMRWQsuT+>3$IkV02(($YLYC3KKH#<%b79zag`X#c zIwOp&7zwWkH9dzb0|e-R0et8{@Ic4>FwWyK#D9zP%;ZOS@7^7coArRKj;Byoh?MCO z0@2xjVKyhoG1LM`@IB45So_z0;4CKWkc(+7=o$ROR{+f(1>2J^jpbh+SB*;^ z<$HAXzh@Hwx@oF?V{B%Up_P2ZYqZ{#A?uwJus#UJT*vC+sBy&E4Z}$a-Ye<3v%MLb zS`(>v1kx&-;OL9;lgl$)vsA=Nj9TT#5c-Sk=8K6Vk~81tJBB)0FCb zZzZ9fm|YRG2}movbp1474<4{yd}wb=_egjuZKpS!2(@Yd=(TJYdSo-XCaItX)+>tT z?8LOV%9QC@iZT;EpPMs{Xqkt0-nCP9)=2@p^USc+Iv)rh>Hl@1xQazZMUi@o+(B>P z?w-X@fpV+-I0XSY{ly6cE+4XWw)>8^URCKp&Yb-5a#K^RQ**dU!hIdPJ_L;72$fhi?4hG(kvp`V%5woN|-$yo)=f#a2_|D4~eEPX}){Y%mRfBho@K*Z9a$PMi?kQpAR}#PM z4r`^i4xdhaS-8**94Oz<``y3xhAL+>@$y6#Hf)(Zs^#~f9HjU#jB;EFqc~!}^MvX^ zEwnDJJawJ8*%EX0CVzKx#OOTa(in9O#E;-P{{z826QtLDvAY3bK$@y?ny36ccRhH3 zytK?-bCUTa@uLY1?G&!)$6oE{9y2u2H0+<7y;av|CHQTLmZLRRX)o&oA5MeKc%$Q9 zYSg(59EGxk=fN0=y6z3X&*|zIctDwdIrxEN<2UL3Y#&{EqsOvzWk|8YcKRaH$gbAe z1!h6fX};RJZEO9xsdB19k;+um41HOxLL9YFmSD~5w2Ggm+Qty=kkz{x1 zR=sUI%(^8F#*6v#!cX+j1!)7tbE{-`FTW*6f*>x3HT0M`z%ym>`@X zyz{ll&zJ$(cgp-n8Dc@HSUmPiDxCJE=#>cQ2E4ECE6s_V3-pu%Rhas1TlFAZ@7b|Y z*o}uV$U-(4=fGnzbjPcR>nH9UzNd;g1MqI29UF{-KvE7^)P2}|Tj!XP`ii*~(UkNb z2Hu|dKMeeynT~$XGltLrWxXqEhZ)BjCusD~0*7vr0HaBY;sWhLA`-7IBUus+`<{og zBmwB;H35Nyr?tmlDvxxx=Fq2)0l@rc0`ZHpWJ5Qlu-UF=juzR%&eOpQKk@4))r9~5>bYWD1#Ci-T9}) zMx3Mt%ET`qLx%uClF-td75cCN*6`amEGM|%a4aG(?D$8t#X)M!HSADPx)TXHS-}5~ qQ#