Moved utility functions that are example-specific to a 'support' namespace inside the examples folder
parent
1b935dbdc5
commit
cceebbf41c
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@ -16,10 +16,8 @@ install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_te
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# Examples
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message(STATUS "Installing Matlab Toolbox Examples")
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# Matlab files: *.m and *.fig
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file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m")
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file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig")
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set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig})
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install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples)
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install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples" FILES_MATCHING PATTERN "*.m")
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install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples" FILES_MATCHING PATTERN "*.fig")
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message(STATUS "Installing Matlab Toolbox Examples (Data)")
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# Data files: *.graph and *.txt
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@ -8,7 +8,8 @@ isam = visualSLAM.ISAM(options.reorderInterval);
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%% Set Noise parameters
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import gtsam.*
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noiseModels.pose = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
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noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
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%noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
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noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.1 0.1 0.1 1.0 1.0 1.0]');
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noiseModels.point = noiseModel.Isotropic.Sigma(3, 0.1);
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noiseModels.measurement = noiseModel.Isotropic.Sigma(2, 1.0);
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@ -3,8 +3,8 @@ function datafile = findExampleDataFile(datasetName)
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[ myPath, ~, ~ ] = fileparts(mfilename('fullpath'));
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searchPath = { ...
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fullfile(myPath, [ '../../examples/Data/' datasetName ]) ...
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fullfile(myPath, [ 'Data/' datasetName ]) };
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fullfile(myPath, [ '../../../examples/Data/' datasetName ]) ...
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fullfile(myPath, [ '../Data/' datasetName ]) };
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datafile = [];
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for path = searchPath
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if exist(path{:}, 'file')
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@ -11,7 +11,7 @@
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% Find data file
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datafile = findExampleDataFile('w100-odom.graph');
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datafile = support.findExampleDataFile('w100-odom.graph');
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%% Initialize graph, initial estimate, and odometry noise
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import gtsam.*
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@ -16,7 +16,7 @@ N = 2500;
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% dataset = 'sphere2500_groundtruth.txt';
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dataset = 'sphere2500.txt';
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datafile = findExampleDataFile(dataset);
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datafile = support.findExampleDataFile(dataset);
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%% Initialize graph, initial estimate, and odometry noise
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import gtsam.*
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@ -22,7 +22,7 @@ options.nrCameras = 10;
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options.showImages = false;
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%% Generate data
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[data,truth] = VisualISAMGenerateData(options);
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[data,truth] = support.VisualISAMGenerateData(options);
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measurementNoiseSigma = 1.0;
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pointNoiseSigma = 0.1;
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@ -32,17 +32,17 @@ options.saveFigures = false;
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options.saveDotFiles = false;
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%% Generate data
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[data,truth] = VisualISAMGenerateData(options);
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[data,truth] = support.VisualISAMGenerateData(options);
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%% Initialize iSAM with the first pose and points
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[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options);
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[noiseModels,isam,result] = support.VisualISAMInitialize(data,truth,options);
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cla;
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VisualISAMPlot(truth, data, isam, result, options)
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support.VisualISAMPlot(truth, data, isam, result, options)
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%% Main loop for iSAM: stepping through all poses
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for frame_i=3:options.nrCameras
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[isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth,options);
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[isam,result] = support.VisualISAMStep(data,noiseModels,isam,result,truth,options);
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if mod(frame_i,options.drawInterval)==0
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VisualISAMPlot(truth, data, isam, result, options)
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support.VisualISAMPlot(truth, data, isam, result, options)
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end
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end
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@ -230,12 +230,12 @@ global frame_i truth data noiseModels isam result options
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initOptions(handles)
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% Generate Data
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[data,truth] = VisualISAMGenerateData(options);
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[data,truth] = support.VisualISAMGenerateData(options);
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% Initialize and plot
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[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options);
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[noiseModels,isam,result] = support.VisualISAMInitialize(data,truth,options);
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cla
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VisualISAMPlot(truth, data, isam, result, options)
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support.VisualISAMPlot(truth, data, isam, result, options)
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frame_i = 2;
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showFramei(hObject, handles)
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@ -246,10 +246,10 @@ global frame_i truth data noiseModels isam result options
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while (frame_i<size(truth.cameras,2))
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frame_i = frame_i+1;
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showFramei(hObject, handles)
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[isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth,options);
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[isam,result] = support.VisualISAMStep(data,noiseModels,isam,result,truth,options);
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if mod(frame_i,options.drawInterval)==0
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showWaiting(handles, 'Computing marginals...');
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VisualISAMPlot(truth, data, isam, result, options)
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support.VisualISAMPlot(truth, data, isam, result, options)
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showWaiting(handles, '');
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end
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end
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@ -261,8 +261,8 @@ global frame_i truth data noiseModels isam result options
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if (frame_i<size(truth.cameras,2))
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frame_i = frame_i+1;
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showFramei(hObject, handles)
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[isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth,options);
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[isam,result] = support.VisualISAMStep(data,noiseModels,isam,result,truth,options);
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showWaiting(handles, 'Computing marginals...');
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VisualISAMPlot(truth, data, isam, result, options)
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support.VisualISAMPlot(truth, data, isam, result, options)
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showWaiting(handles, '');
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end
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