Change VisualISAM2Example to work with python 2 and python 3
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@ -1,3 +1,4 @@
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from __future__ import print_function
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import gtsam
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import gtsam
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from gtsam.examples.SFMdata import *
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from gtsam.examples.SFMdata import *
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from gtsam.utils import *
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from gtsam.utils import *
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@ -36,8 +37,9 @@ def visual_ISAM2_plot(poses, points, result):
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ax.set_xlim3d(-40, 40)
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ax.set_xlim3d(-40, 40)
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ax.set_ylim3d(-40, 40)
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ax.set_ylim3d(-40, 40)
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ax.set_zlim3d(-40, 40)
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ax.set_zlim3d(-40, 40)
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plt.show(block=False)
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plt.ion()
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plt.draw();
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plt.show()
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plt.draw()
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def visual_ISAM2_example():
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def visual_ISAM2_example():
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# Define the camera calibration parameters
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# Define the camera calibration parameters
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@ -104,15 +106,15 @@ def visual_ISAM2_example():
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# to perform multiple optimizer iterations every step.
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# to perform multiple optimizer iterations every step.
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isam.update()
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isam.update()
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currentEstimate = isam.calculate_estimate();
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currentEstimate = isam.calculate_estimate();
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print "****************************************************"
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print( "****************************************************" )
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print "Frame", i, ":"
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print( "Frame", i, ":" )
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for j in range(i+1):
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for j in range(i+1):
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print gtsam.Symbol('x',j)
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print( gtsam.Symbol('x',j) )
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print currentEstimate.pose3_at(int(gtsam.Symbol('x',j)))
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print( currentEstimate.pose3_at(int(gtsam.Symbol('x',j))) )
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for j in range(len(points)):
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for j in range(len(points)):
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print gtsam.Symbol('l',j)
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print( gtsam.Symbol('l',j) )
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print currentEstimate.point3_at(int(gtsam.Symbol('l',j)))
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print( currentEstimate.point3_at(int(gtsam.Symbol('l',j))) )
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visual_ISAM2_plot(poses, points, currentEstimate);
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visual_ISAM2_plot(poses, points, currentEstimate);
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time.sleep(1)
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time.sleep(1)
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