diff --git a/python/gtsam_py/python/examples/Pose2SLAMExample_g2o.py b/python/gtsam_py/python/examples/Pose2SLAMExample_g2o.py index 1ea7fc300..b2ba9c5bc 100644 --- a/python/gtsam_py/python/examples/Pose2SLAMExample_g2o.py +++ b/python/gtsam_py/python/examples/Pose2SLAMExample_g2o.py @@ -53,16 +53,15 @@ graph, initial = gtsam.readG2o(g2oFile, is3D) assert args.kernel == "none", "Supplied kernel type is not yet implemented" # Add prior on the pose having index (key) = 0 -graphWithPrior = graph priorModel = gtsam.noiseModel.Diagonal.Variances(vector3(1e-6, 1e-6, 1e-8)) -graphWithPrior.add(gtsam.PriorFactorPose2(0, gtsam.Pose2(), priorModel)) +graph.add(gtsam.PriorFactorPose2(0, gtsam.Pose2(), priorModel)) params = gtsam.GaussNewtonParams() params.setVerbosity("Termination") params.setMaxIterations(maxIterations) # parameters.setRelativeErrorTol(1e-5) # Create the optimizer ... -optimizer = gtsam.GaussNewtonOptimizer(graphWithPrior, initial, params) +optimizer = gtsam.GaussNewtonOptimizer(graph, initial, params) # ... and optimize result = optimizer.optimize() diff --git a/python/gtsam_py/python/examples/Pose3SLAMExample_g2o.py b/python/gtsam_py/python/examples/Pose3SLAMExample_g2o.py index c06a9d12f..82b3bda98 100644 --- a/python/gtsam_py/python/examples/Pose3SLAMExample_g2o.py +++ b/python/gtsam_py/python/examples/Pose3SLAMExample_g2o.py @@ -43,18 +43,17 @@ priorModel = gtsam.noiseModel.Diagonal.Variances(vector6(1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4)) print("Adding prior to g2o file ") -graphWithPrior = graph firstKey = initial.keys()[0] -graphWithPrior.add(gtsam.PriorFactorPose3(firstKey, gtsam.Pose3(), priorModel)) +graph.add(gtsam.PriorFactorPose3(firstKey, gtsam.Pose3(), priorModel)) params = gtsam.GaussNewtonParams() params.setVerbosity("Termination") # this will show info about stopping conds -optimizer = gtsam.GaussNewtonOptimizer(graphWithPrior, initial, params) +optimizer = gtsam.GaussNewtonOptimizer(graph, initial, params) result = optimizer.optimize() print("Optimization complete") -print("initial error = ", graphWithPrior.error(initial)) -print("final error = ", graphWithPrior.error(result)) +print("initial error = ", graph.error(initial)) +print("final error = ", graph.error(result)) if args.output is None: print("Final Result:\n{}".format(result)) diff --git a/python/gtsam_py/python/examples/SimpleRotation.py b/python/gtsam_py/python/examples/SimpleRotation.py index 2dd7b1194..de8ab07c3 100644 --- a/python/gtsam_py/python/examples/SimpleRotation.py +++ b/python/gtsam_py/python/examples/SimpleRotation.py @@ -12,7 +12,7 @@ a single variable with a single factor. import numpy as np import gtsam - +from gtsam.gtsam.symbol_shorthand import X def main(): """ @@ -33,7 +33,7 @@ def main(): prior = gtsam.Rot2.fromAngle(np.deg2rad(30)) prior.print_('goal angle') model = gtsam.noiseModel.Isotropic.Sigma(dim=1, sigma=np.deg2rad(1)) - key = gtsam.symbol('x', 1) + key = X(1) factor = gtsam.PriorFactorRot2(key, prior, model) """ diff --git a/python/gtsam_py/python/examples/VisualISAM2Example.py b/python/gtsam_py/python/examples/VisualISAM2Example.py index d33ec98bf..e4c0c8b8d 100644 --- a/python/gtsam_py/python/examples/VisualISAM2Example.py +++ b/python/gtsam_py/python/examples/VisualISAM2Example.py @@ -13,23 +13,13 @@ Author: Duy-Nguyen Ta (C++), Frank Dellaert (Python) from __future__ import print_function -import matplotlib.pyplot as plt -import numpy as np -from mpl_toolkits.mplot3d import Axes3D # pylint: disable=W0611 - import gtsam import gtsam.utils.plot as gtsam_plot +import matplotlib.pyplot as plt +import numpy as np +from gtsam.gtsam.symbol_shorthand import L, X from gtsam.examples import SFMdata - - -def X(i): - """Create key for pose i.""" - return int(gtsam.symbol('x', i)) - - -def L(j): - """Create key for landmark j.""" - return int(gtsam.symbol('l', j)) +from mpl_toolkits.mplot3d import Axes3D # pylint: disable=W0611 def visual_ISAM2_plot(result):