>> whos
Name Size Bytes Class
graph 1x1 112 gtsam.NonlinearFactorGraph
priorNoise 1x1 112 gtsam.noiseModel.Diagonal
model 1x1 112 gtsam.noiseModel.Diagonal
initialEstimate 1x1 112 gtsam.Values
optimizer 1x1 112 gtsam.LevenbergMarquardtOptimizer