adding 11 point example for cal3bundler

borglab · Jun 10, 2021 · bce9050 · bce9050
1 parent 91e58f5
commit bce9050
Showing 1 changed file with 28 additions and 6 deletions.
diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp
@@ -111,24 +111,46 @@ void create18PointExample1() {
 
   // Create test data, we need 15 points
   vector<Point3> P;
-  P += Point3(-0.1, -0.5, 1), Point3(-0.1, 0, 1), Point3(-0.1, 0.5, 1), 
-  Point3(0, -0.5, 1), Point3(0, 0, 1), Point3(0, 0.5, 1),
-  Point3(0.1, -0.5, 1), Point3(0.1, 0, 1), Point3(0.1, 0.5, 1), 
-  Point3(-0.1, -0.5, 0.5), Point3(-0.1, 0, 0.5), Point3(-0.1, 0.5, 0.5), 
-  Point3(0, -0.5, 0.5), Point3(0, 0, 0.5), Point3(0, 0.5, 0.5),
-  Point3(0.1, -0.5, 0.5), Point3(0.1, 0, 0.5), Point3(0.1, 0.5, 0.5);
+  P += Point3(-0.1, -0.5, 1), Point3(-0.1, 0, 1), Point3(-0.1, 0.5, 1),       //
+      Point3(0, -0.5, 1), Point3(0, 0, 1), Point3(0, 0.5, 1),                 //
+      Point3(0.1, -0.5, 1), Point3(0.1, 0, 1), Point3(0.1, 0.5, 1),           //
+      Point3(-0.1, -0.5, 0.5), Point3(-0.1, 0, 0.5), Point3(-0.1, 0.5, 0.5),  //
+      Point3(0, -0.5, 0.5), Point3(0, 0, 0.5), Point3(0, 0.5, 0.5),           //
+      Point3(0.1, -0.5, 0.5), Point3(0.1, 0, 0.5), Point3(0.1, 0.5, 0.5);
 
   // Assumes example is run in ${GTSAM_TOP}/build/examples
   const string filename = "../../examples/data/18pointExample1.txt";
   createExampleBALFile(filename, P, pose1, pose2);
 }
 
+/* ************************************************************************* */
+void create11PointExample2() {
+  // Create two cameras poses
+  Rot3 aRb = Rot3::Yaw(M_PI_2);
+  Point3 aTb(10, 0, 0);
+  Pose3 pose1, pose2(aRb, aTb);
+
+  // Create test data, we need 11 points
+  vector<Point3> P;
+  P += Point3(0, 0, 100), Point3(0, 0, 100), Point3(0, 0, 100),  //
+      Point3(-10, 0, 100), Point3(10, 0, 100),                   //
+      Point3(0, 50, 50), Point3(0, -50, 50),                     //
+      Point3(-10, 50, 50), Point3(10, -50, 50),                  //
+      Point3(-20, 0, 80), Point3(20, -50, 80);
+
+  // Assumes example is run in ${GTSAM_TOP}/build/examples
+  const string filename = "../../examples/data/11pointExample2.txt";
+  Cal3Bundler K(500, 0, 0);
+  createExampleBALFile(filename, P, pose1, pose2, K);
+}
+
 /* ************************************************************************* */
 
 int main(int argc, char* argv[]) {
   create5PointExample1();
   create5PointExample2();
   create18PointExample1();
+  create11PointExample2();
   return 0;
 }