fix some small bugs in VisualISAM_gui. Arrange callback functions.
Duy-Nguyen Ta
parent
141d0dbaec
commit
38ff9a466d
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@ -1,2 +1,2 @@
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VisualISAMInitOptions
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VisualISAMGlobalVars
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VisualISAM_gui
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@ -25,6 +25,7 @@ end
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height = 10; r = 40;
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K = gtsamCal3_S2(500,500,0,640/2,480/2);
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cameras = {};
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gui = gcf;
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for i=1:NCAMERAS
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theta = (i-1)*2*pi/NCAMERAS;
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t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
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@ -39,6 +40,7 @@ for i=1:NCAMERAS
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end
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end
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end
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figure(gui);
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odometry = cameras{1}.pose.between(cameras{2}.pose);
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Binary file not shown.
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@ -22,7 +22,7 @@ function varargout = VisualISAM_gui(varargin)
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% Edit the above text to modify the response to help VisualISAM_gui
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% Last Modified by GUIDE v2.5 08-Jun-2012 23:53:47
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% Last Modified by GUIDE v2.5 09-Jun-2012 00:56:47
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% Begin initialization code - DO NOT EDIT
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gui_Singleton = 1;
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@ -50,7 +50,6 @@ function VisualISAM_gui_OpeningFcn(hObject, ~, handles, varargin)
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% varargin command line arguments to VisualISAM_gui (see VARARGIN)
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% Choose default command line output for VisualISAM_gui
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initOptions(handles)
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handles.output = hObject;
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% Update handles structure
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@ -59,6 +58,16 @@ guidata(hObject, handles);
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% UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME)
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% uiwait(handles.figure1);
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% --- Outputs from this function are returned to the command line.
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function varargout = VisualISAM_gui_OutputFcn(hObject, ~, handles)
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% varargout cell array for returning output args (see VARARGOUT);
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% Get default command line output from handles structure
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varargout{1} = handles.output;
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%----------------------------------------------------------
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% Convenient functions
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%----------------------------------------------------------
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function showFramei(hObject, handles)
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VisualISAMGlobalVars
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set(handles.frameStatus, 'String', sprintf('Frame: %d',frame_i));
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@ -82,21 +91,19 @@ function triangle = chooseDataset(handles)
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function initOptions(handles)
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VisualISAMGlobalVars
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%% Setting data options
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% Setting data options
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TRIANGLE = chooseDataset(handles)
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NCAMERAS = str2num(get(handles.numCamEdit,'String'))
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SHOW_IMAGES = get(handles.showImagesCB,'Value')
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%% iSAM Options
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% iSAM Options
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HARD_CONSTRAINT = get(handles.hardConstraintCB,'Value')
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POINT_PRIORS = get(handles.pointPriorsCB,'Value')
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set(handles.batchInitCB,'Value',1);
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drawnow
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BATCH_INIT = get(handles.batchInitCB,'Value')
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REORDER_INTERVAL = str2num(get(handles.numCamEdit,'String'))
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ALWAYS_RELINEARIZE = get(handles.alwaysRelinearizeCB,'Value')
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%% Display Options
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% Display Options
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SAVE_GRAPH = get(handles.saveGraphCB,'Value')
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PRINT_STATS = get(handles.printStatsCB,'Value')
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DRAW_INTERVAL = str2num(get(handles.drawInterval,'String'))
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@ -104,44 +111,11 @@ function initOptions(handles)
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DRAW_TRUE_POSES = get(handles.drawTruePosesCB,'Value')
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SAVE_FIGURES = get(handles.saveFiguresCB,'Value')
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SAVE_GRAPHS = get(handles.saveGraphsCB,'Value')
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% --- Outputs from this function are returned to the command line.
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function varargout = VisualISAM_gui_OutputFcn(hObject, ~, handles)
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% varargout cell array for returning output args (see VARARGOUT);
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% Get default command line output from handles structure
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varargout{1} = handles.output;
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% --- Executes on button press in intializeButton.
