From 990eca29db0b1e1f4008199152bb08075b79705f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 12 Jun 2012 04:46:51 +0000 Subject: [PATCH] Added an example selector. Try it using gtsamExamples :-) --- .../{VO_Example.m => StereoVOExample_large.m} | 0 matlab/examples/VisualISAMExample.m | 2 +- matlab/examples/VisualSLAMExample.m | 2 +- matlab/examples/gtsamExamples.fig | Bin 0 -> 7342 bytes matlab/examples/gtsamExamples.m | 142 ++++++++++++++++++ 5 files changed, 144 insertions(+), 2 deletions(-) rename matlab/examples/{VO_Example.m => StereoVOExample_large.m} (100%) create mode 100644 matlab/examples/gtsamExamples.fig create mode 100644 matlab/examples/gtsamExamples.m diff --git a/matlab/examples/VO_Example.m b/matlab/examples/StereoVOExample_large.m similarity index 100% rename from matlab/examples/VO_Example.m rename to matlab/examples/StereoVOExample_large.m diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index 2dfde60bb..f8423a057 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -36,7 +36,7 @@ options.saveDotFiles = false; %% Initialize iSAM with the first pose and points [noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); -figure(1); +cla; VisualISAMPlot(truth, data, isam, result, options) %% Main loop for iSAM: stepping through all poses diff --git a/matlab/examples/VisualSLAMExample.m b/matlab/examples/VisualSLAMExample.m index f6ef2063b..c2b045dab 100644 --- a/matlab/examples/VisualSLAMExample.m +++ b/matlab/examples/VisualSLAMExample.m @@ -80,7 +80,7 @@ result.print(sprintf('\nFinal result:\n ')); %% Plot results with covariance ellipses marginals = graph.marginals(result); -figure(1);clf +cla hold on; for j=1:size(points,2) P = marginals.marginalCovariance(symbol('l',j)); diff --git a/matlab/examples/gtsamExamples.fig b/matlab/examples/gtsamExamples.fig new file mode 100644 index 0000000000000000000000000000000000000000..39370f3df54fab4ef92d744742611a8679b409bd GIT binary patch literal 7342 zcma)BRa+a1vcm^2*B+^n2jz~cYrko z%uPfbMt!g`nJ%CJqIS{J>#p*pa?iiPrIIDgyBfo32)@uu?I!s~`*+0WCYFArQQR%& zPli#N`a>!A-gl^9LlM*+d^}Z0WGkBcW&;(4qTdspYOGdDICrh@Zi2Q8vIY>3taf>@ zrg$!r;WOMJ+P;bW9xRf`+P?->0p@==j6JtLTTM+ws@u?{KCco}u}#)r_k?kFXS^rrK9+yc5AzJFZj3ikcn1l&S?qUD#Zw?C9Xu zXdda{RY)Wmc;c-pvL=0zVo$~I#nIm(dfkF0S|wM1c_+ptHCU1bnArgB$5AGFSeTgL z2+ekIy&yOG@%w9ZQInVYVT(D#){X3ix^N8Sp5a>(kBs>EU}kTfU9aTy!pSZv+pj;} zuXM8*Nr2_Pot#w@BuyetC*Bb+#Pq)5dq(yh@;N+vGJ%K9Nb^7uXe=y&Itv4^f;#r} zSGAtxvsNsHy9#dRDs`@Zn*X%<6WvqH6vBvoPVnl@zf`ci!2CR(Rjhzb_!AnQNpSX4 z8a(DQ#)^}lZwG0Y|cP<+wL$6F=|T3vAMbQtbsbBGj|ewr{&k}1zs;} zz;>H(ZEv)WI*S!m54l!%X@@nB#J$pep?R9E>j3`+Nk3v1`PlBaw@0E4jwj$`QIxRX>2-v4>d>ugOz)#^cO}b*ln;LFS4GZ{DsBp5I=~6EA@}(M9u) zCm-za-d^ez7I9yXxRiOlGg2T32~W^&Ag!*-ir2Sor2A9^hSJq#6C2MSzt4#%UZ`Db zeE%wBt6K3>T%u1}yy4`!+-z-qZCl)Zo3lAkXPaQ)HW8lWn!#8W_Ud6UwO~d1B7WSn zx+58v)RbSb5Bp8Rt0%5!O+3^cN@a4lDvO_?cWyqjO;b;$JiY=?EXTwPC9AXmk|kOL zYdzPL(Rl)6)9p=H}iZ z+AD@kQZC-q4p*~vq{(-t{V)>G)&Yr(%Xvvz!1}N5rT-m;Pfy4CWA>D?RJny4)BnJ1 zh;fMvz_pi0Y+i%Knwly$e3d!B)e^yN9`*I7YQIm0LQFvf-eggEBBTZQHzjY$B@ z&L&k zr4-3tXJ^1ljk7l)%}1jK{M(XuV_mj$uX1|q%!CQuLBy_64{|T5!uO)+8O3%s^CW-` z>V!4ba&>XTlQR7-nAG6SzYYzgut?D_>O1hj%P-%UijtD(-k<`XKZ+jlo&3$FK5u1{ zFpx!ed}>)~zkfk}DpXsmaYvWZTgp0Cn)Fyw0JQ=#9u(KK(8C9-PIQ#Mfi zo*6wJpi1CbGFa>S@Fikp^+}|jGaAVt5{+aV=XC#CZkAOYkmZDDoJIOwmutH9*RjJ# zT$o0?O}amoMs=CcV~QBgA_&?&!Cf=-;@cTKPJt`@nFF&?SE-OX%>KI=)I7hkQS|Qn zC7oQ)y~CuiZ0s&9^t+-|q#FfzS2EG9E@)vqe(vjU>eG3qq9xI&l;VVg;m?Eft2f(? z&p0A=m4yTv?IPn{))SDQ*kQ;UCBx_;ygH&@kj^YDoHa*UdOcG{?CkP>SKU7YhT1oT zxj9rkSe`ZApvU(S68Ik=0|Diuak@SCda3t|YkBvt`Z=ZVxIg%6w*0vlO;^IDHXP9| z>F4FSg)8J7?YN_}U8jssr5pNp2Lfy)3bgpEe*rCZFIp~V?D2My*9lcmzTW$Nnc)cQ zgDat%9iMwH@7(5 zdm`Y=(}P*2P17C!SZK%f0tI}rctS~&4g#V}9U zR-i`ENqc;9hO5ig@$1XMQ}LkAfIz8y>oQCJ)K$01|CpUNq5dzk2by-9f=g*bf7K%J ze<*(o#{b#hNEIW^L`M9AC&jkyNAgiss75V#C4 z^HdjbvoB=4M&Q`3Z75~zedsY;(vrvu>I5btP@OB-MaL!IkNvAtzMbaEdzLg2-L
