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Moved utility functions that are example-specific to a 'support' namespace inside the examples folder

release/4.3a0
Richard Roberts 2012-07-24 13:35:11 +00:00
parent 1b935dbdc5
commit cceebbf41c
13 changed files with 21 additions and 22 deletions
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6
matlab/CMakeLists.txt
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@ -16,10 +16,8 @@ install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_te
# Examples # Examples
message(STATUS "Installing Matlab Toolbox Examples") message(STATUS "Installing Matlab Toolbox Examples")
# Matlab files: *.m and *.fig # Matlab files: *.m and *.fig
file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m") install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples" FILES_MATCHING PATTERN "*.m")
file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig") install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples" FILES_MATCHING PATTERN "*.fig")
set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig})
install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples)
message(STATUS "Installing Matlab Toolbox Examples (Data)") message(STATUS "Installing Matlab Toolbox Examples (Data)")
# Data files: *.graph and *.txt # Data files: *.graph and *.txt

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matlab/VisualISAM_gui.fig
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0
matlab/VisualISAMGenerateData.m → matlab/examples/+support/VisualISAMGenerateData.m
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3
matlab/VisualISAMInitialize.m → matlab/examples/+support/VisualISAMInitialize.m
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@ -8,7 +8,8 @@ isam = visualSLAM.ISAM(options.reorderInterval);
%% Set Noise parameters %% Set Noise parameters
import gtsam.* import gtsam.*
noiseModels.pose = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); 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.point = noiseModel.Isotropic.Sigma(3, 0.1);
noiseModels.measurement = noiseModel.Isotropic.Sigma(2, 1.0); noiseModels.measurement = noiseModel.Isotropic.Sigma(2, 1.0);

0
matlab/VisualISAMPlot.m → matlab/examples/+support/VisualISAMPlot.m
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0
matlab/VisualISAMStep.m → matlab/examples/+support/VisualISAMStep.m
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4
matlab/examples/findExampleDataFile.m → matlab/examples/+support/findExampleDataFile.m
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@ -3,8 +3,8 @@ function datafile = findExampleDataFile(datasetName)
[ myPath, ~, ~ ] = fileparts(mfilename('fullpath')); [ myPath, ~, ~ ] = fileparts(mfilename('fullpath'));
searchPath = { ... searchPath = { ...
fullfile(myPath, [ '../../examples/Data/' datasetName ]) ... fullfile(myPath, [ '../../../examples/Data/' datasetName ]) ...
fullfile(myPath, [ 'Data/' datasetName ]) }; fullfile(myPath, [ '../Data/' datasetName ]) };
datafile = []; datafile = [];
for path = searchPath for path = searchPath
if exist(path{:}, 'file') if exist(path{:}, 'file')

2
matlab/examples/Pose2SLAMExample_graph.m
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@ -11,7 +11,7 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Find data file %% Find data file
datafile = findExampleDataFile('w100-odom.graph'); datafile = support.findExampleDataFile('w100-odom.graph');
%% Initialize graph, initial estimate, and odometry noise %% Initialize graph, initial estimate, and odometry noise
import gtsam.* import gtsam.*

2
matlab/examples/Pose3SLAMExample_graph.m
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@ -16,7 +16,7 @@ N = 2500;
% dataset = 'sphere2500_groundtruth.txt'; % dataset = 'sphere2500_groundtruth.txt';
dataset = 'sphere2500.txt'; dataset = 'sphere2500.txt';
datafile = findExampleDataFile(dataset); datafile = support.findExampleDataFile(dataset);
%% Initialize graph, initial estimate, and odometry noise %% Initialize graph, initial estimate, and odometry noise
import gtsam.* import gtsam.*

2
matlab/examples/SBAExample.m
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@ -22,7 +22,7 @@ options.nrCameras = 10;
options.showImages = false; options.showImages = false;
%% Generate data %% Generate data
[data,truth] = VisualISAMGenerateData(options); [data,truth] = support.VisualISAMGenerateData(options);
measurementNoiseSigma = 1.0; measurementNoiseSigma = 1.0;
pointNoiseSigma = 0.1; pointNoiseSigma = 0.1;

10
matlab/examples/VisualISAMExample.m
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@ -32,17 +32,17 @@ options.saveFigures = false;
options.saveDotFiles = false; options.saveDotFiles = false;
%% Generate data %% Generate data
[data,truth] = VisualISAMGenerateData(options); [data,truth] = support.VisualISAMGenerateData(options);
%% Initialize iSAM with the first pose and points %% Initialize iSAM with the first pose and points
[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); [noiseModels,isam,result] = support.VisualISAMInitialize(data,truth,options);
cla; cla;
VisualISAMPlot(truth, data, isam, result, options) support.VisualISAMPlot(truth, data, isam, result, options)
%% Main loop for iSAM: stepping through all poses %% Main loop for iSAM: stepping through all poses
for frame_i=3:options.nrCameras 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 if mod(frame_i,options.drawInterval)==0
VisualISAMPlot(truth, data, isam, result, options) support.VisualISAMPlot(truth, data, isam, result, options)
end end
end end

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14
matlab/VisualISAM_gui.m → matlab/examples/VisualISAM_gui.m
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@ -230,12 +230,12 @@ global frame_i truth data noiseModels isam result options
initOptions(handles) initOptions(handles)
% Generate Data % Generate Data
[data,truth] = VisualISAMGenerateData(options); [data,truth] = support.VisualISAMGenerateData(options);
% Initialize and plot % Initialize and plot
[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); [noiseModels,isam,result] = support.VisualISAMInitialize(data,truth,options);
cla cla
VisualISAMPlot(truth, data, isam, result, options) support.VisualISAMPlot(truth, data, isam, result, options)
frame_i = 2; frame_i = 2;
showFramei(hObject, handles) showFramei(hObject, handles)
@ -246,10 +246,10 @@ global frame_i truth data noiseModels isam result options
while (frame_i<size(truth.cameras,2)) while (frame_i<size(truth.cameras,2))
frame_i = frame_i+1; frame_i = frame_i+1;
showFramei(hObject, handles) 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 if mod(frame_i,options.drawInterval)==0
showWaiting(handles, 'Computing marginals...'); showWaiting(handles, 'Computing marginals...');
VisualISAMPlot(truth, data, isam, result, options) support.VisualISAMPlot(truth, data, isam, result, options)
showWaiting(handles, ''); showWaiting(handles, '');
end end
end end
@ -261,8 +261,8 @@ global frame_i truth data noiseModels isam result options
if (frame_i<size(truth.cameras,2)) if (frame_i<size(truth.cameras,2))
frame_i = frame_i+1; frame_i = frame_i+1;
showFramei(hObject, handles) 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...'); showWaiting(handles, 'Computing marginals...');
VisualISAMPlot(truth, data, isam, result, options) support.VisualISAMPlot(truth, data, isam, result, options)
showWaiting(handles, ''); showWaiting(handles, '');
end end