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value | repo_name stringlengths 13 113 | name stringlengths 3 74 | ext stringclasses 1
value | path stringlengths 12 229 | size int64 23 843k | source_encoding stringclasses 9
values | md5 stringlengths 32 32 | text stringlengths 23 843k |
|---|---|---|---|---|---|---|---|---|
github | scanUCLA/MRtools_Hoffman2-master | postpad.m | .m | MRtools_Hoffman2-master/Utilities/postpad.m | 2,013 | utf_8 | 2c9539d77ff0f85c9f89108f4dc811e0 | % Copyright (C) 1994, 1995, 1996, 1997, 1998, 2000, 2002, 2004, 2005,
% 2006, 2007, 2008, 2009 John W. Eaton
%
% This file is part of Octave.
%
% Octave is free software; you can redistribute it and/or modify it
% under the terms of the GNU General Public License as published by
% the Free Software Founda... |
github | scanUCLA/MRtools_Hoffman2-master | sftrans.m | .m | MRtools_Hoffman2-master/Utilities/sftrans.m | 7,947 | utf_8 | f64cb2e7d19bcdc6232b39d8a6d70e7c | % Copyright (C) 1999 Paul Kienzle
%
% This program is free software; you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation; either version 2 of the License, or
% (at your option) any later version.
%
% This program is distributed in t... |
github | scanUCLA/MRtools_Hoffman2-master | filtfilt.m | .m | MRtools_Hoffman2-master/Utilities/filtfilt.m | 3,297 | iso_8859_1 | d01a26a827bc3379f05bbc57f46ac0a9 | % Copyright (C) 1999 Paul Kienzle
% Copyright (C) 2007 Francesco Potortì
% Copyright (C) 2008 Luca Citi
%
% This program is free software; you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation; either version 2 of the License, or
% (a... |
github | scanUCLA/MRtools_Hoffman2-master | bilinear.m | .m | MRtools_Hoffman2-master/Utilities/bilinear.m | 4,339 | utf_8 | 17250db27826cad87fa3384823e1242f | % Copyright (C) 1999 Paul Kienzle
%
% This program is free software; you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation; either version 2 of the License, or
% (at your option) any later version.
%
% This program is distributed in t... |
github | scanUCLA/MRtools_Hoffman2-master | butter.m | .m | MRtools_Hoffman2-master/Utilities/butter.m | 3,621 | utf_8 | aa8e4440d4f5659bfdc78c05e275a458 | % Copyright (C) 1999 Paul Kienzle
%
% This program is free software; you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation; either version 2 of the License, or
% (at your option) any later version.
%
% This program is distributed in t... |
github | scanUCLA/MRtools_Hoffman2-master | colmap.m | .m | MRtools_Hoffman2-master/Utilities/colmap.m | 17,277 | utf_8 | 34cf76a5861b666aed0e9d9030c68f1d | function [cm list] = colmap(map,depth,custom)
%%% Written by Aaron P. Schultz - aschultz@martinos.org
%%%
%%% Copyright (C) 2014, Aaron P. Schultz
%%%
%%% Supported in part by the NIH funded Harvard Aging Brain Study (P01AG036694) and NIH R01-AG027435
%%%
%%% This program is free software: you can redistribute it and/... |
github | scanUCLA/MRtools_Hoffman2-master | original20150821_FIVE.m | .m | MRtools_Hoffman2-master/Visualization/original20150821_FIVE.m | 170,340 | utf_8 | c25aab3735b43725afe314c25e5a0a5f | function [Obj VOI peak] = FIVE(inputImage,linkHands)
%%% This is an image viewing and plotting utility. Just launch it with
%%% "FIVE" at the command line. There are a great many features in
%%% this viewer, and you can learn all about them at:
%%% http://nmr.mgh.harvard.edu/harvardagingbrain/People/AaronSchultz/Aaro... |
github | scanUCLA/MRtools_Hoffman2-master | GLM_Plot_Fast.m | .m | MRtools_Hoffman2-master/Visualization/GLM_Plot_Fast.m | 8,807 | utf_8 | ac475e6853ae5de5eadc31da4bfe68b3 | function [yres xres part] = GLM_Plot_Fast2(y,mod,effect)
%%% Written by Aaron Schultz (aschultz@martinos.org)
%%%
%%% Copyright (C) 2012, Aaron P. Schultz
%%%
%%% Supported in part by the NIH funded Harvard Aging Brain Study (P01AG036694) and NIH R01-AG027435
%%%
%%% This program is free software: you can redistribut... |
github | scanUCLA/MRtools_Hoffman2-master | FIVE.m | .m | MRtools_Hoffman2-master/Visualization/FIVE.m | 173,424 | utf_8 | 8e55f8351b753a9d7d75312cc66a9de9 | function [Obj VOI peak] = FIVE(inputImage,linkHands)
%%% This is an image viewing and plotting utility. Just launch it with
%%% "FIVE" at the command line. There are a great many features in
%%% this viewer, and you can learn all about them at:
%%% http://nmr.mgh.harvard.edu/harvardagingbrain/People/AaronSchultz/Aaro... |
github | scanUCLA/MRtools_Hoffman2-master | ScatterGroups2.m | .m | MRtools_Hoffman2-master/Visualization/ScatterGroups2.m | 4,891 | utf_8 | c9e1840b483ee024bcc9e7c122333157 | function [h X] = ScatterGroups2(dat,Groups,altLabs)
%%% Written by Aaron Schultz (aschultz@martinos.org)
%%%
%%% Copyright (C) 2012, Aaron P. Schultz
%%%
%%% Supported in part by the NIH funded Harvard Aging Brain Study (P01AG036694) and NIH R01-AG027435
%%%
%%% This program is free software: you can redistribute it ... |
github | scanUCLA/MRtools_Hoffman2-master | Groupbar.m | .m | MRtools_Hoffman2-master/Visualization/Groupbar.m | 3,949 | utf_8 | 3b1b120022e2c8fc48f734d0b04610b9 | function Groupbar(dat,Groups,Labs)
%%% Written by Aaron Schultz (aschultz@martinos.org)
%%%
%%% Copyright (C) 2012, Aaron P. Schultz
%%%
%%% Supported in part by the NIH funded Harvard Aging Brain Study (P01AG036694) and NIH R01-AG027435
%%%
%%% This program is free software: you can redistribute it and/or modify
%%%... |
github | scanUCLA/MRtools_Hoffman2-master | ScatterGroups.m | .m | MRtools_Hoffman2-master/Visualization/ScatterGroups.m | 4,772 | utf_8 | f1ebbaf74bc7dd673ebc53d25a2a4d5a | function [h X] = ScatterGroups(dat,Groups,Labs)
%%% Written by Aaron Schultz (aschultz@martinos.org)
%%%
%%% Copyright (C) 2012, Aaron P. Schultz
%%%
%%% Supported in part by the NIH funded Harvard Aging Brain Study (P01AG036694) and NIH R01-AG027435
%%%
%%% This program is free software: you can redistribute it and/... |
github | scanUCLA/MRtools_Hoffman2-master | ANOVA_APS.m | .m | MRtools_Hoffman2-master/GLM_Flex/ANOVA_APS.m | 16,479 | utf_8 | 593cd3020dc55da7f1846da9aafa91f0 | function OUTPUT = ANOVA_APS(dat,mod,posthocs,runModel,dm,asEffects)
%%% Written by Aaron Schultz (aschultz@martinos.org)
%%%
%%% Copyright (C) 2012, Aaron P. Schultz
%%%
%%% Supported in part by the NIH funded Harvard Aging Brain Study (P01AG036694) and NIH R01-AG027435
%%%
%%% This program is free software: you can ... |
github | scanUCLA/MRtools_Hoffman2-master | GLM_Flex_Fast4.m | .m | MRtools_Hoffman2-master/GLM_Flex/GLM_Flex_Fast4.m | 32,993 | utf_8 | 665480c5b8fe81966f67d6063cd16455 | function I = GLM_Flex_Fast4(I,DD)
%%% This is the main analysis script.
