This API walkthrough introduces the wrapped classes NonlinearISAM declared by NonlinearISAM.h and demonstrates their principal Python operations.
import gtsam
import numpy as np
from gtsam.symbol_shorthand import L, XOverview¶
The NonlinearISAM class wraps the incremental factorization version of iSAM Kaess et al., 2008. It is largely superseded by iSAM2 but it is a simpler class, with less bells and whistles, that might be easier to debug. For background, also see the more recent booklet by Dellaert & Kaess (2017).
Python wrapper walkthrough¶
The following cell exercises the wrapped API directly.
isam = gtsam.NonlinearISAM(reorderInterval=10)
print(type(isam).__name__)
print([name for name in dir(isam) if not name.startswith('_')])- Kaess, M., Ranganathan, A., & Dellaert, F. (2008). iSAM: Incremental Smoothing and Mapping. IEEE Transactions on Robotics, 24(6), 1365–1378. 10.1109/tro.2008.2006706
- Dellaert, F., & Kaess, M. (2017). Factor Graphs for Robot Perception. Foundations and Trends in Robotics, 6(1–2), 1–139. 10.1561/2300000043