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function intializeButton_Callback(hObject, ~, handles)
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VisualISAMGlobalVars
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initOptions(handles)
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VisualISAMGenerateData
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VisualISAMInitialize
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VisualISAMPlot
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showFramei(hObject, handles)
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% --- Executes on button press in stepButton.
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function stepButton_Callback(hObject, ~, handles)
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VisualISAMGlobalVars
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if (frame_i<NCAMERAS)
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frame_i = frame_i+1;
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showFramei(hObject, handles)
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VisualISAMStep
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if mod(frame_i,DRAW_INTERVAL)==0
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showWaiting(handles, 'Computing marginals...');
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VisualISAMPlot
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showWaiting(handles, '');
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end
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end
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% --- Executes on selection change in dataset.
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function dataset_Callback(hObject, ~, handles)
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% Hints: contents = cellstr(get(hObject,'String')) returns dataset contents as cell array
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% contents{get(hObject,'Value')} returns selected item from dataset
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%----------------------------------------------------------
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% Callback functions for GUI elements
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%----------------------------------------------------------
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% --- Executes during object creation, after setting all properties.
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function dataset_CreateFcn(hObject, ~, handles)
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@ -152,79 +126,19 @@ if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgr
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set(hObject,'BackgroundColor','white');
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end
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% --- Executes on button press in runButton.
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function runButton_Callback(hObject, ~, handles)
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VisualISAMGlobalVars
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while (frame_i<NCAMERAS)
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frame_i = frame_i+1;
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showFramei(hObject, handles)
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VisualISAMStep
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if mod(frame_i,DRAW_INTERVAL)==0
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showWaiting(handles, 'Computing marginals...');
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VisualISAMPlot
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showWaiting(handles, '');
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end
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end
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% --- Executes on button press in plotButton.
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function plotButton_Callback(hObject, ~, handles)
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VisualISAMPlot;
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% --- Executes during object creation, after setting all properties.
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function drawInterval_CreateFcn(hObject, ~, handles)
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% handles empty - handles not created until after all CreateFcns called
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% Hint: edit controls usually have a white background on Windows.
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% See ISPC and COMPUTER.
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if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
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set(hObject,'BackgroundColor','white');
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end
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% --- Executes on selection change in dataset.
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function dataset_Callback(hObject, ~, handles)
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% Hints: contents = cellstr(get(hObject,'String')) returns dataset contents as cell array
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% contents{get(hObject,'Value')} returns selected item from dataset
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% --- Executes during object creation, after setting all properties.
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function numCamEdit_CreateFcn(hObject, ~, handles)
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% handles empty - handles not created until after all CreateFcns called
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% Hint: edit controls usually have a white background on Windows.
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% See ISPC and COMPUTER.
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if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
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set(hObject,'BackgroundColor','white');
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end
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% --- Executes during object creation, after setting all properties.
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function reorderIntervalText_CreateFcn(hObject, ~, handles)
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% handles empty - handles not created until after all CreateFcns called
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% Hint: edit controls usually have a white background on Windows.
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% See ISPC and COMPUTER.
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if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
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set(hObject,'BackgroundColor','white');
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end
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% --- Executes during object creation, after setting all properties.
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function cameraIntervalEdit_CreateFcn(hObject, ~, handles)
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% hObject handle to cameraIntervalEdit (see GCBO)
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% handles empty - handles not created until after all CreateFcns called
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% Hint: edit controls usually have a white background on Windows.
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% See ISPC and COMPUTER.
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if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
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set(hObject,'BackgroundColor','white');
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end
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% --- Executes during object creation, after setting all properties.
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function reorderIntervalEdit_CreateFcn(hObject, ~, handles)
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% handles empty - handles not created until after all CreateFcns called
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% Hint: edit controls usually have a white background on Windows.
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% See ISPC and COMPUTER.
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if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
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set(hObject,'BackgroundColor','white');
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end
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function numCamEdit_Callback(hObject, ~, handles)
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% Hints: get(hObject,'String') returns contents of numCamEdit as text
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% str2double(get(hObject,'String')) returns contents of numCamEdit as a double
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@ -245,16 +159,43 @@ function pointPriorsCB_Callback(hObject, ~, handles)
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% Hint: get(hObject,'Value') returns toggle state of pointPriorsCB
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% --- Executes during object creation, after setting all properties.
