gtsam.examples.SelfCalibrationExample Namespace Reference

Functions
list[Point3]	createPoints ()
list[Pose3]	createPoses (Pose3 init=Pose3(Rot3.Ypr(math.pi/2, 0, -math.pi/2), Point3(30, 0, 0)), Pose3 delta=Pose3(Rot3.Ypr(0, -math.pi/4, 0), Point3(math.sin(math.pi/4) *30, 0, 30 *(1 - math.sin(math.pi/4))),), int steps=8)
None	main ()

Function Documentation

createPoints()

list[Point3] gtsam.examples.SelfCalibrationExample.createPoints

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Create the set of ground-truth landmarks

Definition at line 25 of file SelfCalibrationExample.py.

createPoses()

list[Pose3] gtsam.examples.SelfCalibrationExample.createPoses	(	Pose3	init = Pose3(Rot3.Ypr(math.pi / 2, 0, -math.pi / 2), Point3(30, 0, 0)),
		Pose3	delta = Pose3(         Rot3.Ypr(0, -math.pi / 4, 0),         Point3(math.sin(math.pi / 4) * 30, 0, 30 * (1 - math.sin(math.pi / 4))),     ),
		int	steps = 8
	)

Create the 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 41 of file SelfCalibrationExample.py.

main()

None gtsam.examples.SelfCalibrationExample.main

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Definition at line 61 of file SelfCalibrationExample.py.