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44 std::vector<Point3> points;
45 points.push_back(
Point3(10.0, 10.0, 10.0));
46 points.push_back(
Point3(-10.0, 10.0, 10.0));
47 points.push_back(
Point3(-10.0, -10.0, 10.0));
48 points.push_back(
Point3(10.0, -10.0, 10.0));
49 points.push_back(
Point3(10.0, 10.0, -10.0));
50 points.push_back(
Point3(-10.0, 10.0, -10.0));
51 points.push_back(
Point3(-10.0, -10.0, -10.0));
52 points.push_back(
Point3(10.0, -10.0, -10.0));
67 std::vector<Pose3> poses;
70 poses.push_back(
init);
71 for (
int i = 1;
i < steps; ++
i) {
82 const double theta = 2 *
M_PI / num_cameras;
92 Vector3 delta_translation_world(
R * (
cos(theta) - 1),
R *
sin(theta), 0);
95 Vector3 delta_translation_local =
96 init.rotation().inverse() * delta_translation_world;
99 const Pose3 delta(delta_rotation, delta_translation_local);
std::vector< Point3 > createPoints()
Create a set of ground-truth landmarks.
Jet< T, N > sin(const Jet< T, N > &f)
The most common 5DOF 3D->2D calibration.
static Rot3 Ypr(double y, double p, double r, OptionalJacobian< 3, 1 > Hy={}, OptionalJacobian< 3, 1 > Hp={}, OptionalJacobian< 3, 1 > Hr={})
Jet< T, N > cos(const Jet< T, N > &f)
Expression< T > compose(const Expression< T > &t1, const Expression< T > &t2)
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Base class for all pinhole cameras.
detail::initimpl::constructor< Args... > init()
Binds an existing constructor taking arguments Args...
std::vector< Pose3 > posesOnCircle(int num_cameras=8, double R=30)
std::vector< Pose3 > createPoses(const Pose3 &init=Pose3(Rot3::Ypr(M_PI_2, 0, -M_PI_2), {30, 0, 0}), const Pose3 &delta=Pose3(Rot3::Ypr(0, -M_PI_4, 0), {sin(M_PI_4) *30, 0, 30 *(1 - sin(M_PI_4))}), int steps=8)
Rot2 R(Rot2::fromAngle(0.1))
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:04:11