22 using namespace gtsam;
35 for (
const Point3&
p : points) {
44 for (
size_t i = 0;
i < 2;
i++)
48 data.tracks.push_back(track);
63 vector<Point3> points = {
64 {0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1}, {0, 0.5, 0.5}, {0, -0.5, 0.5}};
67 const string filename =
"../../examples/Data/5pointExample1.txt";
80 vector<Point3> points = {{0, 0, 100}, {-10, 0, 100}, {10, 0, 100},
81 {0, 50, 50}, {0, -50, 50}, {-20, 0, 80},
85 const string filename =
"../../examples/Data/5pointExample2.txt";
99 vector<Point3> points = {
100 {0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1},
101 {0, 0.5, 0.5}, {0, -0.5, 0.5}, {-1, -0.5, 2},
102 {-1, 0.5, 2}, {0.25, -0.5, 1.5}, {0.25, 0.5, 1.5},
103 {-0.1, -0.5, 0.5}, {0.1, -0.5, 1}, {0.1, 0.5, 1},
104 {-0.1, 0, 0.5}, {-0.1, 0.5, 0.5}, {0, 0, 0.5},
105 {0.1, -0.5, 0.5}, {0.1, 0, 0.5}, {0.1, 0.5, 0.5}};
108 const string filename =
"../../examples/Data/18pointExample1.txt";
112 int main(
int argc,
char* argv[]) {