simple-factorgraph-example

A simple factor graph example with gtsam.

It solves a simple planar SLAM problem based on an example in the gtsam library, and plots the marginal distributions mapped from the manifold onto the translation plane.

I have made two implementations:

• batch_factorgraph_example.py: Batch procedure which optimizes one factor graph over all factors.
• incremental_factorgraph_example.py: Incremental procedure which lets us add measurements incrementally and optimize using ISAM2.

Dependencies

You can install all dependencies in requirements.txt with pip:

pip install -r requirements.txt