def METHOD_NAME(options) -> Tuple[Data, GroundTruth]:
    """ Generate ground-truth and measurement data. """
    K = 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] = Point3(
                r * math.cos(theta), r * math.sin(theta), 0)
    else:  # 3D landmarks as vertices of a cube
        truth.points = [
            Point3(10, 10, 10), Point3(-10, 10, 10),
            Point3(-10, -10, 10), Point3(10, -10, 10),
            Point3(10, 10, -10), Point3(-10, 10, -10),
            Point3(-10, -10, -10), 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 = Point3(r * math.cos(theta), r * math.sin(theta), height)
        truth.cameras[i] = PinholeCameraCal3_S2.Lookat(t,
                                                       Point3(0, 0, 0),
                                                       Point3(0, 0, 1),
                                                       truth.K)
        # Create measurements
        for j in range(nrPoints):
            # All landmarks seen in every frame
            data.Z[i][j] = truth.cameras[i].project(truth.points[j])
            data.J[i][j] = j
    # Calculate odometry between cameras
    for i in range(1, options.nrCameras):
        data.odometry[i] = truth.cameras[i - 1].pose().between(
            truth.cameras[i].pose())
    return data, truth