From 982d81e1c974ef784b84d278b394b84e12e25982 Mon Sep 17 00:00:00 2001
From: Ellon Mendes <ellon.mendes@laas.fr>
Date: Mon, 23 Nov 2015 12:34:15 +0100
Subject: [PATCH] Add python version of SFMdata as gtsam.examples submodule

The gtsam.examples submodule should be loaded explicitely:
>>> import gtsam.examples
---
 python/gtsam/examples/SFMdata.py  | 32 +++++++++++++++++++++++++++++++
 python/gtsam/examples/__init__.py |  1 +
 2 files changed, 33 insertions(+)
 create mode 100644 python/gtsam/examples/SFMdata.py
 create mode 100644 python/gtsam/examples/__init__.py

diff --git a/python/gtsam/examples/SFMdata.py b/python/gtsam/examples/SFMdata.py
new file mode 100644
index 000000000..21a438226
--- /dev/null
+++ b/python/gtsam/examples/SFMdata.py
@@ -0,0 +1,32 @@
+ 
+  # 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
diff --git a/python/gtsam/examples/__init__.py b/python/gtsam/examples/__init__.py
new file mode 100644
index 000000000..41889bb40
--- /dev/null
+++ b/python/gtsam/examples/__init__.py
@@ -0,0 +1 @@
+from SFMdata import *