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Cleaned up imports in StereoVOExample_large
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‎python/gtsam/examples/StereoVOExample_large.ipynb‎

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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"import requests\n",
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"from io import StringIO\n",
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"import numpy as np\n",
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"import gtsam\n",
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"from gtsam.utils.plot import plot_pose3\n",
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"import matplotlib.pyplot as plt\n",
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"import gtsam.utils.plot as gtsam_plot\n",
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"\n",
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"# For shorthand for common GTSAM types (like X for poses, L for landmarks)\n",
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"from gtsam.symbol_shorthand import X, L"
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"cell_type": "code",
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"execution_count": 3,
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"execution_count": null,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"K: 721.538 0 609.559\n",
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" 0 721.538 172.854\n",
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" 0 0 1\n",
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"Baseline: 0.537151\n",
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"\n"
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]
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}
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],
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"outputs": [],
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"source": [
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"# Retrieve Calibration file\n",
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"url = \"https://raw.githubusercontent.com/borglab/gtsam/refs/heads/develop/examples/Data/VO_calibration.txt\"\n",
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},
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{
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"cell_type": "code",
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"metadata": {},
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"outputs": [],
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"source": [
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},
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{
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"cell_type": "code",
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"execution_count": 5,
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"source": [
@@ -244,7 +229,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 7,
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
@@ -266,227 +251,9 @@
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},
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{
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"cell_type": "code",
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"execution_count": 9,
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"execution_count": null,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Final result sample:\n",
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"Values with 26 values:\n",
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"Value x1: (gtsam::Pose3)\n",
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"R: [\n",
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"\t1, 0, 0;\n",
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"\t0, 1, 0;\n",
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"\t0, 0, 1\n",
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"]\n",
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"t: 0 0 0\n",
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"\n",
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"Value x2: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999997, -0.00234524, 0.000667659;\n",
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"\t0.00234572, 0.999997, -0.000714904;\n",
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"\t-0.000665981, 0.000716469, 1\n",
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"]\n",
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"t: 0.00254935 0.00430119 0.959176\n",
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"\n",
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"Value x3: (gtsam::Pose3)\n",
295-
"R: [\n",
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"\t0.999993, -0.00363586, 0.000733503;\n",
297-
"\t0.00363353, 0.999988, 0.00316275;\n",
298-
"\t-0.000744993, -0.00316007, 0.999995\n",
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"]\n",
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"t: 0.00112241 0.00989265 1.9179\n",
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"\n",
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"Value x4: (gtsam::Pose3)\n",
303-
"R: [\n",
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"\t0.999982, -0.00599989, 8.41316e-05;\n",
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"\t0.00599887, 0.99994, 0.00918689;\n",
306-
"\t-0.000139247, -0.00918622, 0.999958\n",
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"]\n",
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"t: 0.00127606 0.0117263 2.87189\n",
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"\n",
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"Value x5: (gtsam::Pose3)\n",
311-
"R: [\n",
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"\t0.999952, -0.00962861, -0.00135944;\n",
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"\t0.00964083, 0.999911, 0.00925616;\n",
314-
"\t0.0012702, -0.00926882, 0.999957\n",
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"]\n",
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"t: 0.00314102 0.0166897 3.81369\n",
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"\n",
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"Value x6: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999922, -0.0122294, -0.00243049;\n",
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"\t0.012245, 0.999903, 0.00654308;\n",
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"\t0.00235024, -0.00657234, 0.999976\n",
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"]\n",
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"t: 0.00124453 0.021009 4.75581\n",
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"\n",
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"Value x7: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999912, -0.0128882, -0.0032083;\n",
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"\t0.0128983, 0.999912, 0.0031073;\n",
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"\t0.00316797, -0.00314841, 0.99999\n",
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"]\n",
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"t: -0.00450171 0.0259461 5.69136\n",
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"\n",
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"Value x8: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999915, -0.0124045, -0.00404068;\n",
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"\t0.0124148, 0.999919, 0.0025552;\n",
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"\t0.00400866, -0.00260514, 0.999989\n",
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"]\n",
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"t: -0.0125223 0.0290088 6.62678\n",
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"\n",
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"Value x9: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999914, -0.0120563, -0.00520066;\n",
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"\t0.0120792, 0.999917, 0.00438779;\n",
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"\t0.00514734, -0.00445023, 0.999977\n",
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"]\n",
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"t: -0.019421 0.0332204 7.56075\n",
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"\n",
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"Value x10: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.99991, -0.0119415, -0.00609504;\n",
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"\t0.0119864, 0.999901, 0.00739178;\n",
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"\t0.00600617, -0.00746417, 0.999954\n",
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"]\n",
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"t: -0.0263364 0.0374578 8.49318\n",
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"\n",
