SFMdata.h File Reference

Simple example for the structure-from-motion problems. More...

#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h>

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Functions
std::vector< gtsam::Point3 >	createPoints ()
std::vector< gtsam::Pose3 >	createPoses (const gtsam::Pose3 &init=gtsam::Pose3(gtsam::Rot3::Ypr(M_PI/2, 0,-M_PI/2), gtsam::Point3(30, 0, 0)), const gtsam::Pose3 &delta=gtsam::Pose3(gtsam::Rot3::Ypr(0,-M_PI/4, 0), gtsam::Point3(sin(M_PI/4)*30, 0, 30 *(1-sin(M_PI/4)))), int steps=8)

Detailed Description

Simple example for the structure-from-motion problems.

Author

Duy-Nguyen Ta

Definition in file SFMdata.h.

Function Documentation

std::vector<gtsam::Point3> createPoints

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A structure-from-motion example with landmarks, default function arguments give

• The landmarks form a 10 meter cube
• The robot rotates around the landmarks, always facing towards the cube Passing function argument allows to specificy an initial position, a pose increment and step count.

Definition at line 37 of file SFMdata.h.

std::vector<gtsam::Pose3> createPoses	(	const gtsam::Pose3 &	init = gtsam::Pose3(gtsam::Rot3::Ypr(M_PI/2,0,-M_PI/2), gtsam::Point3(30, 0, 0)),
		const gtsam::Pose3 &	delta = gtsam::Pose3(gtsam::Rot3::Ypr(0,-M_PI/4,0), gtsam::Point3(sin(M_PI/4)*30, 0, 30*(1-sin(M_PI/4)))),
		int	steps = 8
	)

Definition at line 54 of file SFMdata.h.