Visual ISAM gui with global vars
Duy-Nguyen Ta
parent
533a7548dd
commit
9b71080625
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VisualISAMGlobalVars
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sprintf('vData...')
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%% Generate simulated data
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points = {};
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if TRIANGLE % Create a triangle target, just 3 points on a plane
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nPoints = 3;
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r = 10;
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for j=1:nPoints
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theta = (j-1)*2*pi/nPoints;
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points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]');
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end
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else % 3D landmarks as vertices of a cube
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nPoints = 8;
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points = {gtsamPoint3([10 10 10]'),...
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gtsamPoint3([-10 10 10]'),...
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gtsamPoint3([-10 -10 10]'),...
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gtsamPoint3([10 -10 10]'),...
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gtsamPoint3([10 10 -10]'),...
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gtsamPoint3([-10 10 -10]'),...
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gtsamPoint3([-10 -10 -10]'),...
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gtsamPoint3([10 -10 -10]')};
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end
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%% Create camera cameras on a circle around the triangle
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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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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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cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K);
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if SHOW_IMAGES % show images
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figure(2+i);clf;hold on
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set(2+i,'NumberTitle','off','Name',sprintf('Camera %d',i));
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for j=1:nPoints
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zij = cameras{i}.project(points{j});
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plot(zij.x,zij.y,'*');
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axis([1 640 1 480]);
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end
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end
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end
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odometry = cameras{1}.pose.between(cameras{2}.pose);
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%% Set Noise parameters
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poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
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odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
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pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1);
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measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0);
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global TRIANGLE NCAMERAS SHOW_IMAGES
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global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE
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global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES
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global SAVE_FIGURES SAVE_GRAPHS
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global nPoints points K cameras odometry
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global poseNoise pointNoise odometryNoise measurementNoise
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global frame_i isam newFactors initialEstimates result
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VisualISAMGlobalVars
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%% Data Options
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TRIANGLE = true;
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NCAMERAS = 20;
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SHOW_IMAGES = false;
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%% iSAM Options
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HARD_CONSTRAINT = false;
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POINT_PRIORS = false;
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BATCH_INIT = true;
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REORDER_INTERVAL=10;
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ALWAYS_RELINEARIZE = false;
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%% Display Options
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SAVE_GRAPH = false;
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PRINT_STATS = true;
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DRAW_INTERVAL = 4;
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CAMERA_INTERVAL = 1;
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DRAW_TRUE_POSES = false;
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SAVE_FIGURES = false;
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SAVE_GRAPHS = false;
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VisualISAMGlobalVars
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%% Initialize iSAM
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isam = visualSLAMISAM(REORDER_INTERVAL);
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newFactors = visualSLAMGraph;
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initialEstimates = visualSLAMValues;
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i1 = symbol('x',1);
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camera1 = cameras{1};
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pose1 = camera1.pose;
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if HARD_CONSTRAINT % add hard constraint
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newFactors.addPoseConstraint(i1,pose1);
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else
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newFactors.addPosePrior(i1,pose1, poseNoise);
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end
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initialEstimates.insertPose(i1,pose1);
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% Add visual measurement factors from first pose
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for j=1:nPoints
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jj = symbol('l',j);
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if POINT_PRIORS % add point priors
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newFactors.addPointPrior(jj, points{j}, pointNoise);
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end
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zij = camera1.project(points{j});
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newFactors.addMeasurement(zij, measurementNoise, i1, jj, K);
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initialEstimates.insertPoint(jj, points{j});
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end
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frame_i = 1
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cla;
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VisualISAMGlobalVars
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if (frame_i<2)
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sprintf('Cannot plot the first frame')
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return
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end
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%% Plot results
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tic
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% h=figure(2);clf
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% set(1,'NumberTitle','off','Name','Visual iSAM');
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cla;
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hold on;
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sprintf('Computing marginals and plotting. Please wait...')
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for j=1:size(points,2)
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P = isam.marginalCovariance(symbol('l',j));
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point_j = result.point(symbol('l',j));
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plot3(point_j.x, point_j.y, point_j.z,'marker','o');
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covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P);
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end
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for ii=1:CAMERA_INTERVAL:frame_i
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P = isam.marginalCovariance(symbol('x',ii));
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pose_ii = result.pose(symbol('x',ii));
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plotPose3(pose_ii,P,10);
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if DRAW_TRUE_POSES % show ground truth
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plotPose3(cameras{ii}.pose,0.001*eye(6),10);
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end
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end
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axis([-40 40 -40 40 -10 20]);axis equal
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view(3)
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colormap('hot')
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sprintf('Done!')