%%% Go to: http://nmr.mgh.harvard.edu/harvardagingbrain/People/AaronSchultz/Aarons_Scripts.html
%%% for more information on this script and how to use it.
%%%
%%% Inputs: This is the I structure that is passed to GLM_Flex to run the
%%% analyses.... |
github | scanUCLA/MRtools_Hoffman2-master | inria_realign.m | .m | MRtools_Hoffman2-master/fcMRI_scripts/inria_realign.m | 24,047 | utf_8 | a6b6c891554c9808aa903c6f4f947d63 | function inria_realign(P,flags)
% Robust rigid motion compensation in time series.
% FORMAT inria_realign(P,flags)
%
% Similar to spm_realign.m.
%
% P - matrix of filenames {one string per row}
% All operations are performed relative to the first image.
% ie. Coregistration is to the first image, a... |
github | scanUCLA/MRtools_Hoffman2-master | peak_nii.m | .m | MRtools_Hoffman2-master/peak_nii/peak_nii.m | 52,648 | utf_8 | 7408d106e2734ce29a4c904f6457f31e | function [voxels voxelstats clusterstats sigthresh regions mapparameters UID]=peak_nii(image,mapparameters)
%%
% USAGE AND EXAMPLES CAN BE FOUND IN PEAK_NII_MANUAL.PDF
%
% License:
% Copyright (c) 2011-12 Donald G. McLaren and Aaron Schultz
% All rights reserved.
%
% Redistribution, with or without modification, ... |
github | scanUCLA/MRtools_Hoffman2-master | cluster_nii.m | .m | MRtools_Hoffman2-master/peak_nii/cluster_nii.m | 9,405 | utf_8 | cc65fcdb56ad73f4cd30c65c52f51d77 | function [voxelsT region invar]=cluster_nii(image,varstruct)
%%
% cluster_nii will find the current cluster and cluster
% INPUTS:
% image string required. This should be a nii or img file.
% varstruct is either a .mat file or a pre-load structure with the
% following fields:
% type: statistic type, 'T' or 'F' ... |
github | scanUCLA/MRtools_Hoffman2-master | label_peaks.m | .m | MRtools_Hoffman2-master/peak_nii/label_peaks.m | 11,785 | utf_8 | 140977839c187a93ba333672ee8a7f67 | function peaks_wlabels=label_peaks(label,peaks,nearest)
%%
% USAGE AND EXAMPLES CAN BE FOUND IN PEAK_NII_MANUAL.PDF
%
% License:
% Copyright (c) 2011, Donald G. McLaren and Aaron Schultz
% All rights reserved.
%
% Redistribution, with or without modification, is permitted provided that the following conditions ar... |
github | scanUCLA/MRtools_Hoffman2-master | spm_data_read.m | .m | MRtools_Hoffman2-master/peak_nii/spm_data_read.m | 3,297 | utf_8 | 1b550cecf27e5a0864c1978b02b5276d | function Y = spm_data_read(V,varargin)
% Read data from disk [Y = V(I)]
% FORMAT Y = spm_data_read(V)
% V - a structure array (see spm_data_hdr_read)
% Y - an array of data values; the last dimension indexes numel(V)
%
% FORMAT Y = spm_data_read(V,'slice',S)
% V - a structure array of image volumes... |
github | scanUCLA/MRtools_Hoffman2-master | peak_extract_nii.m | .m | MRtools_Hoffman2-master/peak_nii/peak_extract_nii.m | 35,865 | utf_8 | 11a5a83b58ec99bfa25a7ebdb35adf0f | function [resultsvoxels columnlistvoxels resultscluster columnlistcluster clusters mapparams subjparams UID]=peak_extract_nii(subjectparameters,mapparameters)
% This program is designed to extract data from a set of ROIS or peak
% coordinates.
%
% peak_extract_nii.v6
%
% See PEAK_NII_TOOLBOX_MANUAL.pdf for usage deta... |
github | vsariola/sideaxes-m-master | export_all.m | .m | sideaxes-m-master/examples/export_all.m | 874 | utf_8 | 22c7159f51097ac8c07e48cd3822f2f6 | function export_all
filelist = dir('example_*.m');
if ~exist('../images/pdfs','dir')
mkdir('../images/pdfs');
end
for i = 1:length(filelist)
close all;
n = filelist(i).name;
runInSepareteWorkspace(n);
s = regexp(n,'example_(\w+)','once','tokens');
war... |
github | vsariola/sideaxes-m-master | test_logscales.m | .m | sideaxes-m-master/tests/test_logscales.m | 917 | utf_8 | ace57753de691423a575aff33f97105e | function test_logscales
addpath('..');
figure;
axes('position',[0.1 0.1 0.4 0.4],'visible','off');
make_test_plot();
text(5,5,'Points should align to ticks','Clipping','off');
ax = axes('position',[0.6 0.1 0.4 0.4],'visible','off');
make_test_plot();
ax.XScale = 'log'... |
github | vsariola/sideaxes-m-master | test_autoticks.m | .m | sideaxes-m-master/tests/test_autoticks.m | 863 | utf_8 | afb81e67ba8b5de81a0913210c46c444 | function test_autoticks
addpath('..');
x = randn(1000,1);
y = randn(1000,1);
figure;
axes('position',[0.1 0.1 0.4 0.4],'visible','off');
make_test_plot(x,y);
ax = axes('position',[0.6 0.1 0.4 0.4],'visible','off');
make_test_plot(x,y);
axis([-0.5 0.5 -0.5 0... |
github | samiuluofc/Matlab-master | fitness_mix.m | .m | Matlab-master/Gender_recognition_project/Step_3_ga_optimization/fitness_mix.m | 2,148 | utf_8 | 183824430ec981a49af0b3c488e8c105 | % This function will take a row vector W (contains four weights) as
% parameter, and returns the average error (of 5 different experiments) as
% fitness value for the Genetic algorithm.
function err = fitness_mix(W) % W is the weight vector
% Load scores
load('score.mat');
% For 5 random exp... |
github | samiuluofc/Matlab-master | fitness_tree.m | .m | Matlab-master/Gender_recognition_project/Step_2_generate_test_scores/fitness_tree.m | 2,892 | utf_8 | 205f19f76c81c0b85031166e44165e21 | % This function receives selected features for DTree and returns
% gender probabilities of 50 test persons in 5 different experiments.
function TREE_score = fitness_tree(bin_chrom)
% Load necessary Data
load('F_60.mat'); % Z score normalized data
load('M_113.mat');
% provide F_index_image and M_index_ima... |
github | samiuluofc/Matlab-master | fitness_lasso.m | .m | Matlab-master/Gender_recognition_project/Step_2_generate_test_scores/fitness_lasso.m | 2,967 | utf_8 | 88cb9d7b11637e8a91c8361ae473c846 | % This function receives selected features for LASSO and returns
% gender probabilities of 50 test persons in 5 different experiments.
