Added an example selector. Try it using gtsamExamples :-)

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

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));

matlab/examples/gtsamExamples.m

@@ -0,0 +1,142 @@
+function varargout = gtsamExamples(varargin)
+% GTSAMEXAMPLES MATLAB code for gtsamExamples.fig
+%      GTSAMEXAMPLES, by itself, creates a new GTSAMEXAMPLES or raises the existing
+%      singleton*.
+%
+%      H = GTSAMEXAMPLES returns the handle to a new GTSAMEXAMPLES or the handle to
+%      the existing singleton*.
+%
+%      GTSAMEXAMPLES('CALLBACK',hObject,eventData,handles,...) calls the local
+%      function named CALLBACK in GTSAMEXAMPLES.M with the given input arguments.
+%
+%      GTSAMEXAMPLES('Property','Value',...) creates a new GTSAMEXAMPLES or raises the
+%      existing singleton*.  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');