177 lines
7.0 KiB
Matlab
177 lines
7.0 KiB
Matlab
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 07-Jun-2012 23:43:22
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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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% handles.data = VisualISAMData_triangle();
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% handles.frame_i = 3;
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% handles.isam = visualSLAMISAM;
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% handles.results = visualSLAMValues;
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% Choose default command line output for VisualISAM_gui
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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 generateButton.
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function generateButton_Callback(hObject, eventdata, handles)
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% hObject handle to generateButton (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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handles.data = VisualISAMData_triangle();
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guidata(hObject,handles)
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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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[handles.isam handles.results] = VisualISAMInitialize(handles.data);
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handles.frame_i=3;
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sprintf('Frame 1,2:')
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handles.results
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guidata(hObject,handles)
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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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handles.frame_i
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handles.results
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if (handles.frame_i<size(handles.data.cameras,2))
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[handles.isam handles.results] = VisualISAMStep(handles.frame_i, handles.isam, handles.data, handles.results);
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handles.frame_i = handles.frame_i+1;
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handles.results
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guidata(hObject,handles)
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else
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sprintf('No more frame!')
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end
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% --- Executes on button press in clearButton.
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function clearButton_Callback(hObject, eventdata, handles)
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% hObject handle to clearButton (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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clear;
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function edit1_Callback(hObject, eventdata, handles)
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% hObject handle to edit1 (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: get(hObject,'String') returns contents of edit1 as text
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% str2double(get(hObject,'String')) returns contents of edit1 as a double
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% --- Executes during object creation, after setting all properties.
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function edit1_CreateFcn(hObject, eventdata, handles)
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% hObject handle to edit1 (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: edit 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 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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% --- 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 during object creation, after setting all properties.
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function figure1_CreateFcn(hObject, eventdata, handles)
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% hObject handle to figure1 (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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