gtsam.utils.visual_isam Namespace Reference

Classes
class	Options

Functions
def	initialize (data, truth, options)
def	step (data, isam, result, truth, currPoseIndex)

Function Documentation

def gtsam.utils.visual_isam.initialize	(		data,
			truth,
			options
	)

Definition at line 16 of file visual_isam.py.

def gtsam.utils.visual_isam.step	(		data,
			isam,
			result,
			truth,
			currPoseIndex
	)

Do one step isam update
@param[in] data: measurement data (odometry and visual measurements and their noiseModels)
@param[in/out] isam: current isam object, will be updated
@param[in/out] result: current result object, will be updated
@param[in] truth: ground truth data, used to initialize new variables
@param[currPoseIndex]: index of the current pose

Definition at line 82 of file visual_isam.py.