399 lines
16 KiB
Matlab
399 lines
16 KiB
Matlab
function varargout = VisualISAM_gui(varargin)
|
|
% VISUALISAM_GUI MATLAB code for VisualISAM_gui.fig
|
|
% VISUALISAM_GUI, by itself, creates a new VISUALISAM_GUI or raises the existing
|
|
% singleton*.
|
|
%
|
|
% H = VISUALISAM_GUI returns the handle to a new VISUALISAM_GUI or the handle to
|
|
% the existing singleton*.
|
|
%
|
|
% VISUALISAM_GUI('CALLBACK',hObject,eventData,handles,...) calls the local
|
|
% function named CALLBACK in VISUALISAM_GUI.M with the given input arguments.
|
|
%
|
|
% VISUALISAM_GUI('Property','Value',...) creates a new VISUALISAM_GUI or raises the
|
|
% existing singleton*. Starting from the left, property value pairs are
|
|
% applied to the GUI before VisualISAM_gui_OpeningFcn gets called. An
|
|
% unrecognized property name or invalid value makes property application
|
|
% stop. All inputs are passed to VisualISAM_gui_OpeningFcn via varargin.
|
|
%
|
|
% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
|
|
% instance to run (singleton)".
|
|
%
|
|
% See also: GUIDE, GUIDATA, GUIHANDLES
|
|
|
|
% Edit the above text to modify the response to help VisualISAM_gui
|
|
|
|
% Last Modified by GUIDE v2.5 08-Jun-2012 03:28:25
|
|
|
|
% Begin initialization code - DO NOT EDIT
|
|
gui_Singleton = 1;
|
|
gui_State = struct('gui_Name', mfilename, ...
|
|
'gui_Singleton', gui_Singleton, ...
|
|
'gui_OpeningFcn', @VisualISAM_gui_OpeningFcn, ...
|
|
'gui_OutputFcn', @VisualISAM_gui_OutputFcn, ...
|
|
'gui_LayoutFcn', [] , ...
|
|
'gui_Callback', []);
|
|
if nargin && ischar(varargin{1})
|
|
gui_State.gui_Callback = str2func(varargin{1});
|
|
end
|
|
|
|
if nargout
|
|
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
|
|
else
|
|
gui_mainfcn(gui_State, varargin{:});
|
|
end
|
|
% End initialization code - DO NOT EDIT
|
|
|
|
|
|
% --- Executes just before VisualISAM_gui is made visible.
|
|
function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin)
|
|
% This function has no output args, see OutputFcn.
|
|
% hObject handle to figure
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
% varargin command line arguments to VisualISAM_gui (see VARARGIN)
|
|
|
|
% handles.data = VisualISAMData_triangle();
|
|
% handles.frame_i = 3;
|
|
% handles.isam = visualSLAMISAM;
|
|
% handles.results = visualSLAMValues;
|
|
|
|
% Choose default command line output for VisualISAM_gui
|
|
handles.selectedDataset = 'triangle';
|
|
handles = initialize(handles);
|
|
handles.output = hObject;
|
|
|
|
% Update handles structure
|
|
guidata(hObject, handles);
|
|
|
|
% UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME)
|
|
% uiwait(handles.Dataset);
|
|
|
|
|
|
% --- Outputs from this function are returned to the command line.
|
|
function varargout = VisualISAM_gui_OutputFcn(hObject, eventdata, handles)
|
|
% varargout cell array for returning output args (see VARARGOUT);
|
|
% hObject handle to figure
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
|
|
% Get default command line output from handles structure
|
|
varargout{1} = handles.output;
|
|
|
|
|
|
% --- Executes on button press in generateButton.
|
|
function generateButton_Callback(hObject, eventdata, handles)
|
|
% hObject handle to generateButton (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
handles.data = VisualISAMData_triangle();
|
|
guidata(hObject,handles)
|
|
|
|
% --- Initialize a new dataset
|
|
function handles=initialize(handles)
|
|
handles.selectedDataset
|
|
switch handles.selectedDataset
|
|
case 'cube'
|
|
handles.data = VisualISAMData_cube();
|
|
case 'triangle'
|
|
handles.data = VisualISAMData_triangle();
|
|
end
|
|
handles.data
|
|
handles.results = {}
|
|
[handles.isam handles.results{2}] = VisualISAMInitialize(handles.data);
|
|
handles.frame_i=2;
|
|
sprintf('Frame 1,2:')
|
|
handles.results{2}.estimates
|
|
cla(handles.resultAxes);
|
|
VisualISAMPlot(handles.results{handles.frame_i}, handles.data)
|
|
|
|
% --- Executes on button press in intializeButton.
|
|
function intializeButton_Callback(hObject, eventdata, handles)
|
|
% hObject handle to intializeButton (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
handles=initialize(handles)
|
|
guidata(hObject,handles)
|
|
|
|
|
|
% --- Executes on button press in stepButton.