function LASSO_score = fitness_lasso(bin_chrom)
% Load necessary Data
load('F_60.mat'); % Z score normalized data
load('M_113.mat');
% provide F_index_image and M_index_im... |
github | samiuluofc/Matlab-master | fitness_svm.m | .m | Matlab-master/Gender_recognition_project/Step_2_generate_test_scores/fitness_svm.m | 2,955 | utf_8 | 3e865f0e0ac512a37d4ce85246235411 | % This function receives selected features for SVM and returns
% gender probabilities of 50 test persons in 5 different experiments.
function SVM_score = fitness_svm(bin_chrom)
% Load necessary Data
load('F_60.mat'); % Z score normalized data
load('M_113.mat');
% provide F_index_image and M_index_image ma... |
github | samiuluofc/Matlab-master | fitness_knn.m | .m | Matlab-master/Gender_recognition_project/Step_2_generate_test_scores/fitness_knn.m | 2,884 | utf_8 | fa8128233d198ab1d012a42b750771d0 | % This function receives selected features for KNN and returns
% gender probabilities of 50 test persons in 5 different experiments.
function KNN_score = fitness_knn(bin_chrom)
% Load necessary Data
load('F_60.mat'); % Z score normalized data
load('M_113.mat');
% provide F_index_image and M_index_image m... |
github | samiuluofc/Matlab-master | fitness_tree.m | .m | Matlab-master/Gender_recognition_project/Step_1_feature_selection/fitness_tree.m | 2,950 | utf_8 | 5f7575c7228947ea528071ca45f6e0a7 | % This function receives selected features for Decision Tree and returns average
% gender prediction error of 5 different experiments.
function err = fitness_tree(bin_chrom)
% Load necessary Data
load('F_60.mat'); % Z score normalized data
load('M_113.mat');
% provide F_index_image and M_index_image matr... |
github | samiuluofc/Matlab-master | fitness_svm.m | .m | Matlab-master/Gender_recognition_project/Step_1_feature_selection/fitness_svm.m | 3,006 | utf_8 | d7f34deaf24ab758507319650dcf249a | % This function receives selected features for SVM and returns average
% gender prediction error of 5 different experiments.
function err = fitness_svm(bin_chrom)
% Load necessary Data
load('F_60.mat'); % Z score normalized data
load('M_113.mat');
% provide F_index_image and M_index_image matrix.
% Thes... |
github | samiuluofc/Matlab-master | fitness_knn.m | .m | Matlab-master/Gender_recognition_project/Step_1_feature_selection/fitness_knn.m | 2,936 | utf_8 | eb7db7664eaf5176151cbc1185e805d8 | % This function receives selected features for KNN and returns average
% gender prediction error of 5 different experiments.
function err = fitness_knn(bin_chrom)
% Load necessary Data
load('F_60.mat'); % Z score normalized data
load('M_113.mat');
% provide F_index_image and M_index_image matrix.
% Thes... |
github | samiuluofc/Matlab-master | tamura.m | .m | Matlab-master/Gender_recognition_project/Step_0_feature_extraction/tamura.m | 4,806 | utf_8 | aefd118080f549efc228a2ebfe14829c | % Copyright (C) 2003 Open Microscopy Environment
% Massachusetts Institue of Technology,
% National Institutes of Health,
% University of Dundee
%
%
%
% This library is free software; you can redistribute it and/or
% modify it under the terms of the GNU Lesser General Public
% Licens... |
github | samiuluofc/Matlab-master | tamura.m | .m | Matlab-master/Person_identification_project/Step_0_Feature_extraction/Local_perceptual/tamura.m | 4,806 | utf_8 | aefd118080f549efc228a2ebfe14829c | % Copyright (C) 2003 Open Microscopy Environment
% Massachusetts Institue of Technology,
% National Institutes of Health,
% University of Dundee
%
%
%
% This library is free software; you can redistribute it and/or
% modify it under the terms of the GNU Lesser General Public
% Licens... |
github | rising-turtle/slam_matlab-master | find_index.m | .m | slam_matlab-master/plot_traj/find_index.m | 489 | utf_8 | 4a74fe943cd8030d30c158271c8fe7f1 | %% compute first index of gt, given the already matched timestamp from test_gt
function index = find_index(t, first_timestamp_pose)
index = -1;
%% the following two are matched
vt = 1498879054.726535936;
gt = 12.125;
if first_timestamp_pose > 1e12
first_timestamp_pose = first_timestamp_pos... |
github | rising-turtle/slam_matlab-master | compare_trajectory_with_gt.m | .m | slam_matlab-master/plot_traj/compare_trajectory_with_gt.m | 1,999 | utf_8 | dbd23bc55a865245d9f8a9f9e0ad6f99 | %
% Feb. 24, 2018, He Zhang, hxzhang1@ualr.edu
%
% compare the trajectories of viorb, okvis, vins-mono
% the realsesne datasets
%
function compare_trajectory_with_gt(fdir)
if nargin == 0
fdir = './results/GT';
end
% load viorb trajectory
% f_viorb = strcat(fdir, '/viorb.log');
% T_viorb = load(f_viorb);
% l... |
github | rising-turtle/slam_matlab-master | rmat2quat.m | .m | slam_matlab-master/plot_traj/rmat2quat.m | 795 | utf_8 | 238c076762b7266d10f6726f613f660c | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Converts (orthogonal) rotation matrices R to (unit) quaternion
% representations
%
% Input: A 3x3xn matrix of rotation matrices
% Output: A 4xn matrix of n corresponding quaternions
%
% http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion... |
github | rising-turtle/slam_matlab-master | compute_transform.m | .m | slam_matlab-master/plot_traj/compute_transform.m | 921 | utf_8 | 7f9d4b2132ff0bbd3fe74d35b6654223 | %% find transformation between two point sets
function [pose, pose_err] = compute_transform(pose, pF, pT)
% plot_xyz(pts_f(:,1), pts_f(:,2), pts_f(:,3), 'r*');
% hold on;
% plot_xyz(pts_t(:,1), pts_t(:,2), pts_t(:,3), 'bs');
pts_f = pF(:,2:4);
pts_t = pT(:,2:4);
[rot, trans] = eq_poin... |
github | rising-turtle/slam_matlab-master | compare_trajectory.m | .m | slam_matlab-master/plot_traj/compare_trajectory.m | 1,768 | utf_8 | 4781b8053894727bea8f96a135231f69 | %
% Feb. 21, 2018, He Zhang, hxzhang1@ualr.edu
%
% compare the trajectories of viorb, okvis, vins-mono
% the realsesne datasets
%
function compare_trajectory(fdir)
if nargin == 0
fdir = './results/ETAS_2F_640_30';
fdir = './results/ETAS_F4_640_30';
end
% load viorb trajectory
f_viorb = strcat(fdir, '/vio... |
github | rising-turtle/slam_matlab-master | quat2rmat.m | .m | slam_matlab-master/plot_traj/quat2rmat.m | 798 | utf_8 | fb153dbeaab428656e51bea7b133b87c | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Converts (unit) quaternion representations to (orthogonal) rotation matrices R
