How to use the gtsam.Point3 function in gtsam

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 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 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

z-->xZ--> Y  (z pointing towards viewer, Z pointing away from viewer)
    Vehicle at p0 is looking towards y axis (X-axis points towards world y)
    """

    # Force symbolChar to be a single character
    if type(symbolChar) is str:
        symbolChar = ord(symbolChar[0])

    values = gtsam.Values()
    theta = 0.0
    dtheta = 2 * pi / numPoses
    gRo = gtsam.Rot3(
        np.array([[0., 1., 0.], [1., 0., 0.], [0., 0., -1.]], order='F'))
    for i in range(numPoses):
        key = gtsam.symbol(symbolChar, i)
        gti = gtsam.Point3(radius * cos(theta), radius * sin(theta), 0)
        oRi = gtsam.Rot3.Yaw(
            -theta)  # negative yaw goes counterclockwise, with Z down !
        gTi = gtsam.Pose3(gRo.compose(oRi), gti)
        values.insert(key, gTi)
        theta = theta + dtheta
    return values

def __init__(self, K=gtsam.Cal3_S2(), nrCameras=3, nrPoints=4):
        self.K = K
        self.cameras = [gtsam.Pose3()] * nrCameras
        self.points = [gtsam.Point3()] * nrPoints

K = gtsam.Cal3_S2(500, 500, 0, 640. / 2., 480. / 2.)
    nrPoints = 3 if options.triangle else 8

    truth = GroundTruth(K=K, nrCameras=options.nrCameras, nrPoints=nrPoints)
    data = Data(K, nrCameras=options.nrCameras, nrPoints=nrPoints)

    # Generate simulated data
    if options.triangle:  # Create a triangle target, just 3 points on a plane
        r = 10
        for j in range(len(truth.points)):
            theta = j * 2 * pi / nrPoints
            truth.points[j] = gtsam.Point3(r * cos(theta), r * sin(theta), 0)
    else:  # 3D landmarks as vertices of a cube
        truth.points = [
            gtsam.Point3(10, 10, 10), gtsam.Point3(-10, 10, 10),
            gtsam.Point3(-10, -10, 10), gtsam.Point3(10, -10, 10),
            gtsam.Point3(10, 10, -10), gtsam.Point3(-10, 10, -10),
            gtsam.Point3(-10, -10, -10), gtsam.Point3(10, -10, -10)
        ]

    # Create camera cameras on a circle around the triangle
    height = 10
    r = 40
    for i in range(options.nrCameras):
        theta = i * 2 * pi / options.nrCameras
        t = gtsam.Point3(r * cos(theta), r * sin(theta), height)
        truth.cameras[i] = gtsam.SimpleCamera.Lookat(t,
                                                     gtsam.Point3(),
                                                     gtsam.Point3(0, 0, 1),
                                                     truth.K)
        # Create measurements

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(K):
    # 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, K)
        poses.append(camera.pose())
    return poses

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