gtsam.examples.TranslationAveragingExample Namespace Reference

Functions
def	estimate_poses
def	filter_outliers
def	get_data ()
def	main ()

Variables
int	MAX_1DSFM_PROJECTION_DIRECTIONS = 48
float	OUTLIER_WEIGHT_THRESHOLD = 0.1

Detailed Description

GTSAM Copyright 2010-2018, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

This example shows how 1dsfm uses outlier rejection (MFAS) and optimization (translation recovery)
together for estimating global translations from relative translation directions and global rotations.
The purpose of this example is to illustrate the connection between these two classes using a small SfM dataset.

Author: Akshay Krishnan
Date: September 2020

Function Documentation

def gtsam.examples.TranslationAveragingExample.estimate_poses

(

i_iZj_list

)

Definition at line 99 of file TranslationAveragingExample.py.

def gtsam.examples.TranslationAveragingExample.filter_outliers

(

w_iZj_list

)

Definition at line 62 of file TranslationAveragingExample.py.

def gtsam.examples.TranslationAveragingExample.get_data	(		Tuple,
			gtsam,
			Values,
			List,
			gtsam,
			BinaryMeasurementUnit3
	)

"Returns global rotations and unit translation directions between 8 cameras
that lie on a circle and face the center. The poses of 8 cameras are obtained from SFMdata
and the unit translations directions between some camera pairs are computed from their
global translations. 

Definition at line 30 of file TranslationAveragingExample.py.

def gtsam.examples.TranslationAveragingExample.main

(

void

)

Definition at line 135 of file TranslationAveragingExample.py.

Variable Documentation

int gtsam.examples.TranslationAveragingExample.MAX_1DSFM_PROJECTION_DIRECTIONS = 48

Definition at line 26 of file TranslationAveragingExample.py.

float gtsam.examples.TranslationAveragingExample.OUTLIER_WEIGHT_THRESHOLD = 0.1

Definition at line 27 of file TranslationAveragingExample.py.