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"Value x11: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999902, -0.0122664, -0.00674184;\n",
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"\t0.0123243, 0.999887, 0.00861252;\n",
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"\t0.00663543, -0.00869477, 0.99994\n",
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"]\n",
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"t: -0.0435016 0.046867 9.42584\n",
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"\n",
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"Value x12: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999878, -0.0136837, -0.00747182;\n",
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"\t0.0137518, 0.999864, 0.00914289;\n",
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"\t0.0073457, -0.00924453, 0.99993\n",
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"]\n",
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"t: -0.049959 0.0593662 10.3537\n",
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"\n",
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"Value x13: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999869, -0.0138033, -0.00839008;\n",
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"\t0.0138795, 0.999863, 0.00909613;\n",
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"\t0.0082634, -0.0092114, 0.999924\n",
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"]\n",
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"t: -0.0577887 0.0663218 11.273\n",
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"\n",
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"Value x14: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999859, -0.0141667, -0.00902236;\n",
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"\t0.0142364, 0.999869, 0.00770711;\n",
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"\t0.00891194, -0.00783446, 0.99993\n",
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"]\n",
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"t: -0.0701502 0.0714193 12.1859\n",
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"\n",
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"Value x15: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999839, -0.0145645, -0.0105222;\n",
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"\t0.0146258, 0.999876, 0.00576628;\n",
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"\t0.0104369, -0.00591925, 0.999928\n",
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"]\n",
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"t: -0.0818121 0.0774193 13.0933\n",
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"\n",
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"Value x16: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999798, -0.0161243, -0.012061;\n",
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"\t0.0161784, 0.99986, 0.00440646;\n",
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"\t0.0119882, -0.0046007, 0.999918\n",
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"]\n",
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"t: -0.0946674 0.0835267 14.0007\n",
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"\n",
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"Value x17: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999779, -0.0159184, -0.0136876;\n",
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"\t0.0159703, 0.999865, 0.00368892;\n",
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"\t0.013627, -0.00390671, 0.9999\n",
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"]\n",
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"t: -0.113811 0.0882549 14.909\n",
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"\n",
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"Value x18: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999777, -0.0147969, -0.0150562;\n",
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"\t0.0148422, 0.999886, 0.00290648;\n",
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"\t0.0150114, -0.0031293, 0.999882\n",
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"]\n",
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"t: -0.137146 0.0884828 15.811\n",
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"\n",
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"Value x19: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999772, -0.013353, -0.0166407;\n",
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"\t0.0134016, 0.999906, 0.0028127;\n",
426-
"\t0.0166015, -0.00303508, 0.999858\n",
427-
"]\n",
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"t: -0.160148 0.0925047 16.7112\n",
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"\n",
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"Value x20: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999738, -0.0139189, -0.0181207;\n",
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"\t0.0139833, 0.999896, 0.00343832;\n",
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"\t0.0180709, -0.00369081, 0.99983\n",
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"]\n",
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"t: -0.182263 0.0978961 17.6102\n",
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"\n",
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"Value x21: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999719, -0.0134212, -0.0195276;\n",
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"\t0.0135153, 0.999897, 0.00469594;\n",
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"\t0.0194626, -0.00495854, 0.999798\n",
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"]\n",
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"t: -0.205531 0.101463 18.5001\n",
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"\n",
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"Value x22: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999701, -0.0130668, -0.0207031;\n",
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"\t0.0131757, 0.9999, 0.00513278;\n",
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"\t0.0206341, -0.00540402, 0.999773\n",
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"]\n",
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"t: -0.232978 0.107104 19.384\n",
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"\n",
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"Value x23: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999654, -0.0142711, -0.0220968;\n",
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"\t0.0143815, 0.999885, 0.00484618;\n",
458-
"\t0.0220251, -0.00516229, 0.999744\n",
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"]\n",
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"t: -0.258803 0.112105 20.2666\n",
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"\n",
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"Value x24: (gtsam::Pose3)\n",
463-
"R: [\n",
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"\t0.999616, -0.0143263, -0.0237284;\n",
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"\t0.0144326, 0.999886, 0.00431834;\n",
466-
"\t0.0236639, -0.00465915, 0.999709\n",
467-
"]\n",
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"t: -0.283633 0.116787 21.1431\n",
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"\n",
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"Value x25: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999588, -0.0141709, -0.0249476;\n",
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"\t0.014296, 0.999886, 0.00484451;\n",
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"\t0.0248761, -0.00519917, 0.999677\n",
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"]\n",
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"t: -0.309037 0.119298 22.0121\n",
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"\n",
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"Value x26: (gtsam::Pose3)\n",
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"R: [\n",
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"\t0.999559, -0.0141483, -0.0261242;\n",
481-
"\t0.0143302, 0.999874, 0.00678903;\n",
482-
"\t0.0260249, -0.0071604, 0.999636\n",
483-
"]\n",
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"t: -0.334408 0.124848 22.874\n",
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"\n",
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"\n"
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]
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}
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],
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"outputs": [],
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"source": [
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"print(\"Final result sample:\")\n",
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"\n",

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