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VisualISAMExample in MATLAB with all options enabled.

release/4.3a0
Duy-Nguyen Ta 2012-06-09 04:01:37 +00:00
parent 734a18b02e
commit 6c18af309e
6 changed files with 141 additions and 144 deletions
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30
matlab/examples/VisualISAMExample.m
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@ -11,11 +11,37 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
clear
figure(1);
VisualISAMInitOptions
%% Global variables used in VisualISAMExample
VisualISAMGlobalVars
%% Setting data options
TRIANGLE = true;
NCAMERAS = 20;
SHOW_IMAGES = false;
%% iSAM Options
HARD_CONSTRAINT = false;
POINT_PRIORS = false;
BATCH_INIT = true;
REORDER_INTERVAL = 10;
ALWAYS_RELINEARIZE = false;
%% Display Options
SAVE_GRAPH = false;
PRINT_STATS = true;
DRAW_INTERVAL = 4;
CAMERA_INTERVAL = 1;
DRAW_TRUE_POSES = false;
SAVE_FIGURES = false;
SAVE_GRAPHS = false;
%% Generate data and initialize iSAM with the first pose and points
VisualISAMGenerateData
VisualISAMInitialize
figure;
VisualISAMPlot
%% Main loop for iSAM: stepping through all poses
for frame_i=2:NCAMERAS
VisualISAMStep
if mod(frame_i,DRAW_INTERVAL)==0

1
matlab/examples/VisualISAMGenerateData.m
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@ -1,5 +1,4 @@
VisualISAMGlobalVars
sprintf('vData...')
%% Generate simulated data
points = {};

22
matlab/examples/VisualISAMInitOptions.m
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@ -1,22 +0,0 @@
VisualISAMGlobalVars
%% Data Options
TRIANGLE = true;
NCAMERAS = 20;
SHOW_IMAGES = false;
%% iSAM Options
HARD_CONSTRAINT = false;
POINT_PRIORS = false;
BATCH_INIT = true;
REORDER_INTERVAL=10;
ALWAYS_RELINEARIZE = false;
%% Display Options
SAVE_GRAPH = false;
PRINT_STATS = true;
DRAW_INTERVAL = 4;
CAMERA_INTERVAL = 1;
DRAW_TRUE_POSES = false;
SAVE_FIGURES = false;
SAVE_GRAPHS = false;

8
matlab/examples/VisualISAMPlot.m
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@ -37,9 +37,13 @@ sprintf('Done!')
t=toc;
% if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end
if SAVE_FIGURES
print(h,'-dpng',sprintf('VisualiSAM%03d.png',frame_i));
fig2 = figure('visible','off');
newax = copyobj(h,fig2);
colormap(fig2,'hot');
set(newax, 'units', 'normalized', 'position', [0.13 0.11 0.775 0.815]);
print(fig2,'-dpng',sprintf('VisualiSAM%03d.png',frame_i));
end
if SAVE_GRAPHS
if SAVE_GRAPHS && (frame_i>1)
isam.saveGraph(sprintf('VisualiSAM%03d.dot',frame_i));
end

