40 lines
1.2 KiB
Python
40 lines
1.2 KiB
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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"""
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# pylint: disable=invalid-name, E1101
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import numpy as np
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import gtsam
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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(K):
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# Create the set of ground-truth poses
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radius = 40.0
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height = 10.0
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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),
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radius*np.sin(theta), height)
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camera = gtsam.PinholeCameraCal3_S2.Lookat(position, target, up, K)
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poses.append(camera.pose())
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return poses
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