%
% Input: A 4xn matrix of n quaternions
% Output: A 3x3xn matrix of corresponding rotation matrices
%
% http://en.wikipedia.org/wiki/Quaternions_and_spatial_rota... |
github | rising-turtle/slam_matlab-master | transform_to_synchronized.m | .m | slam_matlab-master/plot_traj/transform_to_synchronized.m | 1,377 | utf_8 | b2a5bbeb814e5be9d3ac6ba6f982cab3 | %% transform into the coordinate of the synchronized pose
function [pose, pt_f, pt_t] = transform_to_synchronized(pose, gt, index)
Tw2l = construct(gt(index, 2:8));
Tl2s = transformB2S();
Tw2s = Tw2l * Tl2s;
time_s = 1.;
t_p = pose(1,1);
if t_p > 1e12
time_s = 1e-9;
end
t_p = t_... |
github | rising-turtle/slam_matlab-master | align_transform.m | .m | slam_matlab-master/plot_traj/align_transform.m | 250 | utf_8 | 6caa31298f67c2f9adbd540e282938ff | %%
function [pose, pose_err] = align_transform(pose, gt)
index = find_index(gt(:,1), pose(1,1));
[pose, pts_f, pts_t] = transform_to_synchronized(pose, gt, index);
[pose, pose_err] = compute_transform(pose, pts_f(:,:), pts_t(:,:));
end
|
github | rising-turtle/slam_matlab-master | traj_in_IMU.m | .m | slam_matlab-master/plot_traj/traj_in_IMU.m | 1,914 | utf_8 | c4b52bcfa530457b7262515b3f8dba45 | %%%
% transform coordinates from world to IMU
% Now this file has been extended to show the trajectory comparison of the
% R200_GT_DENSE_SLOW dataset
% Feb. 26 2018, He Zhang, hxzhang1@ualr.edu
function traj_in_IMU(fdir)
if nargin == 0
fdir = './results/GT';
end
addpath('../ground_truth_zh');
% load viorb tra... |
github | rising-turtle/slam_matlab-master | transToFirst.m | .m | slam_matlab-master/plot_traj/transToFirst.m | 792 | utf_8 | 94c3469b01e233f12371e0688cffe076 | function [ TO ] = transToFirst( TI )
% Transform to the first frame as basic coordinate system
% Aug. 30 2017, He Zhang, hxzhang1@ualr.edu
% INPUT: array [timestamp, x, y, z, qw, qx, qy, qz]
% OUTPUT: array [timestamp, x, y, z, qw, qx, qy, qz]
%
TO = zeros(size(TI,1), 8);
T1 = construct(TI(1,2:end));
for i=1:siz... |
github | rising-turtle/slam_matlab-master | plot_error_bar.m | .m | slam_matlab-master/plot_traj/plot_error_bar.m | 2,874 | utf_8 | 5788a1e38b91d7d76c88b70767806e29 | %%
% Dec. 27, 2018, He Zhang, hxzhang1@ualr.edu
% plot the error bar of the translation err
function plot_error_bar()
load('vins-mono_err.mat');
load('gt.mat');
load('vins-mono_ext_err.mat');
load('okvis_err.mat');
tps = find_dis_tps(T_gt, 2);
x = tps(:,2);
vins_mono_err_x = [];
vins_mono_std_x = [];
vins_mono_ex... |
github | rising-turtle/slam_matlab-master | statistic_translation_error.m | .m | slam_matlab-master/plot_traj/statistic_translation_error.m | 1,000 | utf_8 | 1642aa08763e6bae13221a04d95481fa | %%
% Dec. 27, 2018, He Zhang, hxzhang1@ualr.edu
% compute the translation error compared to path length
function [ output_args ] = statistic_translation_error(fdir)
if nargin == 0
fdir = './results/GT/vins-mono_GT';
fdir = './results/GT/vins-mono_ext_GT';
fdir = './results/GT/okvis_GT';
end
addpath(... |
github | rising-turtle/slam_matlab-master | find_correspond.m | .m | slam_matlab-master/plot_traj/find_correspond.m | 235 | utf_8 | c8fde5fe7636408d30305a01e739f8c1 | %% find corresponding point
function j = find_correspond(x, timestamp, from)
j = from;
for i = from:size(x,1)
if x(i) > timestamp && x(i) - timestamp < 0.03
j = i;
break;
end
end
end |
github | rising-turtle/slam_matlab-master | test_gt.m | .m | slam_matlab-master/plot_traj/test_gt.m | 960 | utf_8 | d6c24ad51365e497f00763a5ec7084a6 | %%%
% to align gt with trajectories from vins, okvis,
% find out the timestamp at 1350 of gt match to timestamp at 53 of vins
% which means gt's timestamp 12.125 vins' timestamp 1498879054.726535936
% then gt's timestamp 6.925 (at 738) match to vins-mono' start timestamp 1498879049.526535936
% gt's timestamp 7.225 (at... |
github | rising-turtle/slam_matlab-master | transform_to_first.m | .m | slam_matlab-master/plot_traj/transform_to_first.m | 347 | utf_8 | bf27f9b19d15e12a6f85768b89f828c1 | %% transform into the coordinate of the first pose
function pose = transform_to_first(pose)
Too = construct(pose(1, 2:8));
Too_inv = inv(Too);
for i=1:size(pose,1)
Tii = construct(pose(i, 2:8));
Ts2i = Too_inv * Tii;
[q, t] = deconstruct(Ts2i);
pose(i, 2:4) = t(:);
pose... |
github | rising-turtle/slam_matlab-master | plot_feature_pts.m | .m | slam_matlab-master/plot_traj/plot_feature_pts.m | 748 | utf_8 | a6b31abd76d5d9da3824a8fe62d53155 | function [ output_args ] = plot_feature_pts( fname )
%UNTITLED3 Summary of this function goes here
% Detailed explanation goes here
if nargin == 0
fname = 'vins_mono_ext_feature_pts.log';
end
pts = load(fname);
pts = filter_distant(pts);
hold on;
grid on;
plot3(pts(:,1), pts(:,2), pts(:,3), '.', 'MarkerSize... |
github | rising-turtle/slam_matlab-master | load_camera_frame.m | .m | slam_matlab-master/VRO/load_camera_frame.m | 2,267 | utf_8 | fead0b7e8d4edb2989241e7cafbb1d1b | function [img, frm, des, p, ld_err] = load_camera_frame(fid)
%
% David Z, March 3th, 2015
% load camera data:
% img, 2D pixels
% frm,
% p [x y z]; (width, height, 3)
% ld_err = 1, if not exist
global g_data_dir g_data_prefix g_data_suffix g_camera_type
global g_filter_type
ld_err = 0; % TODO: take the load data e... |
github | rising-turtle/slam_matlab-master | pre_check_dir.m | .m | slam_matlab-master/VRO/pre_check_dir.m | 547 | utf_8 | 8a7e9d1ce4f080306bd3b5ee748a06f2 | %
% David Z, Jan 22th, 2015
% pre-check the save dir, if not exist, create it
%
function pre_check_dir(dir_)
global g_feature_dir g_matched_dir g_pose_std_dir
feature_dir = sprintf('/%s', g_feature_dir);
match_dir = sprintf('/%s', g_matched_dir);
not_exist_then_create(strcat(dir_, feature_dir));
not_exist... |
github | rising-turtle/slam_matlab-master | LoadCreative_dat.m | .m | slam_matlab-master/VRO/LoadCreative_dat.m | 783 | utf_8 | f539355d95dcac539680013bc4ae091c | %
% David Z, Jan 22th, 2015
% Load Creative Data
%
function [img, x, y, z, c, time, err] = LoadCreative_dat(data_name, j)
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name);
img = []; x = []; y = []; z = []; c = [];
err = 0;
%% time elapse
t_pre = tic;
%% load data file
[file_name, err] = sprintf('%s... |