|
|
function stepButton_Callback(hObject, eventdata, handles)
|
|
% hObject handle to stepButton (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
if (handles.frame_i<size(handles.data.cameras,2))
|
|
handles.frame_i = handles.frame_i+1;
|
|
sprintf('Frame %d:', handles.frame_i)
|
|
if (handles.frame_i > size(handles.results,2))
|
|
[handles.isam handles.results{handles.frame_i}] = ...
|
|
VisualISAMStep(handles.frame_i, handles.isam, ...
|
|
handles.data, handles.results{handles.frame_i-1});
|
|
end
|
|
handles.results{handles.frame_i}.estimates
|
|
cla(handles.resultAxes);
|
|
VisualISAMPlot(handles.results{handles.frame_i}, handles.data)
|
|
guidata(hObject,handles)
|
|
else
|
|
sprintf('Frame %d:', handles.frame_i)
|
|
sprintf('No more frame!')
|
|
end
|
|
|
|
|
|
function edit1_Callback(hObject, eventdata, handles)
|
|
% hObject handle to edit1 (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
|
|
% Hints: get(hObject,'String') returns contents of edit1 as text
|
|
% str2double(get(hObject,'String')) returns contents of edit1 as a double
|
|
|
|
|
|
% --- Executes during object creation, after setting all properties.
|
|
function edit1_CreateFcn(hObject, eventdata, handles)
|
|
% hObject handle to edit1 (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles empty - handles not created until after all CreateFcns called
|
|
|
|
% Hint: edit controls usually have a white background on Windows.
|
|
% See ISPC and COMPUTER.
|
|
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
|
|
set(hObject,'BackgroundColor','white');
|
|
end
|
|
|
|
|
|
% --- Executes on selection change in popupmenu1.
|
|
function popupmenu1_Callback(hObject, eventdata, handles)
|
|
% hObject handle to popupmenu1 (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
|
|
% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu1 contents as cell array
|
|
% contents{get(hObject,'Value')} returns selected item from popupmenu1
|
|
str = cellstr(get(hObject,'String'));
|
|
sel = get(hObject,'Value');
|
|
handles.selectedDataset = str{sel}
|
|
handles=initialize(handles)
|
|
guidata(hObject, handles);
|
|
|
|
% --- Executes during object creation, after setting all properties.
|
|
function popupmenu1_CreateFcn(hObject, eventdata, handles)
|
|
% hObject handle to popupmenu1 (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles empty - handles not created until after all CreateFcns called
|
|
|
|
% Hint: popupmenu controls usually have a white background on Windows.
|
|
% See ISPC and COMPUTER.
|
|
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
|
|
set(hObject,'BackgroundColor','white');
|
|
end
|
|
|
|
|
|
% --- Executes during object creation, after setting all properties.
|
|
function Dataset_CreateFcn(hObject, eventdata, handles)
|
|
% hObject handle to Dataset (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles empty - handles not created until after all CreateFcns called
|
|
|
|
|
|
% --- Executes on button press in backButton.
|
|
function backButton_Callback(hObject, eventdata, handles)
|
|
% hObject handle to backButton (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
if (handles.frame_i>2)
|
|
handles.frame_i = handles.frame_i-1;
|
|
sprintf('Frame %d:', handles.frame_i)
|
|
handles.results{handles.frame_i}.estimates
|
|
cla(handles.resultAxes);
|
|
VisualISAMPlot(handles.results{handles.frame_i}, handles.data)
|
|
guidata(hObject,handles)
|
|
else
|
|
sprintf('No more frame!');
|
|
end
|
|
|
|
% --- Executes on button press in runButton.
|
|
function runButton_Callback(hObject, eventdata, handles)
|
|
% hObject handle to runButton (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
for i=handles.frame_i+1:size(handles.data.cameras,2)
|
|
if (i > size(handles.results,2))
|
|
[handles.isam handles.results{i}] = ...
|
|
VisualISAMStep(i, handles.isam, ...
|
|
handles.data, handles.results{i-1});
|
|
end
|
|
handles.results{i}.estimates
|
|
cla(handles.resultAxes);
|
|
VisualISAMPlot(handles.results{i}, handles.data)
|
|
end
|
|
handles.frame_i = size(handles.data.cameras,2);
|
|
sprintf('Frame %d:', handles.frame_i)
|
|
guidata(hObject,handles)
|
|
|
|
|
|
% --- Executes on button press in stopButton.
|
|
function stopButton_Callback(hObject, eventdata, handles)
|
|
% hObject handle to stopButton (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
sprintf('Not yet implemented')
|
|
|
|
|
|
function edit8_Callback(hObject, eventdata, handles)
|
|
% hObject handle to edit8 (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
|
|
% Hints: get(hObject,'String') returns contents of edit8 as text
|
|
% str2double(get(hObject,'String')) returns contents of edit8 as a double
|
|
|
|
|
|
% --- Executes during object creation, after setting all properties.
|
|
function edit8_CreateFcn(hObject, eventdata, handles)
|
|
% hObject handle to edit8 (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles empty - handles not created until after all CreateFcns called
|
|
|
|
% Hint: edit controls usually have a white background on Windows.