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% figure(2);
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t=toc;
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if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end
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if SAVE_FIGURES
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print(h,'-dpng',sprintf('VisualiSAM%03d.png',frame_i));
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end
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if SAVE_GRAPHS
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isam.saveGraph(sprintf('VisualiSAM%03d.dot',frame_i));
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end
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VisualISAMGlobalVars
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%% Add odometry
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newFactors.addOdometry(symbol('x',frame_i-1), symbol('x',frame_i), odometry, odometryNoise);
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%% Add visual measurement factors
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for j=1:nPoints
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zij = cameras{frame_i}.project(points{j});
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newFactors.addMeasurement(zij, measurementNoise, symbol('x',frame_i), symbol('l',j), K);
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end
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%% Initial estimates for the new pose. Also initialize points while in the first frame.
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%TODO: this might be suboptimal since "result" is not the fully optimized result
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if (frame_i==2), prevPose = cameras{1}.pose;
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else, prevPose = result.pose(symbol('x',frame_i-1)); end
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initialEstimates.insertPose(symbol('x',frame_i), prevPose.compose(odometry));
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%% Update ISAM
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if BATCH_INIT & (frame_i==2) % Do a full optimize for first two poses
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initialEstimates
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fullyOptimized = newFactors.optimize(initialEstimates)
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initialEstimates = fullyOptimized;
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end
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% figure(1);tic;
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isam.update(newFactors, initialEstimates);
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% t=toc; plot(frame_i,t,'r.'); tic
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result = isam.estimate();
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% t=toc; plot(frame_i,t,'g.');
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if ALWAYS_RELINEARIZE % re-linearize
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isam.reorder_relinearize();
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end
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if SAVE_GRAPH
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isam.saveGraph(sprintf('VisualiSAM.dot',frame_i));
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end
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if PRINT_STATS
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isam.printStats();
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end
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if mod(frame_i,DRAW_INTERVAL)==0
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VisualISAMPlot
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end
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%% Reset newFactors and initialEstimates to prepare for the next update
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newFactors = visualSLAMGraph;
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initialEstimates = visualSLAMValues;
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Binary file not shown.
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function varargout = VisualISAM_gui(varargin)
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% VISUALISAM_GUI MATLAB code for VisualISAM_gui.fig
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% VISUALISAM_GUI, by itself, creates a new VISUALISAM_GUI or raises the existing
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% singleton*.
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%
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% H = VISUALISAM_GUI returns the handle to a new VISUALISAM_GUI or the handle to
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% the existing singleton*.
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%
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% VISUALISAM_GUI('CALLBACK',hObject,eventData,handles,...) calls the local
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% function named CALLBACK in VISUALISAM_GUI.M with the given input arguments.
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%
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% VISUALISAM_GUI('Property','Value',...) creates a new VISUALISAM_GUI or raises the
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% existing singleton*. Starting from the left, property value pairs are
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% applied to the GUI before VisualISAM_gui_OpeningFcn gets called. An
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% unrecognized property name or invalid value makes property application
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% stop. All inputs are passed to VisualISAM_gui_OpeningFcn via varargin.
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%
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% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
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% instance to run (singleton)".
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%
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% See also: GUIDE, GUIDATA, GUIHANDLES
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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 16:03:16
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% Begin initialization code - DO NOT EDIT
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gui_Singleton = 1;
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gui_State = struct('gui_Name', mfilename, ...
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'gui_Singleton', gui_Singleton, ...
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'gui_OpeningFcn', @VisualISAM_gui_OpeningFcn, ...
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'gui_OutputFcn', @VisualISAM_gui_OutputFcn, ...
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'gui_LayoutFcn', [] , ...
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'gui_Callback', []);
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if nargin && ischar(varargin{1})
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gui_State.gui_Callback = str2func(varargin{1});
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end
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if nargout
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[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
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else
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gui_mainfcn(gui_State, varargin{:});
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end
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% End initialization code - DO NOT EDIT
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% --- Executes just before VisualISAM_gui is made visible.
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function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin)
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% This function has no output args, see OutputFcn.
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% hObject handle to figure
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% eventdata reserved - to be defined in a future version of MATLAB
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% handles structure with handles and user data (see GUIDATA)
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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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VisualISAMGlobalVars
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VisualISAMInitOptions
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VisualISAMGenerateData
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handles.output = hObject;
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% Update handles structure
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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, eventdata, handles)
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% varargout cell array for returning output args (see VARARGOUT);
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% hObject handle to figure
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% eventdata reserved - to be defined in a future version of MATLAB
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% handles structure with handles and user data (see GUIDATA)
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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, eventdata, handles)
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% hObject handle to intializeButton (see GCBO)
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% eventdata reserved - to be defined in a future version of MATLAB
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% handles structure with handles and user data (see GUIDATA)
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sprintf('init button')
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VisualISAMGlobalVars
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DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')) ;
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NCAMERAS = str2num(get(handles.numCamEdit,'String')) ;
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VisualISAMGenerateData
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VisualISAMInitialize
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% --- Executes on button press in stepButton.
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function stepButton_Callback(hObject, eventdata, handles)
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% hObject handle to stepButton (see GCBO)
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% eventdata reserved - to be defined in a future version of MATLAB
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% handles structure with handles and user data (see GUIDATA)
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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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sprintf('Frame %d:', frame_i)
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VisualISAMStep
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end
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% --- Executes on selection change in popupmenu1.
