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remove function import

release/4.3a0
Fan Jiang 2020-07-31 12:42:09 -04:00
parent 1cabd2000f
commit b02cc3f7e3
2 changed files with 7 additions and 5 deletions
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5
python/gtsam/utils/circlePose3.py
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@ -1,6 +1,7 @@
import gtsam import gtsam
import math
import numpy as np import numpy as np
from math import pi, cos, sin from math import pi
def circlePose3(numPoses=8, radius=1.0, symbolChar='\0'): def circlePose3(numPoses=8, radius=1.0, symbolChar='\0'):
@ -25,7 +26,7 @@ def circlePose3(numPoses=8, radius=1.0, symbolChar='\0'):
np.array([[0., 1., 0.], [1., 0., 0.], [0., 0., -1.]], order='F')) np.array([[0., 1., 0.], [1., 0., 0.], [0., 0., -1.]], order='F'))
for i in range(numPoses): for i in range(numPoses):
key = gtsam.symbol(symbolChar, i) key = gtsam.symbol(symbolChar, i)
gti = gtsam.Point3(radius * cos(theta), radius * sin(theta), 0) gti = gtsam.Point3(radius * math.cos(theta), radius * math.sin(theta), 0)
oRi = gtsam.Rot3.Yaw( oRi = gtsam.Rot3.Yaw(
-theta) # negative yaw goes counterclockwise, with Z down ! -theta) # negative yaw goes counterclockwise, with Z down !
gTi = gtsam.Pose3(gRo.compose(oRi), gti) gTi = gtsam.Pose3(gRo.compose(oRi), gti)

7
python/gtsam/utils/visual_data_generator.py
View File

@ -1,7 +1,8 @@
from __future__ import print_function from __future__ import print_function
import numpy as np import numpy as np
from math import pi, cos, sin import math
from math import pi
import gtsam import gtsam
from gtsam import PinholeCameraCal3_S2 from gtsam import PinholeCameraCal3_S2
@ -85,7 +86,7 @@ def generate_data(options):
r = 10 r = 10
for j in range(len(truth.points)): for j in range(len(truth.points)):
theta = j * 2 * pi / nrPoints theta = j * 2 * pi / nrPoints
truth.points[j] = gtsam.Point3(r * cos(theta), r * sin(theta), 0) truth.points[j] = gtsam.Point3(r * math.cos(theta), r * math.sin(theta), 0)
else: # 3D landmarks as vertices of a cube else: # 3D landmarks as vertices of a cube
truth.points = [ truth.points = [
gtsam.Point3(10, 10, 10), gtsam.Point3(-10, 10, 10), gtsam.Point3(10, 10, 10), gtsam.Point3(-10, 10, 10),
@ -99,7 +100,7 @@ def generate_data(options):
r = 40 r = 40
for i in range(options.nrCameras): for i in range(options.nrCameras):
theta = i * 2 * pi / options.nrCameras theta = i * 2 * pi / options.nrCameras
t = gtsam.Point3(r * cos(theta), r * sin(theta), height) t = gtsam.Point3(r * math.cos(theta), r * math.sin(theta), height)
truth.cameras[i] = PinholeCameraCal3_S2.Lookat(t, truth.cameras[i] = PinholeCameraCal3_S2.Lookat(t,
gtsam.Point3(0, 0, 0), gtsam.Point3(0, 0, 0),
gtsam.Point3(0, 0, 1), gtsam.Point3(0, 0, 1),