github | rising-turtle/slam_matlab-master | graphslam_addpath.m | .m | slam_matlab-master/VRO/graphslam_addpath.m | 1,409 | utf_8 | 503a943bb30b3483282203370b1e5f57 | % Add the path for graph slam
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 10/16/12
function graphslam_addpath
% addpath('D:\Soonhac\SW\gtsam-toolbox-2.3.0-win64\toolbox');
% addpath('D:\soonhac\SW\kdtree');
% addpath('D:\soonhac\SW\LevenbergMarquardt');
% addpath('D:\soonhac\SW\Localization');
% addpath('D:... |
github | rising-turtle/slam_matlab-master | plot_graph_trajectory.m | .m | slam_matlab-master/VRO/plot_graph_trajectory.m | 1,866 | utf_8 | 57a03921cd0e61d805de50b94592cd8c | function plot_graph_trajectory(gtsam_pose_initial, gtsam_pose_result)
%
% David Z, 3/6/2015
% draw the trajectory in the graph structure
%
import gtsam.*
plot_xyz_initial = [];
%% plot the initial pose trajectory : VRO result
keys = KeyVector(gtsam_pose_initial.keys);
initial_max_index = keys.size-1;
for i=0:int32(ini... |
github | rising-turtle/slam_matlab-master | img_preprocess.m | .m | slam_matlab-master/VRO/img_preprocess.m | 1,748 | utf_8 | b8de79b4d263155edea6f71fe59278e6 | function [ img ] = img_preprocess( data_name, old_file_version)
%IMG_PREPROCESS Summary of this function goes here
% Detailed explanation goes here
if nargin < 1
old_file_version = 1; % 1;
% data_name='/home/davidz/work/EmbMess/mesa/pcl_mesa/build/bin/sr_data/d1_0001.bdat';
data_name='/home/davidz/work... |
github | rising-turtle/slam_matlab-master | VRO.m | .m | slam_matlab-master/VRO/VRO.m | 9,975 | utf_8 | 4545c083032007c6b92bf22dd096529c | function [t, pose_std, e] = VRO(id1, id2, img1, img2, des1, frm1, p1, des2, frm2, p2)
%
% March 3th, 2015, David Z
% match two images and return the transformation between img1 and img2
% t : [ phi, theta, psi, trans];
% pose_std: pose covariance
% e : error
%
%% extract features, match img1 to img2
if ~exist('des... |
github | rising-turtle/slam_matlab-master | dump_matrix_2_file.m | .m | slam_matlab-master/VRO/dump_matrix_2_file.m | 364 | utf_8 | ff92d9360b0b19252a256ed0ebd60fd3 | function dump_matrix_2_file(fname, m)
%
% David Z, Feb 19, 2015
% try to construct a function to dump every kind of matrix into a text file
%
dump_matrix_2_file_wf(fname, m)
end
function dump_matrix_2_file_wf(f, m)
f_id = fopen(f, 'w+');
for i=1:size(m,1)
fprintf(f_id, '%f ', m(i,:));
fprint... |
github | rising-turtle/slam_matlab-master | reassign_states.m | .m | slam_matlab-master/libs_dir/CEKF-SLAM/trunk/reassign_states.m | 1,961 | utf_8 | debcceaaa5d4187361570a36d17ada01 | function reassign_states(maxd)
%function reassign_states()
%
% This function is really simply implemented!
%
global XA XB PA PAB PB g_current_ala_center g_current_ala_center_cov
% set new active local area
g_current_ala_center = XA(1:2,:);
g_current_ala_center_cov = PA(1:2,1:2);
% reassign part A and B
if length(XB)... |
github | rising-turtle/slam_matlab-master | frontend.m | .m | slam_matlab-master/libs_dir/CEKF-SLAM/trunk/frontend.m | 5,629 | utf_8 | 40ab053f4d5fa90d8e26eea477b5e80c | function varargout = frontend(varargin)
%EKF-SLAM environment-making GUI
%
% This program permits the graphical creation and manipulation
% of an environment of point landmarks, and the specification of
% vehicle path waypoints therein.
%
% USAGE: type 'frontend' to start.
% 1. Click on the desired operation: <enter... |
github | rising-turtle/slam_matlab-master | data_associate.m | .m | slam_matlab-master/libs_dir/CEKF-SLAM/trunk/data_associate.m | 1,506 | utf_8 | cc46d9a2d98b8271e2c4bb7c3854295c | function [zf,idf, zn]= data_associate(x,P,z,R, gate1, gate2)
%
% Simple gated nearest-neighbour data-association. No clever feature
% caching tricks to speed up association, so computation is O(N), where
% N is the number of features in the state.
%
% Tim Bailey 2004.
zf= []; zn= [];
idf= [];
Nxv= 3; % number of ve... |
github | rising-turtle/slam_matlab-master | cekfslam.m | .m | slam_matlab-master/libs_dir/CEKF-SLAM/trunk/cekfslam.m | 13,612 | utf_8 | be6f45a2731675739a5f1f9ed0d9a19c | function data= cekfslam(lm, wp)
%function data= cekfslam(lm, wp)
%
% INPUTS:
% lm - set of landmarks
% wp - set of waypoints
%
% OUTPUTS:
% data - a data structure containing:
% data.i : number of states
% data.true : the vehicle 'true'-path (ie, where the vehicle *actually* went)
... |
github | rising-turtle/slam_matlab-master | get_observations.m | .m | slam_matlab-master/libs_dir/CEKF-SLAM/trunk/get_observations.m | 1,250 | utf_8 | 3ceb9d696ae12356c6a0d8905242514d | function [z]= get_observations(x, lm, rmax)
%function [z]= get_observations(x, lm, rmax)
%
% INPUTS:
% x - vehicle pose [x;y;phi]
% lm - set of all landmarks
% rmax - maximum range of range-bearing sensor
%
% OUTPUTS:
% z - set of range-bearing observations
%
% Tim Bailey 2004.
% Zhang Haiqiang 2007-11-22
%
[... |
github | rising-turtle/slam_matlab-master | update.m | .m | slam_matlab-master/libs_dir/CEKF-SLAM/trunk/update.m | 2,743 | utf_8 | f29b94211b7add286c6351c8b0e825c8 | function update(z,R,idf,batch)
% function update(z,R,idf,batch)
%
% Inputs:
% z, R - range-bearing measurements and covariances
% idf - feature index for each z
% batch - whether to process measurements together or sequentially
%
% GLOBAL INPUTS:
% XA PA JXA OmegaPB PsiXB PhiPAB
%
% GLOBAL OUTPUTS:
% XA, PA ... |
github | rising-turtle/slam_matlab-master | augment.m | .m | slam_matlab-master/libs_dir/CEKF-SLAM/trunk/augment.m | 1,060 | utf_8 | d2b0762e712316bc4f43f34b4896f657 | function augment(z,R)
%function augment(z,R)
%
% INPUTS:
% z, R - range-bearing measurements and covariances, each of a new feature
%
% GLOBAL INPUTS:
% XA, PA
% PhiPAB
% JXA
%
% GLOBAL OUTPUTS:
% XA, PA
% PhiPAB
%
%
% Haiqiang Zhang 2008-5-11
% add new features to state
for i=1:size(z,2)
add_one_z(z(:... |
github | rising-turtle/slam_matlab-master | plotmatches.m | .m | slam_matlab-master/libs_dir/SIFT/sift-0.9.19-bin/sift/plotmatches.m | 10,144 | utf_8 | 4d7daa0d3265f0885ebc7f3310a47fc1 | function h=plotmatches(I1,I2,P1,P2,matches,varargin)
% PLOTMATCHES Plot keypoint matches
% PLOTMATCHES(I1,I2,P1,P2,MATCHES) plots the two images I1 and I2
% and lines connecting the frames (keypoints) P1 and P2 as specified
% by MATCHES.
