parameters: (K: Cal3_S2)
return_statement: return poses
docstring: Generate a set of ground-truth camera poses arranged in a circle about the origin.
docstring_summary: Generate a set of ground-truth camera poses arranged in a circle about the origin.
docstring_tokens: Generate a set of ground - truth camera poses arranged in a circle about the origin .
function: def createPoses(K: Cal3_S2) -> List[Pose3]:
      """Generate a set of ground-truth camera poses arranged in a circle about the origin."""
      radius = 40.0
      height = 10.0
      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), height)
          camera = gtsam.PinholeCameraCal3_S2.Lookat(position, target, up, K)
          poses.append(camera.pose())
      return poses
function_tokens: def createPoses ( K : Cal3_S2 ) -> List [ Pose3 ] : radius = 40.0 height = 10.0 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 ) , height ) camera = gtsam . PinholeCameraCal3_S2 . Lookat ( position , target , up , K ) poses . append ( camera . pose ( ) ) return poses