Functions | |
List[Point3] | createPoints () |
List[Pose3] | 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) |
def | posesOnCircle (num_cameras=8, R=30) |
Variables | |
int | _M_PI_2 = np.pi / 2 |
int | _M_PI_4 = np.pi / 4 |
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
Definition at line 16 of file SFMdata.py.
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))),
) , |
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int | steps = 8 |
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) |
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.
def gtsam.examples.SFMdata.posesOnCircle | ( | num_cameras = 8 , |
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R = 30 |
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) |
Create regularly spaced poses with specified radius and number of cameras.
Definition at line 54 of file SFMdata.py.
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private |
Definition at line 31 of file SFMdata.py.
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private |
Definition at line 32 of file SFMdata.py.