From cceebbf41c434d554067cabb00788343e58ce41f Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 24 Jul 2012 13:35:11 +0000
Subject: [PATCH] Moved utility functions that are example-specific to a
 'support' namespace inside the examples folder

---
 matlab/CMakeLists.txt                           |   6 ++----
 matlab/VisualISAM_gui.fig                       | Bin 9761 -> 0 bytes
 .../+support}/VisualISAMGenerateData.m          |   0
 .../+support}/VisualISAMInitialize.m            |   3 ++-
 matlab/{ => examples/+support}/VisualISAMPlot.m |   0
 matlab/{ => examples/+support}/VisualISAMStep.m |   0
 .../{ => +support}/findExampleDataFile.m        |   4 ++--
 matlab/examples/Pose2SLAMExample_graph.m        |   2 +-
 matlab/examples/Pose3SLAMExample_graph.m        |   2 +-
 matlab/examples/SBAExample.m                    |   2 +-
 matlab/examples/VisualISAMExample.m             |  10 +++++-----
 matlab/examples/VisualISAM_gui.fig              | Bin 0 -> 10226 bytes
 matlab/{ => examples}/VisualISAM_gui.m          |  14 +++++++-------
 13 files changed, 21 insertions(+), 22 deletions(-)
 delete mode 100644 matlab/VisualISAM_gui.fig
 rename matlab/{ => examples/+support}/VisualISAMGenerateData.m (100%)
 rename matlab/{ => examples/+support}/VisualISAMInitialize.m (93%)
 rename matlab/{ => examples/+support}/VisualISAMPlot.m (100%)
 rename matlab/{ => examples/+support}/VisualISAMStep.m (100%)
 rename matlab/examples/{ => +support}/findExampleDataFile.m (76%)
 create mode 100644 matlab/examples/VisualISAM_gui.fig
 rename matlab/{ => examples}/VisualISAM_gui.m (94%)

diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt
index 3e77de602..0b07b51b1 100644
--- a/matlab/CMakeLists.txt
+++ b/matlab/CMakeLists.txt
@@ -16,10 +16,8 @@ install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_te
 # Examples
 message(STATUS "Installing Matlab Toolbox Examples")
 # Matlab files: *.m and *.fig
-file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m")
-file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig")
-set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig})
-install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples)
+install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples" FILES_MATCHING PATTERN "*.m")
+install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples" FILES_MATCHING PATTERN "*.fig")
 
 message(STATUS "Installing Matlab Toolbox Examples (Data)")
 # Data files: *.graph and *.txt
diff --git a/matlab/VisualISAM_gui.fig b/matlab/VisualISAM_gui.fig
deleted file mode 100644
index 7140cbf7333b38b5712208c676d6da9caadbbf26..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/matlab/VisualISAMGenerateData.m b/matlab/examples/+support/VisualISAMGenerateData.m
similarity index 100%
rename from matlab/VisualISAMGenerateData.m
rename to matlab/examples/+support/VisualISAMGenerateData.m
diff --git a/matlab/VisualISAMInitialize.m b/matlab/examples/+support/VisualISAMInitialize.m
similarity index 93%
rename from matlab/VisualISAMInitialize.m
rename to matlab/examples/+support/VisualISAMInitialize.m
index cbcb09c5c..90ba1e0c5 100644
--- a/matlab/VisualISAMInitialize.m
+++ b/matlab/examples/+support/VisualISAMInitialize.m
@@ -8,7 +8,8 @@ isam = visualSLAM.ISAM(options.reorderInterval);
 %% Set Noise parameters
 import gtsam.*
 noiseModels.pose = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
-noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
+%noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
+noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.1 0.1 0.1 1.0 1.0 1.0]');
 noiseModels.point = noiseModel.Isotropic.Sigma(3, 0.1);
 noiseModels.measurement = noiseModel.Isotropic.Sigma(2, 1.0);
 
diff --git a/matlab/VisualISAMPlot.m b/matlab/examples/+support/VisualISAMPlot.m
similarity index 100%
rename from matlab/VisualISAMPlot.m
rename to matlab/examples/+support/VisualISAMPlot.m
diff --git a/matlab/VisualISAMStep.m b/matlab/examples/+support/VisualISAMStep.m
similarity index 100%
rename from matlab/VisualISAMStep.m
rename to matlab/examples/+support/VisualISAMStep.m
diff --git a/matlab/examples/findExampleDataFile.m b/matlab/examples/+support/findExampleDataFile.m
similarity index 76%
rename from matlab/examples/findExampleDataFile.m
rename to matlab/examples/+support/findExampleDataFile.m
index 7719dfcfa..5fd23352e 100644
--- a/matlab/examples/findExampleDataFile.m
+++ b/matlab/examples/+support/findExampleDataFile.m
@@ -3,8 +3,8 @@ function datafile = findExampleDataFile(datasetName)
 