BIN
matlab/examples/VisualISAM_gui.fig
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224
matlab/examples/VisualISAM_gui.m
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@ -22,7 +22,7 @@ function varargout = VisualISAM_gui(varargin)
% Edit the above text to modify the response to help VisualISAM_gui
% Last Modified by GUIDE v2.5 08-Jun-2012 16:03:16
% Last Modified by GUIDE v2.5 08-Jun-2012 23:53:47
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
@ -53,8 +53,8 @@ function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin)
% varargin command line arguments to VisualISAM_gui (see VARARGIN)
% Choose default command line output for VisualISAM_gui
initOptions(handles)
handles.output = hObject;
VisualISAMInitOptions
% Update handles structure
guidata(hObject, handles);
@ -62,11 +62,51 @@ guidata(hObject, handles);
% UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME)
% uiwait(handles.figure1);
function showFramei(hObject, handles)
VisualISAMGlobalVars
set(handles.frameStatus, 'String', sprintf('Frame: %d',frame_i));
drawnow
guidata(hObject, handles);
function showWaiting(handles, status)
set(handles.waitingStatus,'String', status);
drawnow
guidata(handles.waitingStatus, handles);
function triangle = chooseDataset(handles)
str = cellstr(get(handles.dataset,'String'));
sel = get(handles.dataset,'Value');
switch str{sel}
case 'triangle'
triangle = true;
case 'cube'
triangle = false;
end
function initOptions(handles)
VisualISAMGlobalVars
%% Setting data options
TRIANGLE = chooseDataset(handles)
NCAMERAS = str2num(get(handles.numCamEdit,'String'))
SHOW_IMAGES = get(handles.showImagesCB,'Value')
%% iSAM Options
HARD_CONSTRAINT = get(handles.hardConstraintCB,'Value')
POINT_PRIORS = get(handles.pointPriorsCB,'Value')
set(handles.batchInitCB,'Value',1);
drawnow
BATCH_INIT = get(handles.batchInitCB,'Value')
REORDER_INTERVAL = str2num(get(handles.numCamEdit,'String'))
ALWAYS_RELINEARIZE = get(handles.alwaysRelinearizeCB,'Value')
%% Display Options
SAVE_GRAPH = get(handles.saveGraphCB,'Value')
PRINT_STATS = get(handles.printStatsCB,'Value')
DRAW_INTERVAL = str2num(get(handles.drawInterval,'String'))
CAMERA_INTERVAL = str2num(get(handles.cameraIntervalEdit,'String'))
DRAW_TRUE_POSES = get(handles.drawTruePosesCB,'Value')
SAVE_FIGURES = get(handles.saveFiguresCB,'Value')
SAVE_GRAPHS = get(handles.saveGraphsCB,'Value')
% --- Outputs from this function are returned to the command line.
function varargout = VisualISAM_gui_OutputFcn(hObject, eventdata, handles)
@ -84,13 +124,13 @@ function intializeButton_Callback(hObject, eventdata, handles)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
VisualISAMGlobalVars
DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')) ;
NCAMERAS = str2num(get(handles.numCamEdit,'String')) ;
initOptions(handles)
VisualISAMGenerateData
VisualISAMInitialize
VisualISAMPlot
showFramei(hObject, handles)
% --- Executes on button press in stepButton.
function stepButton_Callback(hObject, eventdata, handles)
% hObject handle to stepButton (see GCBO)
@ -102,32 +142,25 @@ function stepButton_Callback(hObject, eventdata, handles)
showFramei(hObject, handles)
VisualISAMStep
if mod(frame_i,DRAW_INTERVAL)==0
showWaiting(handles, 'Computing marginals...');
VisualISAMPlot
showWaiting(handles, '');
end
end
% --- Executes on selection change in popupmenu1.
function popupmenu1_Callback(hObject, eventdata, handles)
% hObject handle to popupmenu1 (see GCBO)
% --- Executes on selection change in dataset.
function dataset_Callback(hObject, eventdata, handles)
% hObject handle to dataset (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
global TRIANGLE
str = cellstr(get(hObject,'String'));
sel = get(hObject,'Value');
switch str{sel}
case 'triangle'
TRIANGLE = true
case 'cube'
TRIANGLE = false
end
% Hints: contents = cellstr(get(hObject,'String')) returns dataset contents as cell array
% contents{get(hObject,'Value')} returns selected item from dataset
% --- Executes during object creation, after setting all properties.
function popupmenu1_CreateFcn(hObject, eventdata, handles)
% hObject handle to popupmenu1 (see GCBO)
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
@ -143,16 +176,17 @@ 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)
sprintf('Not yet implemented')
% --- 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')
VisualISAMGlobalVars
while (frame_i<NCAMERAS)
frame_i = frame_i+1;
showFramei(hObject, handles)
VisualISAMStep
if mod(frame_i,DRAW_INTERVAL)==0
showWaiting(handles, 'Computing marginals...');
VisualISAMPlot
showWaiting(handles, '');
end
end
% --- Executes on button press in plotButton.
function plotButton_Callback(hObject, eventdata, handles)
@ -162,16 +196,6 @@ function plotButton_Callback(hObject, eventdata, handles)
VisualISAMPlot;
function drawInterval_Callback(hObject, eventdata, handles)
% hObject handle to drawInterval (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 drawInterval as text
% str2double(get(hObject,'String')) returns contents of drawInterval as a double
VisualISAMGlobalVars
DRAW_INTERVAL = str2num(get(hObject,'String')) ;
% --- Executes during object creation, after setting all properties.
function drawInterval_CreateFcn(hObject, eventdata, handles)
% hObject handle to drawInterval (see GCBO)
@ -184,16 +208,6 @@ if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgr
