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clean up SFMdata

release/4.3a0
John Lambert 2021-08-21 21:08:37 -06:00 committed by GitHub
parent 52161785cf
commit 67403b0e96
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1 changed files with 18 additions and 15 deletions
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33
python/gtsam/examples/SFMdata.py
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@ -5,36 +5,39 @@ A structure-from-motion example with landmarks
""" """
# pylint: disable=invalid-name, E1101 # pylint: disable=invalid-name, E1101
from typing import List
import numpy as np import numpy as np
import gtsam import gtsam
from gtsam import Cal3_S2, Point3, Pose3
def createPoints(): def createPoints() -> List[Point3]:
# Create the set of ground-truth landmarks # Create the set of ground-truth landmarks
points = [gtsam.Point3(10.0, 10.0, 10.0), points = [
gtsam.Point3(-10.0, 10.0, 10.0), Point3(10.0, 10.0, 10.0),
gtsam.Point3(-10.0, -10.0, 10.0), Point3(-10.0, 10.0, 10.0),
gtsam.Point3(10.0, -10.0, 10.0), Point3(-10.0, -10.0, 10.0),
gtsam.Point3(10.0, 10.0, -10.0), Point3(10.0, -10.0, 10.0),
gtsam.Point3(-10.0, 10.0, -10.0), Point3(10.0, 10.0, -10.0),
gtsam.Point3(-10.0, -10.0, -10.0), Point3(-10.0, 10.0, -10.0),
gtsam.Point3(10.0, -10.0, -10.0)] Point3(-10.0, -10.0, -10.0),
Point3(10.0, -10.0, -10.0),
]
return points return points
def createPoses(K): def createPoses(K: Cal3_S2) -> List[Pose3]:
# Create the set of ground-truth poses """Generate a set of ground-truth camera poses arranged in a circle about the origin."""
radius = 40.0 radius = 40.0
height = 10.0 height = 10.0
angles = np.linspace(0, 2*np.pi, 8, endpoint=False) angles = np.linspace(0, 2 * np.pi, 8, endpoint=False)
up = gtsam.Point3(0, 0, 1) up = gtsam.Point3(0, 0, 1)
target = gtsam.Point3(0, 0, 0) target = gtsam.Point3(0, 0, 0)
poses = [] poses = []
for theta in angles: for theta in angles:
position = gtsam.Point3(radius*np.cos(theta), position = gtsam.Point3(radius * np.cos(theta), radius * np.sin(theta), height)
radius*np.sin(theta),
height)
camera = gtsam.PinholeCameraCal3_S2.Lookat(position, target, up, K) camera = gtsam.PinholeCameraCal3_S2.Lookat(position, target, up, K)
poses.append(camera.pose()) poses.append(camera.pose())
return poses return poses