 [ myPath, ~, ~ ] = fileparts(mfilename('fullpath'));
 searchPath = { ...
-    fullfile(myPath, [ '../../examples/Data/' datasetName ]) ...
-    fullfile(myPath, [ 'Data/' datasetName ]) };
+    fullfile(myPath, [ '../../../examples/Data/' datasetName ]) ...
+    fullfile(myPath, [ '../Data/' datasetName ]) };
 datafile = [];
 for path = searchPath
     if exist(path{:}, 'file')
diff --git a/matlab/examples/Pose2SLAMExample_graph.m b/matlab/examples/Pose2SLAMExample_graph.m
index 2cfe900a0..f5193a7de 100644
--- a/matlab/examples/Pose2SLAMExample_graph.m
+++ b/matlab/examples/Pose2SLAMExample_graph.m
@@ -11,7 +11,7 @@
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 %% Find data file
-datafile = findExampleDataFile('w100-odom.graph');
+datafile = support.findExampleDataFile('w100-odom.graph');
 
 %% Initialize graph, initial estimate, and odometry noise
 import gtsam.*
diff --git a/matlab/examples/Pose3SLAMExample_graph.m b/matlab/examples/Pose3SLAMExample_graph.m
index 6efb58199..1d33c30e4 100644
--- a/matlab/examples/Pose3SLAMExample_graph.m
+++ b/matlab/examples/Pose3SLAMExample_graph.m
@@ -16,7 +16,7 @@ N = 2500;
 % dataset = 'sphere2500_groundtruth.txt';
 dataset = 'sphere2500.txt';
 
-datafile = findExampleDataFile(dataset);
+datafile = support.findExampleDataFile(dataset);
 
 %% Initialize graph, initial estimate, and odometry noise
 import gtsam.*
diff --git a/matlab/examples/SBAExample.m b/matlab/examples/SBAExample.m
index 9d5d22047..a9f101613 100644
--- a/matlab/examples/SBAExample.m
+++ b/matlab/examples/SBAExample.m
@@ -22,7 +22,7 @@ options.nrCameras = 10;
 options.showImages = false;
 
 %% Generate data
-[data,truth] = VisualISAMGenerateData(options);
+[data,truth] = support.VisualISAMGenerateData(options);
 
 measurementNoiseSigma = 1.0;
 pointNoiseSigma = 0.1;
diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m
index dc6a95ae2..7553ed2a4 100644
--- a/matlab/examples/VisualISAMExample.m
+++ b/matlab/examples/VisualISAMExample.m
@@ -32,17 +32,17 @@ options.saveFigures = false;
 options.saveDotFiles = false;
 
 %% Generate data
-[data,truth] = VisualISAMGenerateData(options);
+[data,truth] = support.VisualISAMGenerateData(options);
 
 %% Initialize iSAM with the first pose and points
-[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options);
+[noiseModels,isam,result] = support.VisualISAMInitialize(data,truth,options);
 cla;
-VisualISAMPlot(truth, data, isam, result, options)
+support.VisualISAMPlot(truth, data, isam, result, options)
 
 %% Main loop for iSAM: stepping through all poses
 for frame_i=3:options.nrCameras
-    [isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth,options);
+    [isam,result] = support.VisualISAMStep(data,noiseModels,isam,result,truth,options);
     if mod(frame_i,options.drawInterval)==0
-        VisualISAMPlot(truth, data, isam, result, options)
+        support.VisualISAMPlot(truth, data, isam, result, options)
     end
 end
diff --git a/matlab/examples/VisualISAM_gui.fig b/matlab/examples/VisualISAM_gui.fig
new file mode 100644
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diff --git a/matlab/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m
similarity index 94%
rename from matlab/VisualISAM_gui.m
rename to matlab/examples/VisualISAM_gui.m
index cdb2ddbaf..765a6f5ac 100644
--- a/matlab/VisualISAM_gui.m
+++ b/matlab/examples/VisualISAM_gui.m
@@ -230,12 +230,12 @@ global frame_i truth data noiseModels isam result options
 initOptions(handles)
 
 % Generate Data
-[data,truth] = VisualISAMGenerateData(options);
+[data,truth] = support.VisualISAMGenerateData(options);
 
 % Initialize and plot
-[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options);
+[noiseModels,isam,result] = support.VisualISAMInitialize(data,truth,options);
 cla
-VisualISAMPlot(truth, data, isam, result, options)
+support.VisualISAMPlot(truth, data, isam, result, options)
 frame_i = 2;
 showFramei(hObject, handles)
 
@@ -246,10 +246,10 @@ global frame_i truth data noiseModels isam result options
 while (frame_i<size(truth.cameras,2))
     frame_i = frame_i+1;
     showFramei(hObject, handles)
-    [isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth,options);
+    [isam,result] = support.VisualISAMStep(data,noiseModels,isam,result,truth,options);
     if mod(frame_i,options.drawInterval)==0
         showWaiting(handles, 'Computing marginals...');
-        VisualISAMPlot(truth, data, isam, result, options)
+        support.VisualISAMPlot(truth, data, isam, result, options)
         showWaiting(handles, '');
     end
 end
@@ -261,8 +261,8 @@ global frame_i truth data noiseModels isam result options
 if (frame_i<size(truth.cameras,2))
     frame_i = frame_i+1;
     showFramei(hObject, handles)
-    [isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth,options);
+    [isam,result] = support.VisualISAMStep(data,noiseModels,isam,result,truth,options);
     showWaiting(handles, 'Computing marginals...');
-    VisualISAMPlot(truth, data, isam, result, options)
+    support.VisualISAMPlot(truth, data, isam, result, options)
     showWaiting(handles, '');
 end