%
% P1 and P2 specify two sets of frames, one per column. The first
% t... |
github | rising-turtle/slam_matlab-master | gaussianss.m | .m | slam_matlab-master/libs_dir/SIFT/sift-0.9.19-bin/sift/gaussianss.m | 7,935 | utf_8 | ea953b78ba9dcf80cd10b1f4c599408e | function SS = gaussianss(I,sigman,O,S,omin,smin,smax,sigma0)
% GAUSSIANSS
% SS = GAUSSIANSS(I,SIGMAN,O,S,OMIN,SMIN,SMAX,SIGMA0) returns the
% Gaussian scale space of image I. Image I is assumed to be
% pre-smoothed at level SIGMAN. O,S,OMIN,SMIN,SMAX,SIGMA0 are the
% parameters of the scale space as explained i... |
github | rising-turtle/slam_matlab-master | plotsiftdescriptor.m | .m | slam_matlab-master/libs_dir/SIFT/sift-0.9.19-bin/sift/plotsiftdescriptor.m | 5,461 | utf_8 | 4159397cc60b624656bb3372023a43e9 | function h=plotsiftdescriptor(d,f)
% PLOTSIFTDESCRIPTOR Plot SIFT descriptor
% PLOTSIFTDESCRIPTOR(D) plots the SIFT descriptors D, stored as
% columns of the matrix D. D has the same format used by SIFT().
%
% PLOTSIFTDESCRIPTOR(D,F) plots the SIFT descriptors warped to the
% SIFT frames F, specified as colum... |
github | rising-turtle/slam_matlab-master | moreindatatip.m | .m | slam_matlab-master/libs_dir/slamtoolbox/slamToolbox_11_09_08/Graphics/moreindatatip.m | 3,133 | utf_8 | a282d8242a72fbe01e0564a1ef3c3d07 | function moreindatatip
% MOREINDATATIP Display index information in the data tip.
%
% Extends the displayed text of the datatip to get the index of the clicked
% point. The extension remains until the figure is deleted. If datatip(s)
% was previously present, a message prompts the user to right-click on the
% figure t... |
github | rising-turtle/slam_matlab-master | initNewLmk.m | .m | slam_matlab-master/libs_dir/slamtoolbox/slamToolbox_11_09_08/InterfaceLevel/initNewLmk.m | 6,870 | utf_8 | 34d7ff329dfed725430c53a5095f1ecf | function [Lmk,Obs] = initNewLmk(Rob, Sen, Raw, Lmk, Obs, Opt)
%INITNEWLMK Initialise one landmark.
% [LMK, OBS] = INITNEWLMK(ROB, SEN, RAW, LMK, OBS) returns the new
% set of landmarks.
%
% This "new set" contains the "old set" plus new elements. These new
% elements are extracted from the recent observations... |
github | rising-turtle/slam_matlab-master | chi2.m | .m | slam_matlab-master/libs_dir/slamtoolbox/slamToolbox_11_09_08/Math/chi2.m | 25,797 | utf_8 | 28d82af99c6ba03eec54f93ee2d67f95 | function chi2 = chi2(n,p)
% CHI2 Chi square distribution
% TH = CHI2(N,P) gives the critical values of the N-dimensional
% Chi-squared distribuiton function for a right-tail probability area P
% Copyright 2009 Joan Sola @ LAAS-CNRS.
[nTab,pTab,Chi2Tab] = chi2tab();
if (n == floor(n))
% values o... |
github | rising-turtle/slam_matlab-master | vecnorm.m | .m | slam_matlab-master/libs_dir/slamtoolbox/slamToolbox_11_09_08/Math/vecnorm.m | 1,534 | utf_8 | 79b38e4a6fe6b82aa4e59d153995e278 | function [n, N_v] = vecnorm(v)
% VECNORM Vector norm, with Jacobian
% VECNORM(V) is the same as NORM(V)
%
% [n, N_v] = VECNORM(V) returns also the Jacobian.
if nargout == 1
n = sqrt(v'*v);
else
n = sqrt(v'*v);
N_v = v'/n;
end
end
%%
function f()
%%
syms v1 v2 real
v = [v1;v2];
[n,N_v] = vecnorm(v);
N... |
github | rising-turtle/slam_matlab-master | toFrameHmg.m | .m | slam_matlab-master/libs_dir/slamtoolbox/slamToolbox_11_09_08/Points/toFrameHmg.m | 3,142 | utf_8 | 3a88bb83e7b0e927258f70d4fdd76b12 | function [hf,HF_f,HF_h] = toFrameHmg(F,h)
% TOFRAMEHMG To-frame transformation for homogeneous coordinates
% P = TOFRAMEHMG(F,PF) transforms homogeneous point P from the global
% frame to local frame F.
%
% [p,Pf,Ppf] = ... returns the Jacobians wrt F and PF.
% Copyright 2008-2011 Joan Sola @ LAAS-CNRS.
[... |
github | rising-turtle/slam_matlab-master | invDistortion.m | .m | slam_matlab-master/libs_dir/slamtoolbox/slamToolbox_11_09_08/Observations/invDistortion.m | 4,410 | utf_8 | 01b198fd2276fbb194a08f453ffa5317 | function kc = invDistortion(kd,n,cal,draw)
% INVDISTORTION Radial distortion correction calibration.
%
% Kc = INVDISTORTION(Kd,n) computes the least squares optimal set
% of n parameters of the correction radial distortion function
% for a normalized camera:
%
% r = c(rd) = rd (1 + c2 rd^2 + ... + c2n rd^2n... |
github | rising-turtle/slam_matlab-master | rotx.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/rotx.m | 306 | utf_8 | e3472a26436b5f238dac19d5fd0b871c | %ROTX Rotation about X axis
%
% ROTX(theta) returns a homogeneous transformation representing a
% rotation of theta about the X axis.
%
% See also ROTY, ROTZ, ROTVEC.
% Copyright (C) Peter Corke 1990
function r = rotx(t)
ct = cos(t);
st = sin(t);
r = [1 0 0 0
0 ct -st 0
0 st ct 0
0 0 0 1];
|
github | rising-turtle/slam_matlab-master | rotz.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/rotz.m | 306 | utf_8 | 46e0bf3113efb75d4014488b019f3576 | %ROTZ Rotation about Z axis
%
% ROTZ(theta) returns a homogeneous transformation representing a
% rotation of theta about the X axis.
%
% See also ROTX, ROTY, ROTVEC.