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function popupmenu1_Callback(hObject, eventdata, handles)
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% hObject handle to popupmenu1 (see GCBO)
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% eventdata reserved - to be defined in a future version of MATLAB
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% handles structure with handles and user data (see GUIDATA)
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% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu1 contents as cell array
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% contents{get(hObject,'Value')} returns selected item from popupmenu1
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global TRIANGLE
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str = cellstr(get(hObject,'String'));
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sel = get(hObject,'Value');
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switch str{sel}
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case 'triangle'
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TRIANGLE = true
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case 'cube'
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TRIANGLE = false
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end
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VisualISAMGenerateData
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VisualISAMInitialize
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% --- Executes during object creation, after setting all properties.
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function popupmenu1_CreateFcn(hObject, eventdata, handles)
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% hObject handle to popupmenu1 (see GCBO)
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% eventdata reserved - to be defined in a future version of MATLAB
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% handles empty - handles not created until after all CreateFcns called
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% Hint: popupmenu 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 backButton.
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function backButton_Callback(hObject, eventdata, handles)
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% hObject handle to backButton (see GCBO)
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% eventdata reserved - to be defined in a future version of MATLAB
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% handles structure with handles and user data (see GUIDATA)
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sprintf('Not yet implemented')
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% --- Executes on button press in runButton.
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function runButton_Callback(hObject, eventdata, handles)
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% hObject handle to runButton (see GCBO)
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% eventdata reserved - to be defined in a future version of MATLAB
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% handles structure with handles and user data (see GUIDATA)
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sprintf('Not yet implemented')
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% --- Executes on button press in stopButton.
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function stopButton_Callback(hObject, eventdata, handles)
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% hObject handle to stopButton (see GCBO)
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% eventdata reserved - to be defined in a future version of MATLAB
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% handles structure with handles and user data (see GUIDATA)
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sprintf('Not yet implemented')
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% --- Executes on button press in plotButton.
|
||||||
|
function plotButton_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to plotButton (see GCBO)
|
||||||
|
% eventdata reserved - to be defined in a future version of MATLAB
|
||||||
|
% handles structure with handles and user data (see GUIDATA)
|
||||||
|
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)
|
||||||
|
% 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 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')) ;
|
||||||
|
VisualISAMGenerateData
|
||||||
|
VisualISAMInitialize
|
||||||
|
|
||||||
|
% --- Executes during object creation, after setting all properties.
|
||||||
|
function numCamEdit_CreateFcn(hObject, eventdata, handles)
|
||||||
|
% hObject handle to numCamEdit (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 edit5_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to edit5 (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 edit5 as text
|
||||||
|
% str2double(get(hObject,'String')) returns contents of edit5 as a double
|
||||||
|
|
||||||
|
|
||||||
|
% --- Executes during object creation, after setting all properties.
|
||||||
|
function edit5_CreateFcn(hObject, eventdata, handles)
|
||||||
|
% hObject handle to edit5 (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 edit6_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to edit6 (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
|
||||||
|
|
||||||
|
|
||||||
|
% --- Executes during object creation, after setting all properties.
|
||||||
|
function edit6_CreateFcn(hObject, eventdata, handles)
|
||||||
|
% hObject handle to edit6 (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 hardConstraintCB.
|
||||||
|
function hardConstraintCB_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to hardConstraintCB (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 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)
|
||||||
|
% 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
|
||||||
|
|
||||||
|
|
||||||
|
% --- Executes on button press in batchInitCB.
|
||||||
|
function batchInitCB_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to batchInitCB (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 batchInitCB
|
||||||
|
|
||||||
|
|
||||||
|
% --- Executes on button press in alwaysRelinearizeCB.
|
||||||
|
function alwaysRelinearizeCB_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to alwaysRelinearizeCB (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 alwaysRelinearizeCB
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
function edit11_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to edit11 (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
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
function cameraIntervalEdit_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to cameraIntervalEdit (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 cameraIntervalEdit as text
|
||||||
|
% 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)
|
||||||
|
% 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 saveGraphCB
|
||||||
|
|
||||||
|
|
||||||
|
% --- Executes on button press in printStatsCB.
|
||||||
|
function printStatsCB_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to printStatsCB (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 printStatsCB
|
||||||
|
|
||||||
|
|
||||||
|
% --- Executes on button press in drawTruePosesCB.
|
||||||
|
function drawTruePosesCB_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to drawTruePosesCB (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 drawTruePosesCB
|
||||||
|
|
||||||
|
|
||||||
|
% --- Executes on button press in saveFiguresCB.
|
||||||
|
function saveFiguresCB_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to saveFiguresCB (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 saveFiguresCB
|
||||||
|
|
||||||
|
|
||||||
|
% --- Executes on button press in saveGraphsCB.
|
||||||
|
function saveGraphsCB_Callback(hObject, eventdata, handles)
|
||||||
|
% hObject handle to saveGraphsCB (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 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
|
||||||
Loading…
Reference in New Issue