382 lines
15 KiB
Matlab
382 lines
15 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 23:53:47
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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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% Choose default command line output for VisualISAM_gui
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initOptions(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.figure1);
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function showFramei(hObject, handles)
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VisualISAMGlobalVars
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set(handles.frameStatus, 'String', sprintf('Frame: %d',frame_i));
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drawnow
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guidata(hObject, handles);
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function showWaiting(handles, status)
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set(handles.waitingStatus,'String', status);
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drawnow
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guidata(handles.waitingStatus, handles);
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function triangle = chooseDataset(handles)
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str = cellstr(get(handles.dataset,'String'));
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sel = get(handles.dataset,'Value');
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switch str{sel}
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case 'triangle'
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triangle = true;
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case 'cube'
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triangle = false;
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end
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function initOptions(handles)
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VisualISAMGlobalVars
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%% Setting data options
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TRIANGLE = chooseDataset(handles)
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NCAMERAS = str2num(get(handles.numCamEdit,'String'))
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SHOW_IMAGES = get(handles.showImagesCB,'Value')
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%% iSAM Options
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HARD_CONSTRAINT = get(handles.hardConstraintCB,'Value')
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POINT_PRIORS = get(handles.pointPriorsCB,'Value')
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set(handles.batchInitCB,'Value',1);
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drawnow
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BATCH_INIT = get(handles.batchInitCB,'Value')
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REORDER_INTERVAL = str2num(get(handles.numCamEdit,'String'))
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ALWAYS_RELINEARIZE = get(handles.alwaysRelinearizeCB,'Value')
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%% Display Options
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SAVE_GRAPH = get(handles.saveGraphCB,'Value')
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PRINT_STATS = get(handles.printStatsCB,'Value')
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DRAW_INTERVAL = str2num(get(handles.drawInterval,'String'))
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CAMERA_INTERVAL = str2num(get(handles.cameraIntervalEdit,'String'))
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DRAW_TRUE_POSES = get(handles.drawTruePosesCB,'Value')
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SAVE_FIGURES = get(handles.saveFiguresCB,'Value')
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SAVE_GRAPHS = get(handles.saveGraphsCB,'Value')
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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 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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VisualISAMGlobalVars
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initOptions(handles)
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VisualISAMGenerateData
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VisualISAMInitialize
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VisualISAMPlot
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showFramei(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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VisualISAMGlobalVars
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if (frame_i<NCAMERAS)
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frame_i = frame_i+1;
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showFramei(hObject, handles)
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VisualISAMStep
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if mod(frame_i,DRAW_INTERVAL)==0
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showWaiting(handles, 'Computing marginals...');
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VisualISAMPlot
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showWaiting(handles, '');
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end
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end
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% --- Executes on selection change in dataset.
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function dataset_Callback(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 structure with handles and user data (see GUIDATA)
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% Hints: contents = cellstr(get(hObject,'String')) returns dataset contents as cell array
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% contents{get(hObject,'Value')} returns selected item from dataset
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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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% 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 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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VisualISAMGlobalVars
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while (frame_i<NCAMERAS)
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frame_i = frame_i+1;
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showFramei(hObject, handles)
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VisualISAMStep
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if mod(frame_i,DRAW_INTERVAL)==0
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showWaiting(handles, 'Computing marginals...');
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VisualISAMPlot
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showWaiting(handles, '');
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end
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end
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% --- Executes on button press in plotButton.
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function plotButton_Callback(hObject, eventdata, handles)
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% hObject handle to plotButton (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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VisualISAMPlot;
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% --- Executes during object creation, after setting all properties.
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function drawInterval_CreateFcn(hObject, eventdata, handles)
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% hObject handle to drawInterval (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 during object creation, after setting all properties.
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function numCamEdit_CreateFcn(hObject, eventdata, handles)
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% hObject handle to numCamEdit (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 during object creation, after setting all properties.
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function reorderIntervalText_CreateFcn(hObject, eventdata, handles)
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% hObject handle to reorderIntervalText (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 during object creation, after setting all properties.
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function cameraIntervalEdit_CreateFcn(hObject, eventdata, handles)
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% hObject handle to cameraIntervalEdit (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 during object creation, after setting all properties.
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function reorderIntervalEdit_CreateFcn(hObject, eventdata, handles)
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% hObject handle to reorderIntervalEdit (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 numCamEdit_Callback(hObject, eventdata, handles)
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% hObject handle to numCamEdit (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 numCamEdit as text
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% str2double(get(hObject,'String')) returns contents of numCamEdit as a double
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% --- Executes on button press in showImagesCB.
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function showImagesCB_Callback(hObject, eventdata, handles)
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% hObject handle to showImagesCB (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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% Hint: get(hObject,'Value') returns toggle state of showImagesCB
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% --- Executes on button press in hardConstraintCB.
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function hardConstraintCB_Callback(hObject, eventdata, handles)
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% hObject handle to hardConstraintCB (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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% Hint: get(hObject,'Value') returns toggle state of hardConstraintCB
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% --- Executes on button press in pointPriorsCB.
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function pointPriorsCB_Callback(hObject, eventdata, handles)
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% hObject handle to pointPriorsCB (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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% Hint: get(hObject,'Value') returns toggle state of pointPriorsCB
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% --- Executes on button press in batchInitCB.
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function batchInitCB_Callback(hObject, eventdata, handles)
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% hObject handle to batchInitCB (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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% Hint: get(hObject,'Value') returns toggle state of batchInitCB
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% --- Executes on button press in alwaysRelinearizeCB.
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function alwaysRelinearizeCB_Callback(hObject, eventdata, handles)
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% hObject handle to alwaysRelinearizeCB (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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% Hint: get(hObject,'Value') returns toggle state of alwaysRelinearizeCB
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function drawInterval_Callback(hObject, eventdata, handles)
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% hObject handle to drawInterval (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 drawInterval as text
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% str2double(get(hObject,'String')) returns contents of drawInterval as a double
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function cameraIntervalEdit_Callback(hObject, eventdata, handles)
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% hObject handle to cameraIntervalEdit (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 cameraIntervalEdit as text
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% str2double(get(hObject,'String')) returns contents of cameraIntervalEdit as a double
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% --- Executes on button press in saveGraphCB.
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function saveGraphCB_Callback(hObject, eventdata, handles)
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% hObject handle to saveGraphCB (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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% Hint: get(hObject,'Value') returns toggle state of saveGraphCB
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% --- Executes on button press in printStatsCB.
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function printStatsCB_Callback(hObject, eventdata, handles)
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% hObject handle to printStatsCB (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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% Hint: get(hObject,'Value') returns toggle state of printStatsCB
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% --- Executes on button press in drawTruePosesCB.
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function drawTruePosesCB_Callback(hObject, eventdata, handles)
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% hObject handle to drawTruePosesCB (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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% Hint: get(hObject,'Value') returns toggle state of drawTruePosesCB
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% --- Executes on button press in saveFiguresCB.
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function saveFiguresCB_Callback(hObject, eventdata, handles)
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% hObject handle to saveFiguresCB (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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% Hint: get(hObject,'Value') returns toggle state of saveFiguresCB
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% --- Executes on button press in saveGraphsCB.
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function saveGraphsCB_Callback(hObject, eventdata, handles)
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% hObject handle to saveGraphsCB (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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% Hint: get(hObject,'Value') returns toggle state of saveGraphsCB
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