% Copyright (C) Peter Corke 1990
function r = rotz(t)
ct = cos(t);
st = sin(t);
r = [ct -st 0 0
st ct 0 0
0 0 1 0
0 0 0 1];
|
github | rising-turtle/slam_matlab-master | rpy2tr.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/rpy2tr.m | 511 | utf_8 | a94f613d4341e10ddaf4c0551555471f | %RPY2TR Roll/pitch/yaw to homogenous transform
%
% RPY2TR([R P Y])
% RPY2TR(R,P,Y) returns a homogeneous tranformation for the specified
% roll/pitch/yaw angles. These correspond to rotations about the
% Z, X, Y axes respectively.
%
% See also TR2RPY, EUL2TR
% Copright (C) Peter Corke 1993
function r = rpy2tr(roll, p... |
github | rising-turtle/slam_matlab-master | roty.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/roty.m | 306 | utf_8 | d1d8eb762d99bd1091278e9fc3c26dc2 | %ROTY Rotation about Y axis
%
% ROTY(theta) returns a homogeneous transformation representing a
% rotation of theta about the Y axis.
%
% See also ROTX, ROTZ, ROTVEC.
% Copyright (C) Peter Corke 1990
function r = roty(t)
ct = cos(t);
st = sin(t);
r = [ct 0 st 0
0 1 0 0
-st 0 ct 0
0 0 0 1];
|
github | rising-turtle/slam_matlab-master | q2tr.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/q2tr.m | 452 | utf_8 | a142148cdf478b8beae43593bc74cb66 | %Q2TR Convert unit-quaternion to homogeneous transform
%
% T = q2tr(Q)
%
% Return the rotational homogeneous transform corresponding to the unit
% quaternion Q.
%
% See also TR2Q
% Copyright (C) 1993 Peter Corke
function t = q2tr(q)
s = q(1);
x = q(2);
y = q(3);
z = q(4);
r = [ 1-2*(y^2+z^2) 2*(x*y-s*z) 2*(x*z+s... |
github | rising-turtle/slam_matlab-master | tr2rpy.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/tr2rpy.m | 647 | utf_8 | bfaa28ddb877e05439892857e8cdc115 | %TR2RPY Convert a homogeneous transform matrix to roll/pitch/yaw angles
%
% [A B C] = TR2RPY(TR) returns a vector of Euler angles
% corresponding to the rotational part of the homogeneous transform TR.
%
% See also RPY2TR, TR2EUL
% Copright (C) Peter Corke 1993
function rpy = tr2rpy(m)
rpy = zeros(1,3);
if abs(... |
github | rising-turtle/slam_matlab-master | tr2q.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/tr2q.m | 1,163 | utf_8 | b848d8e8dd98bb791156d6b2e1684d69 | %TR2Q Convert homogeneous transform to a unit-quaternion
%
% Q = tr2q(T)
%
% Return a unit quaternion corresponding to the rotational part of the
% homogeneous transform T.
%
% See also Q2TR
% Copyright (C) 1993 Peter Corke
function q = tr2q(t)
q = zeros(1,4);
q(1) = sqrt(trace(t))/2;
kx = t(3,2) - t(2,3); % Oz - A... |
github | rising-turtle/slam_matlab-master | fast_corner_detect_12.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/fast-matlab-src/fast_corner_detect_12.m | 126,136 | utf_8 | a893a7b42ef9722d64ec819cfb934614 | %FAST_CORNER_DETECT_12 perform an 12 point FAST corner detection.
% corners = FAST_CORNER_DETECT_12(image, threshold) performs the detection on the image
% and returns the X coordinates in corners(:,1) and the Y coordinares in corners(:,2).
%
% If you use this in published work, please cite:
% Fusing Po... |
github | rising-turtle/slam_matlab-master | fast_corner_detect_9.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/fast-matlab-src/fast_corner_detect_9.m | 177,871 | utf_8 | 23105cc2b05a91688c4a17e952fcd7e3 | %FAST_CORNER_DETECT_9 perform an 9 point FAST corner detection.
% corners = FAST_CORNER_DETECT_9(image, threshold) performs the detection on the image
% and returns the X coordinates in corners(:,1) and the Y coordinares in corners(:,2).
%
% If you use this in published work, please cite:
% Fusing Point... |
github | rising-turtle/slam_matlab-master | fast_corner_detect_10.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/fast-matlab-src/fast_corner_detect_10.m | 164,469 | utf_8 | 219987a5a165436df9ac811d9ec40fdb | %FAST_CORNER_DETECT_10 perform an 10 point FAST corner detection.
% corners = FAST_CORNER_DETECT_10(image, threshold) performs the detection on the image
% and returns the X coordinates in corners(:,1) and the Y coordinares in corners(:,2).
%
% If you use this in published work, please cite:
% Fusing Po... |
github | rising-turtle/slam_matlab-master | fast_nonmax.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/fast-matlab-src/fast_nonmax.m | 2,828 | utf_8 | d1862ded31ac358dc7d19418039cb6ea | % FAST_NONMAX perform non-maximal suppression on FAST features.
%
% nonmax = FAST_NONMAX(image, threshold, FAST_CORNER_DETECT_9(image, threshold));
% returns a list of nonmaximally suppressed corners with the X coordinate
% in nonmax(:,1) and Y in nonmax(:,2).
%
% If you use this in published work, plea... |
github | rising-turtle/slam_matlab-master | fast_corner_detect_11.m | .m | slam_matlab-master/libs_dir/ekfmonoslam/trunk/matlab_code/fast-matlab-src/fast_corner_detect_11.m | 132,321 | utf_8 | ae44e523c1f863bcd9e42e13bb4612d2 | %FAST_CORNER_DETECT_11 perform an 11 point FAST corner detection.
% corners = FAST_CORNER_DETECT_11(image, threshold) performs the detection on the image
% and returns the X coordinates in corners(:,1) and the Y coordinares in corners(:,2).
%
% If you use this in published work, please cite:
% Fusing Po... |
github | rising-turtle/slam_matlab-master | getCell.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/DetectionMatching/getCell.m | 1,456 | utf_8 | d3772727968d41dc0620d7764df1aa47 | %GETCELL Get image cell corresopnding to a given pixel.
function imCell = getCell(u,imGrid)
imCell = ceil(u.*imGrid.numCells./imGrid.imSize);
% ========== End of function - Start GPL license ==========
% # START GPL LICENSE
%---------------------------------------------------------------------
%
% This fil... |
github | rising-turtle/slam_matlab-master | maxParab.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/DetectionMatching/maxParab.m | 1,525 | utf_8 | 0d579e9bfdf5048f4c6c8f48955d7b1f | % MAXPARAB Get the maximum point of a parabole defined by 3 points.
function xm = maxParab(yc,yl,yr)
a = (yl+yr)/2-yc;
b = (yr-yl)/2;
% c = yc; % not used
if abs(a) > eps
xm = -b/2/a;
else
xm = 0;
end
% ========== End of function - Start GPL license ==========
% # START GPL LICENSE
%---------------... |
github | rising-turtle/slam_matlab-master | maxParab2.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/DetectionMatching/maxParab2.m | 1,494 | utf_8 | 67e9667499a2e12fd4f877bd316142f0 | % MAXPARAB2 Maximum point of a 2D parabolloid.
function xm = maxParab2(yc,yl,yr,yu,yd)
% MAXPARAB2(YC,YW,YE,YN,YS)
hm = maxParab(yc,yl,yr);
vm = maxParab(yc,yu,yd);
xm = [hm;vm];
% ========== End of function - Start GPL license ==========
% # START GPL LICENSE
%----------------------------------------------... |
github | rising-turtle/slam_matlab-master | moreindatatip.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/Graphics/moreindatatip.m | 3,321 | utf_8 | 6ca2377164cb495f4eb5db359677cc17 | function moreindatatip
% MOREINDATATIP Display index information in the data tip.
