33 lines
1021 B
Python
33 lines
1021 B
Python
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# A structure-from-motion example with landmarks
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# - The landmarks form a 10 meter cube
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# - The robot rotates around the landmarks, always facing towards the cube
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import gtsam
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import numpy as np
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def createPoints():
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# Create the set of ground-truth landmarks
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points = [gtsam.Point3(10.0,10.0,10.0),
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gtsam.Point3(-10.0,10.0,10.0),
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gtsam.Point3(-10.0,-10.0,10.0),
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gtsam.Point3(10.0,-10.0,10.0),
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gtsam.Point3(10.0,10.0,-10.0),
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gtsam.Point3(-10.0,10.0,-10.0),
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gtsam.Point3(-10.0,-10.0,-10.0),
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gtsam.Point3(10.0,-10.0,-10.0)]
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return points
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def createPoses():
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# Create the set of ground-truth poses
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radius = 30.0
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angles = np.linspace(0,2*np.pi,8,endpoint=False)
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up = gtsam.Point3(0,0,1)
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target = gtsam.Point3(0,0,0)
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poses = []
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for theta in angles:
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position = gtsam.Point3(radius*np.cos(theta), radius*np.sin(theta), 0.0)
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camera = gtsam.PinholeCameraCal3_S2.Lookat(position, target, up)
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poses.append(camera.pose())
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return poses
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