Classes | |
class | Options |
Functions | |
def | initialize (data, truth, options) |
def | step (data, isam, result, truth, currPoseIndex, isamArgs=()) |
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, | |||
isamArgs = () |
|||
) |
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.