Functions | Variables
gtsam.examples.SFMdata Namespace Reference

Functions

List[Point3createPoints ()
 
List[Pose3createPoses (Pose3 init=Pose3(Rot3.Ypr(_M_PI_2, 0, -_M_PI_2), Point3(30, 0, 0)), Pose3 delta=Pose3(Rot3.Ypr(0, -_M_PI_4, 0), Point3(np.sin(_M_PI_4) *30, 0, 30 *(1 - np.sin(_M_PI_4))),), int steps=8)
 
def posesOnCircle (num_cameras=8, R=30)
 

Variables

int _M_PI_2 = np.pi / 2
 
int _M_PI_4 = np.pi / 4
 

Detailed Description

A structure-from-motion example with landmarks
 - The landmarks form a 10 meter cube
 - The robot rotates around the landmarks, always facing towards the cube

Function Documentation

◆ createPoints()

List[Point3] gtsam.examples.SFMdata.createPoints ( )

Definition at line 16 of file SFMdata.py.

◆ createPoses()

List[Pose3] gtsam.examples.SFMdata.createPoses ( Pose3   init = Pose3(Rot3.Ypr(_M_PI_2, 0, -_M_PI_2), Point3(30, 0, 0)),
Pose3   delta = Pose3(         Rot3.Ypr(0, -_M_PI_4, 0),         Point3(np.sin(_M_PI_4) * 30, 0, 30 * (1 - np.sin(_M_PI_4))),     ),
int   steps = 8 
)
Create a set of ground-truth poses
Default values give a circular trajectory, radius 30 at pi/4 intervals,
always facing the circle center

Definition at line 35 of file SFMdata.py.

◆ posesOnCircle()

def gtsam.examples.SFMdata.posesOnCircle (   num_cameras = 8,
  R = 30 
)
Create regularly spaced poses with specified radius and number of cameras.

Definition at line 54 of file SFMdata.py.

Variable Documentation

◆ _M_PI_2

int gtsam.examples.SFMdata._M_PI_2 = np.pi / 2
private

Definition at line 31 of file SFMdata.py.

◆ _M_PI_4

int gtsam.examples.SFMdata._M_PI_4 = np.pi / 4
private

Definition at line 32 of file SFMdata.py.



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autogenerated on Fri Nov 1 2024 03:52:55