creating 18 point example

examples/CreateSFMExampleData.cpp

@@ -99,11 +99,36 @@ void create5PointExample2() {
   createExampleBALFile(filename, P, pose1, pose2,K);
 }
 
+
+/* ************************************************************************* */
+
+void create18PointExample1() {
+
+  // Create two cameras poses
+  Rot3 aRb = Rot3::Yaw(M_PI_2);
+  Point3 aTb(0.1, 0, 0);
+  Pose3 pose1, pose2(aRb, aTb);
+
+  // 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);
+
+  // Assumes example is run in ${GTSAM_TOP}/build/examples
+  const string filename = "../../examples/data/18pointExample1.txt";
+  createExampleBALFile(filename, P, pose1, pose2);
+}
+
 /* ************************************************************************* */
 
 int main(int argc, char* argv[]) {
   create5PointExample1();
   create5PointExample2();
+  create18PointExample1();
   return 0;
 }
 

examples/data/18pointExample1.txt

@@ -0,0 +1,131 @@
+2 18 36
+
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+1 15 -1 6.1232339957367660359e-17
+0 16 0.2000000000000000111 -0
+1 16 0 -0
+0 17 0.2000000000000000111 -1
+1 17 1 -6.1232339957367660359e-17
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