set(hObject,'BackgroundColor','white');
end
function numCamEdit_Callback(hObject, eventdata, handles)
% hObject handle to numCamEdit (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 numCamEdit as text
% str2double(get(hObject,'String')) returns contents of numCamEdit as a double
VisualISAMGlobalVars
NCAMERAS = str2num(get(hObject,'String')) ;
% --- Executes during object creation, after setting all properties.
function numCamEdit_CreateFcn(hObject, eventdata, handles)
@ -208,19 +222,35 @@ if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgr
end
function edit5_Callback(hObject, eventdata, handles)
% hObject handle to edit5 (see GCBO)
% --- Executes during object creation, after setting all properties.
function reorderIntervalText_CreateFcn(hObject, eventdata, handles)
% hObject handle to reorderIntervalText (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% handles empty - handles not created until after all CreateFcns called
% Hints: get(hObject,'String') returns contents of edit5 as text
% str2double(get(hObject,'String')) returns contents of edit5 as a double
% 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 during object creation, after setting all properties.
function edit5_CreateFcn(hObject, eventdata, handles)
% hObject handle to edit5 (see GCBO)
function cameraIntervalEdit_CreateFcn(hObject, eventdata, handles)
% hObject handle to cameraIntervalEdit (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 during object creation, after setting all properties.
function reorderIntervalEdit_CreateFcn(hObject, eventdata, handles)
% hObject handle to reorderIntervalEdit (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
@ -232,26 +262,22 @@ end
function edit6_Callback(hObject, eventdata, handles)
% hObject handle to edit6 (see GCBO)
function numCamEdit_Callback(hObject, eventdata, handles)
% hObject handle to numCamEdit (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 edit6 as text
% str2double(get(hObject,'String')) returns contents of edit6 as a double
% Hints: get(hObject,'String') returns contents of numCamEdit as text
% str2double(get(hObject,'String')) returns contents of numCamEdit as a double
% --- Executes during object creation, after setting all properties.
function edit6_CreateFcn(hObject, eventdata, handles)
% hObject handle to edit6 (see GCBO)
% --- Executes on button press in showImagesCB.
function showImagesCB_Callback(hObject, eventdata, handles)
% hObject handle to showImagesCB (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% handles structure with handles and user data (see GUIDATA)
% 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
% Hint: get(hObject,'Value') returns toggle state of showImagesCB
% --- Executes on button press in hardConstraintCB.
@ -261,16 +287,15 @@ function hardConstraintCB_Callback(hObject, eventdata, handles)
% handles structure with handles and user data (see GUIDATA)
% Hint: get(hObject,'Value') returns toggle state of hardConstraintCB
VisualISAMGlobalVars
HARD_CONSTRAINT = get(hObject, 'Value')
% --- Executes on button press in pointPriorCB.
function pointPriorCB_Callback(hObject, eventdata, handles)
% hObject handle to pointPriorCB (see GCBO)
% --- Executes on button press in pointPriorsCB.
function pointPriorsCB_Callback(hObject, eventdata, handles)
% hObject handle to pointPriorsCB (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hint: get(hObject,'Value') returns toggle state of pointPriorCB
% Hint: get(hObject,'Value') returns toggle state of pointPriorsCB
% --- Executes on button press in batchInitCB.
@ -292,26 +317,13 @@ function alwaysRelinearizeCB_Callback(hObject, eventdata, handles)
function edit11_Callback(hObject, eventdata, handles)
% hObject handle to edit11 (see GCBO)
function drawInterval_Callback(hObject, eventdata, handles)
% hObject handle to drawInterval (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 edit11 as text
% str2double(get(hObject,'String')) returns contents of edit11 as a double
% --- Executes during object creation, after setting all properties.
function edit11_CreateFcn(hObject, eventdata, handles)
% hObject handle to edit11 (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
% Hints: get(hObject,'String') returns contents of drawInterval as text
% str2double(get(hObject,'String')) returns contents of drawInterval as a double
@ -324,19 +336,6 @@ function cameraIntervalEdit_Callback(hObject, eventdata, handles)
% str2double(get(hObject,'String')) returns contents of cameraIntervalEdit as a double
% --- Executes during object creation, after setting all properties.
function cameraIntervalEdit_CreateFcn(hObject, eventdata, handles)
% hObject handle to cameraIntervalEdit (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 button press in saveGraphCB.
function saveGraphCB_Callback(hObject, eventdata, handles)
% hObject handle to saveGraphCB (see GCBO)
@ -380,12 +379,3 @@ function saveGraphsCB_Callback(hObject, eventdata, handles)
% handles structure with handles and user data (see GUIDATA)
% Hint: get(hObject,'Value') returns toggle state of saveGraphsCB
% --- Executes on button press in showImagesCB.
function showImagesCB_Callback(hObject, eventdata, handles)
% hObject handle to showImagesCB (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hint: get(hObject,'Value') returns toggle state of showImagesCB