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function batchInitCB_CreateFcn(hObject, eventdata, handles)
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set(hObject,'Value',1);
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% --- Executes on button press in batchInitCB.
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function batchInitCB_Callback(hObject, ~, handles)
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% Hint: get(hObject,'Value') returns toggle state of batchInitCB
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% --- Executes on button press in alwaysRelinearizeCB.
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function alwaysRelinearizeCB_Callback(hObject, ~, handles)
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% Hint: get(hObject,'Value') returns toggle state of alwaysRelinearizeCB
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% --- Executes during object creation, after setting all properties.
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function reorderIntervalText_CreateFcn(hObject, ~, handles)
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% Hint: edit controls usually have a white background on Windows.
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if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
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set(hObject,'BackgroundColor','white');
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end
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% --- Executes during object creation, after setting all properties.
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function reorderIntervalEdit_CreateFcn(hObject, ~, handles)
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% Hint: edit controls usually have a white background on Windows.
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if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
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set(hObject,'BackgroundColor','white');
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end
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% --- Executes during object creation, after setting all properties.
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function drawInterval_CreateFcn(hObject, ~, handles)
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% Hint: edit controls usually have a white background on Windows.
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if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
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set(hObject,'BackgroundColor','white');
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end
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function drawInterval_Callback(hObject, ~, handles)
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% Hints: get(hObject,'String') returns contents of drawInterval as text
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@ -266,6 +207,15 @@ function cameraIntervalEdit_Callback(hObject, ~, handles)
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% str2double(get(hObject,'String')) returns contents of cameraIntervalEdit as a double
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% --- Executes during object creation, after setting all properties.
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function cameraIntervalEdit_CreateFcn(hObject, ~, handles)
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% Hint: edit controls usually have a white background on Windows.
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% See ISPC and COMPUTER.
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if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
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set(hObject,'BackgroundColor','white');
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end
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% --- Executes on button press in saveGraphCB.
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function saveGraphCB_Callback(hObject, ~, handles)
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% Hint: get(hObject,'Value') returns toggle state of saveGraphCB
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@ -289,3 +239,54 @@ function saveFiguresCB_Callback(hObject, ~, handles)
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% --- Executes on button press in saveGraphsCB.
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function saveGraphsCB_Callback(hObject, ~, handles)
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% Hint: get(hObject,'Value') returns toggle state of saveGraphsCB
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% --- Executes on button press in intializeButton.
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function intializeButton_Callback(hObject, ~, handles)
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VisualISAMGlobalVars
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initOptions(handles)
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VisualISAMGenerateData
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VisualISAMInitialize
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VisualISAMPlot
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showFramei(hObject, handles)
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% --- Executes on button press in runButton.
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function runButton_Callback(hObject, ~, handles)
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VisualISAMGlobalVars
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while (frame_i<NCAMERAS)
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frame_i = frame_i+1;
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showFramei(hObject, handles)
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VisualISAMStep
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if mod(frame_i,DRAW_INTERVAL)==0
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showWaiting(handles, 'Computing marginals...');
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VisualISAMPlot
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showWaiting(handles, '');
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end
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end
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% --- Executes on button press in stepButton.
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function stepButton_Callback(hObject, ~, handles)
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VisualISAMGlobalVars
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if (frame_i<NCAMERAS)
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frame_i = frame_i+1;
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showFramei(hObject, handles)
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VisualISAMStep
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if mod(frame_i,DRAW_INTERVAL)==0
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showWaiting(handles, 'Computing marginals...');
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VisualISAMPlot
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showWaiting(handles, '');
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end
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end
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% --- Executes on button press in plotButton.
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function plotButton_Callback(hObject, ~, handles)
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showWaiting(handles, 'Computing marginals...');
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VisualISAMPlot;
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showWaiting(handles, '');
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