402 lines
16 KiB
Matlab
402 lines
16 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 08-Jun-2012 03:28:25
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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.selectedDataset = 'triangle';
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handles = initialize(handles);
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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.Dataset);
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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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% --- Initialize a new dataset
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function handles=initialize(handles)
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handles.selectedDataset
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switch handles.selectedDataset
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case 'cube'
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handles.data = VisualISAMData_cube();
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case 'triangle'
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handles.data = VisualISAMData_triangle();
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end
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handles.data
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handles.results = {}
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[handles.isam handles.results{2}] = VisualISAMInitialize(handles.data);
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handles.frame_i=2;
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sprintf('Frame 1,2:')
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handles.results{2}.estimates
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cla(handles.resultAxes);
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VisualISAMPlot(handles.results{handles.frame_i}, handles.data)
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view([36 34])
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colormap('hot')
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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=initialize(handles)
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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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if (handles.frame_i<size(handles.data.cameras,2))
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handles.frame_i = handles.frame_i+1;
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sprintf('Frame %d:', handles.frame_i)
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if (handles.frame_i > size(handles.results,2))
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[handles.isam handles.results{handles.frame_i}] = ...
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VisualISAMStep(handles.frame_i, handles.isam, ...
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handles.data, handles.results{handles.frame_i-1});
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end
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handles.results{handles.frame_i}.estimates
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cla(handles.resultAxes);
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VisualISAMPlot(handles.results{handles.frame_i}, handles.data)
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guidata(hObject,handles)
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else
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sprintf('Frame %d:', handles.frame_i)
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sprintf('No more frame!')
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end
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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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str = cellstr(get(hObject,'String'));
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sel = get(hObject,'Value');
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handles.selectedDataset = str{sel}
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handles=initialize(handles)
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guidata(hObject, handles);
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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 Dataset_CreateFcn(hObject, eventdata, handles)
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% hObject handle to Dataset (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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% --- 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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if (handles.frame_i>2)
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handles.frame_i = handles.frame_i-1;
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sprintf('Frame %d:', handles.frame_i)
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handles.results{handles.frame_i}.estimates
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cla(handles.resultAxes);
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VisualISAMPlot(handles.results{handles.frame_i}, handles.data)
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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 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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for i=handles.frame_i+1:size(handles.data.cameras,2)
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if (i > size(handles.results,2))
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[handles.isam handles.results{i}] = ...
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VisualISAMStep(i, handles.isam, ...
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handles.data, handles.results{i-1});
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end
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handles.results{i}.estimates
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cla(handles.resultAxes);
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VisualISAMPlot(handles.results{i}, handles.data)
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end
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handles.frame_i = size(handles.data.cameras,2);
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sprintf('Frame %d:', handles.frame_i)
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guidata(hObject,handles)
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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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function edit8_Callback(hObject, eventdata, handles)
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% hObject handle to edit8 (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 edit8 as text
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% str2double(get(hObject,'String')) returns contents of edit8 as a double
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% --- Executes during object creation, after setting all properties.
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function edit8_CreateFcn(hObject, eventdata, handles)
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% hObject handle to edit8 (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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function odoTrans_Callback(hObject, eventdata, handles)
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% hObject handle to odoTrans (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 odoTrans as text
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% str2double(get(hObject,'String')) returns contents of odoTrans as a double
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% --- Executes during object creation, after setting all properties.
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function odoTrans_CreateFcn(hObject, eventdata, handles)
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% hObject handle to odoTrans (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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function measNoise_Callback(hObject, eventdata, handles)
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% hObject handle to measNoise (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 measNoise as text
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% str2double(get(hObject,'String')) returns contents of measNoise as a double
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% --- Executes during object creation, after setting all properties.
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function measNoise_CreateFcn(hObject, eventdata, handles)
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% hObject handle to measNoise (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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function posePriorRot_Callback(hObject, eventdata, handles)
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% hObject handle to posePriorRot (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 posePriorRot as text
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% str2double(get(hObject,'String')) returns contents of posePriorRot as a double
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% --- Executes during object creation, after setting all properties.
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function posePriorRot_CreateFcn(hObject, eventdata, handles)
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% hObject handle to posePriorRot (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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function posePriorTrans_Callback(hObject, eventdata, handles)
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% hObject handle to posePriorTrans (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 posePriorTrans as text
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% str2double(get(hObject,'String')) returns contents of posePriorTrans as a double
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% --- Executes during object creation, after setting all properties.
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function posePriorTrans_CreateFcn(hObject, eventdata, handles)
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% hObject handle to posePriorTrans (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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function pointPrior_Callback(hObject, eventdata, handles)
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% hObject handle to pointPrior (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 pointPrior as text
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% str2double(get(hObject,'String')) returns contents of pointPrior as a double
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% --- Executes during object creation, after setting all properties.
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function pointPrior_CreateFcn(hObject, eventdata, handles)
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% hObject handle to pointPrior (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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function odoRot_Callback(hObject, eventdata, handles)
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% hObject handle to odoRot (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 odoRot as text
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% str2double(get(hObject,'String')) returns contents of odoRot as a double
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% --- Executes during object creation, after setting all properties.
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function odoRot_CreateFcn(hObject, eventdata, handles)
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% hObject handle to odoRot (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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