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