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

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