Functions
List[gtsam.Pose3]	create_poses ()

int	determine_loop_closure (gtsam.Pose3 odom_tf, gtsam.Values current_estimate, int key, xyz_tol=0.6, rot_tol=17)

def	Pose3_ISAM2_example ()

def	report_on_progress (gtsam.NonlinearFactorGraph graph, gtsam.Values current_estimate, int key)

Detailed Description

GTSAM Copyright 2010-2018, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

Pose SLAM example using iSAM2 in 3D space.
Author: Jerred Chen
Modeled after:
- VisualISAM2Example by: Duy-Nguyen Ta (C++), Frank Dellaert (Python)
- Pose2SLAMExample by: Alex Cunningham (C++), Kevin Deng & Frank Dellaert (Python)

Function Documentation

◆ create_poses()

List[gtsam.Pose3] gtsam.examples.Pose3ISAM2Example.create_poses ( )

Creates ground truth poses of the robot.

Definition at line 54 of file Pose3ISAM2Example.py.

◆ determine_loop_closure()

int gtsam.examples.Pose3ISAM2Example.determine_loop_closure	(	gtsam.Pose3	odom_tf,
		gtsam.Values	current_estimate,
		int	key,
			xyz_tol = `0.6`,
			rot_tol = `17`
	)

Simple brute force approach which iterates through previous states
and checks for loop closure.

Args:
    odom_tf: The noisy odometry transformation measurement in the body frame.
    current_estimate: The current estimates computed by iSAM2.
    key: Key corresponding to the current state estimate of the robot.
    xyz_tol: Optional argument for the translational tolerance, in meters.
    rot_tol: Optional argument for the rotational tolerance, in degrees.
Returns:
    k: The key of the state which is helping add the loop closure constraint.
        If loop closure is not found, then None is returned.

Definition at line 81 of file Pose3ISAM2Example.py.

◆ Pose3_ISAM2_example()

def gtsam.examples.Pose3ISAM2Example.Pose3_ISAM2_example ( )

Perform 3D SLAM given ground truth poses as well as simple
loop closure detection.

Definition at line 105 of file Pose3ISAM2Example.py.

◆ report_on_progress()

def gtsam.examples.Pose3ISAM2Example.report_on_progress	(	gtsam.NonlinearFactorGraph	graph,
		gtsam.Values	current_estimate,
		int	key
	)

Print and plot incremental progress of the robot for 2D Pose SLAM using iSAM2.