|
|
% See ISPC and COMPUTER.
|
|
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
|
|
set(hObject,'BackgroundColor','white');
|
|
end
|
|
|
|
|
|
|
|
function odoTrans_Callback(hObject, eventdata, handles)
|
|
% hObject handle to odoTrans (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
|
|
% Hints: get(hObject,'String') returns contents of odoTrans as text
|
|
% str2double(get(hObject,'String')) returns contents of odoTrans as a double
|
|
|
|
|
|
% --- Executes during object creation, after setting all properties.
|
|
function odoTrans_CreateFcn(hObject, eventdata, handles)
|
|
% hObject handle to odoTrans (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles empty - handles not created until after all CreateFcns called
|
|
|
|
% Hint: edit controls usually have a white background on Windows.
|
|
% See ISPC and COMPUTER.
|
|
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
|
|
set(hObject,'BackgroundColor','white');
|
|
end
|
|
|
|
|
|
|
|
function measNoise_Callback(hObject, eventdata, handles)
|
|
% hObject handle to measNoise (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
|
|
% Hints: get(hObject,'String') returns contents of measNoise as text
|
|
% str2double(get(hObject,'String')) returns contents of measNoise as a double
|
|
|
|
|
|
% --- Executes during object creation, after setting all properties.
|
|
function measNoise_CreateFcn(hObject, eventdata, handles)
|
|
% hObject handle to measNoise (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles empty - handles not created until after all CreateFcns called
|
|
|
|
% Hint: edit controls usually have a white background on Windows.
|
|
% See ISPC and COMPUTER.
|
|
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
|
|
set(hObject,'BackgroundColor','white');
|
|
end
|
|
|
|
|
|
|
|
function posePriorRot_Callback(hObject, eventdata, handles)
|
|
% hObject handle to posePriorRot (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
|
|
% Hints: get(hObject,'String') returns contents of posePriorRot as text
|
|
% str2double(get(hObject,'String')) returns contents of posePriorRot as a double
|
|
|
|
|
|
% --- Executes during object creation, after setting all properties.
|
|
function posePriorRot_CreateFcn(hObject, eventdata, handles)
|
|
% hObject handle to posePriorRot (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles empty - handles not created until after all CreateFcns called
|
|
|
|
% Hint: edit controls usually have a white background on Windows.
|
|
% See ISPC and COMPUTER.
|
|
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
|
|
set(hObject,'BackgroundColor','white');
|
|
end
|
|
|
|
|
|
|
|
function posePriorTrans_Callback(hObject, eventdata, handles)
|
|
% hObject handle to posePriorTrans (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
|
|
% Hints: get(hObject,'String') returns contents of posePriorTrans as text
|
|
% str2double(get(hObject,'String')) returns contents of posePriorTrans as a double
|
|
|
|
|
|
% --- Executes during object creation, after setting all properties.
|
|
function posePriorTrans_CreateFcn(hObject, eventdata, handles)
|
|
% hObject handle to posePriorTrans (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles empty - handles not created until after all CreateFcns called
|
|
|
|
% Hint: edit controls usually have a white background on Windows.
|
|
% See ISPC and COMPUTER.
|
|
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
|
|
set(hObject,'BackgroundColor','white');
|
|
end
|
|
|
|
|
|
|
|
function pointPrior_Callback(hObject, eventdata, handles)
|
|
% hObject handle to pointPrior (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
|
|
% Hints: get(hObject,'String') returns contents of pointPrior as text
|
|
% str2double(get(hObject,'String')) returns contents of pointPrior as a double
|
|
|
|
|
|
% --- Executes during object creation, after setting all properties.
|
|
function pointPrior_CreateFcn(hObject, eventdata, handles)
|
|
% hObject handle to pointPrior (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles empty - handles not created until after all CreateFcns called
|
|
|
|
% Hint: edit controls usually have a white background on Windows.
|
|
% See ISPC and COMPUTER.
|
|
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
|
|
set(hObject,'BackgroundColor','white');
|
|
end
|
|
|
|
|
|
|
|
function odoRot_Callback(hObject, eventdata, handles)
|
|
% hObject handle to odoRot (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles structure with handles and user data (see GUIDATA)
|
|
|
|
% Hints: get(hObject,'String') returns contents of odoRot as text
|
|
% str2double(get(hObject,'String')) returns contents of odoRot as a double
|
|
|
|
|
|
% --- Executes during object creation, after setting all properties.
|
|
function odoRot_CreateFcn(hObject, eventdata, handles)
|
|
% hObject handle to odoRot (see GCBO)
|
|
% eventdata reserved - to be defined in a future version of MATLAB
|
|
% handles empty - handles not created until after all CreateFcns called
|
|
|
|
% Hint: edit controls usually have a white background on Windows.
|
|
% See ISPC and COMPUTER.
|
|
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
|
|
set(hObject,'BackgroundColor','white');
|
|
end
|