%
% Extends the displayed text of the datatip to get the index of the clicked
% point. The extension remains until the figure is deleted. If datatip(s)
% was previously present, a message prompts the user to right-click on the
% figure t... |
github | rising-turtle/slam_matlab-master | addFrmToTrj.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/Slam/addFrmToTrj.m | 4,618 | utf_8 | 530847fdf69755b8c21a29784e40ee12 | function [Lmk,Trj,Frm,Fac] = addFrmToTrj(Lmk,Trj,Frm,Fac)
% ADDFRMTOTRJ Add frame to trajectory
% [Trj,Frm,Fac] = ADDFRMTOTRJ(Trj,Frm,Fac) Adds a frame to the trajectory
% Trj. It does so by advancing the HEAD pointer in the trajectory Trj,
% and clearing sensitive data in the frame pointed by the new HEAD.
%
% ... |
github | rising-turtle/slam_matlab-master | solveGraphSchur.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/InterfaceLevel/solveGraphSchur.m | 5,056 | utf_8 | 5fa972e55263bf248f4c017f2c6decdb | function [Rob,Sen,Lmk,Obs,Frm,Fac] = solveGraphSchur(Rob,Sen,Lmk,Obs,Frm,Fac,options)
% SOLVEGRAPHSCHUR Solves the SLAM graph using Schur decomposition.
% [Rob,Sen,Lmk,Obs,Frm,Fac] = solveGraphSchur(Rob,Sen,Lmk,Obs,Frm,Fac)
% solves the graph-SLAM problem using Schur decomposition of the
% Hessian matrix.
%
% ... |
github | rising-turtle/slam_matlab-master | solveGraphQR.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/InterfaceLevel/solveGraphQR.m | 5,355 | utf_8 | 5fcc6e754223f6fb664de13631cf0c71 | function [Rob,Sen,Lmk,Obs,Frm,Fac] = solveGraphQR(Rob,Sen,Lmk,Obs,Frm,Fac,options)
% SOLVEGRAPHQR Solves the SLAM graph using QR decomposition.
% [Rob,Sen,Lmk,Obs,Frm,Fac] = SOLVEGRAPHQR(Rob,Sen,Lmk,Obs,Frm,Fac)
% solves the graph-SLAM problem using QR decomposition of the
% Hessian matrix.
%
% IMPORTANT NOTE... |
github | rising-turtle/slam_matlab-master | initNewLmk.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/InterfaceLevel/initNewLmk.m | 8,393 | utf_8 | 8fd5044ac20898f18cea65856379af31 | function [Lmk,Obs,Frm,Fac,lmk] = initNewLmk(Rob, Sen, Raw, Lmk, Obs, Frm, Fac, Opt)
%INITNEWLMK Initialise one landmark.
% [LMK, OBS] = INITNEWLMK(ROB, SEN, RAW, LMK, OBS) initializes one new
% landmark. The landmark is selected by an active-search analysis of the
% Raw data belonging to the current sensor Sen ... |
github | rising-turtle/slam_matlab-master | solveGraphCholesky.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/InterfaceLevel/solveGraphCholesky.m | 5,660 | utf_8 | f5d071a8f99dd2cfb377dcae99ec887c | function [Rob,Sen,Lmk,Obs,Frm,Fac] = solveGraphCholesky(Rob,Sen,Lmk,Obs,Frm,Fac,options)
% SOLVEGRAPHCHOLESKY Solves the SLAM graph using Cholesky decomposition.
% [Rob,Sen,Lmk,Obs,Frm,Fac] = solveGraphCholesky(Rob,Sen,Lmk,Obs,Frm,Fac)
% solves the graph-SLAM problem using Cholesky decomposition of the
% Hessian... |
github | rising-turtle/slam_matlab-master | errorAnalysis.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/DataManagement/errorAnalysis.m | 1,434 | utf_8 | 30b8cdc0c1a16f01ea47b9385d43e6e1 | % ERRORANALYSIS Error analysis for slamtb.
function err = errorAnalysis(Rob, SimRob, errfcn)
err = errfcn(Rob, SimRob);
% ========== End of function - Start GPL license ==========
% # START GPL LICENSE
%---------------------------------------------------------------------
%
% This file is part of SLAMTB, a... |
github | rising-turtle/slam_matlab-master | chi2.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/Math/chi2.m | 25,986 | utf_8 | 316d620ef54a7172615309682fd63d85 | function chi2 = chi2(n,p)
% CHI2 Chi square distribution
% TH = CHI2(N,P) gives the critical values of the N-dimensional
% Chi-squared distribuiton function for a right-tail probability area P
% Copyright 2009 Joan Sola @ LAAS-CNRS.
[nTab,pTab,Chi2Tab] = chi2tab();
if (n == floor(n))
% values o... |
github | rising-turtle/slam_matlab-master | vecnorm.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/Math/vecnorm.m | 1,655 | utf_8 | 2ad7cbcde8168283c2f19ee1d7142ae4 | function [n, N_v] = vecnorm(v)
% VECNORM Vector norm, with Jacobian
% VECNORM(V) is the same as NORM(V)
%
% [n, N_v] = VECNORM(V) returns also the Jacobian.
if nargout == 1
n = sqrt(v'*v);
else
n = sqrt(v'*v);
N_v = v'/n;
end
end
%%
function f()
%%
syms v1 v2 real
v = [v1;v2];
[n,N_v] = vecnorm(v);
N... |
github | rising-turtle/slam_matlab-master | toFrameHmg.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/Points/toFrameHmg.m | 3,330 | utf_8 | 09b1d98499875375d82a33c3d3dd2323 | function [hf,HF_f,HF_h] = toFrameHmg(F,h)
% TOFRAMEHMG To-frame transformation for homogeneous coordinates
% P = TOFRAMEHMG(F,PF) transforms homogeneous point P from the global
% frame to local frame F.
%
% [p,Pf,Ppf] = ... returns the Jacobians wrt F and PF.
% Copyright 2008-2011 Joan Sola @ LAAS-CNRS.
[... |
github | rising-turtle/slam_matlab-master | printGraph.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/HighLevel/printGraph.m | 2,867 | utf_8 | d2905fd327eb5bb75af74239eeda0da4 | function printGraph(Rob,Sen,Lmk,Trj,Frm,Fac)
global Map
fprintf('--------------------------\n')
sprs = round( ( nnz( Map.H(Map.used,Map.used) ) / sum(Map.used)^2 ) * 100);
fprintf('Map size: %3d; sparse: %d%%\n', sum(Map.used), sprs)
for rob = [Rob.rob]
printRob(Rob(rob),1);
for sen = Rob(rob).sensors
... |
github | rising-turtle/slam_matlab-master | invDistortion.m | .m | slam_matlab-master/libs_dir/SLAM_courses/slamtb/Observations/invDistortion.m | 4,597 | utf_8 | a894c5170cd896e4c51acc53898dc52e | function kc = invDistortion(kd,n,cal,draw)
% INVDISTORTION Radial distortion correction calibration.
%
% Kc = INVDISTORTION(Kd,n) computes the least squares optimal set
% of n parameters of the correction radial distortion function
% for a normalized camera:
%
% r = c(rd) = rd (1 + c2 rd^2 + ... + c2n rd^2n... |
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