Functions
gtsam.Values	estimate_poses (List[gtsam.BinaryMeasurementUnit3] i_iZj_list, gtsam.Values wRc_values)

List[gtsam.BinaryMeasurementUnit3]	filter_outliers (List[gtsam.BinaryMeasurementUnit3] w_iZj_list)

Tuple[gtsam.Values, List[gtsam.BinaryMeasurementUnit3]]	get_data ()

def	main ()

Variables
int	MAX_1DSFM_PROJECTION_DIRECTIONS = 48

float	OUTLIER_WEIGHT_THRESHOLD = 0.1

Detailed Description

GTSAM Copyright 2010-2018, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

This example shows how 1dsfm uses outlier rejection (MFAS) and optimization (translation recovery)
together for estimating global translations from relative translation directions and global rotations.
The purpose of this example is to illustrate the connection between these two classes using a small SfM dataset.

Author: Akshay Krishnan
Date: September 2020

Function Documentation

◆ estimate_poses()

gtsam.Values gtsam.examples.TranslationAveragingExample.estimate_poses	(	List[gtsam.BinaryMeasurementUnit3]	i_iZj_list,
		gtsam.Values	wRc_values
	)

Estimate poses given rotations and normalized translation directions between cameras.

Args:
    i_iZj_list: List of normalized translation direction measurements between camera pairs, 
                Z here refers to measurements. The measurements are of camera j with reference 
                to camera i (iZj), in camera i's coordinate frame (i_). iZj represents a unit 
                vector to j in i's frame and is not a transformation. 
    wRc_values: Rotations of the cameras in the world frame.

Returns:
    gtsam.Values: Estimated poses.

Definition at line 97 of file TranslationAveragingExample.py.

◆ filter_outliers()

List[gtsam.BinaryMeasurementUnit3] gtsam.examples.TranslationAveragingExample.filter_outliers ( List[gtsam.BinaryMeasurementUnit3] w_iZj_list )

Removes outliers from a list of Unit3 measurements that are the 
translation directions from camera i to camera j in the world frame.

Definition at line 60 of file TranslationAveragingExample.py.

◆ get_data()

Tuple[gtsam.Values, List[gtsam.BinaryMeasurementUnit3]] gtsam.examples.TranslationAveragingExample.get_data ( )

"Returns global rotations and unit translation directions between 8 cameras
that lie on a circle and face the center. The poses of 8 cameras are obtained from SFMdata
and the unit translations directions between some camera pairs are computed from their
global translations.

Definition at line 29 of file TranslationAveragingExample.py.