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