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Starting from the left, property value pairs are +% applied to the GUI before gtsamExamples_OpeningFcn gets called. An +% unrecognized property name or invalid value makes property application +% stop. All inputs are passed to gtsamExamples_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 gtsamExamples + +% Last Modified by GUIDE v2.5 12-Jun-2012 00:27:03 + +% Begin initialization code - DO NOT EDIT +gui_Singleton = 1; +gui_State = struct('gui_Name', mfilename, ... + 'gui_Singleton', gui_Singleton, ... + 'gui_OpeningFcn', @gtsamExamples_OpeningFcn, ... + 'gui_OutputFcn', @gtsamExamples_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 gtsamExamples is made visible. +function gtsamExamples_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 gtsamExamples (see VARARGIN) + +% Choose default command line output for gtsamExamples +handles.output = hObject; + +% Update handles structure +guidata(hObject, handles); + +% This sets up the initial plot - only do when we are invisible +% so window can get raised using gtsamExamples. +if strcmp(get(hObject,'Visible'),'off') + plot(rand(5)); +end + +% --- Outputs from this function are returned to the command line. +function varargout = gtsamExamples_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 CloseMenuItem_Callback(hObject, eventdata, handles) +% hObject handle to CloseMenuItem (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) +selection = questdlg(['Close ' get(handles.figure1,'Name') '?'],... + ['Close ' get(handles.figure1,'Name') '...'],... + 'Yes','No','Yes'); +if strcmp(selection,'No') + return; +end + +delete(handles.figure1) + +% --- Executes on button press in Odometry. +function Odometry_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +OdometryExample; +echo off + +% --- Executes on button press in Localization. +function Localization_Callback(hObject, eventdata, handles) +fprintf(1,'LocalizationExample not implemented yet\n'); + +% --- Executes on button press in Pose2SLAM. +function Pose2SLAM_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +Pose2SLAMExample +echo off + +% --- Executes on button press in Pose3SLAM. +function Pose3SLAM_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +Pose3SLAMExample +echo off + +% --- Executes on button press in PlanarSLAM. +function PlanarSLAM_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +PlanarSLAMExample +echo off + +% --- Executes on button press in VisualSLAM. +function VisualSLAM_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +VisualSLAMExample +echo off + +% --- Executes on button press in VisualISAM. +function VisualISAM_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +VisualISAMExample +echo off + +% --- Executes on button press in StereoVO. +function StereoVO_Callback(hObject, eventdata, handles) +fprintf(1,'StereoVOExample not implemented yet\n'); + +% --- Executes on button press in Future. +function Future_Callback(hObject, eventdata, handles) +fprintf(1,'Future demo not implemented yet :-)\n');