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use argparse defaults

release/4.3a0
John Lambert 2020-10-14 15:22:23 -04:00
parent ac9077ff67
commit 25d801bd15
1 changed files with 4 additions and 8 deletions
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12
python/gtsam/examples/SFMExample_bal.py
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@ -34,11 +34,7 @@ logging.basicConfig(stream=sys.stdout, level=logging.DEBUG)
def run(args): def run(args):
""" Run LM optimization with BAL input data and report resulting error """ """ Run LM optimization with BAL input data and report resulting error """
# Find default file, but if an argument is given, try loading a file input_file = gtsam.findExampleDataFile(args.input_file)
if args.input_file:
input_file = args.input_file
else:
input_file = gtsam.findExampleDataFile("dubrovnik-3-7-pre")
# # Load the SfM data from file # # Load the SfM data from file
mydata = readBal(input_file) mydata = readBal(input_file)
@ -62,13 +58,13 @@ def run(args):
graph.add(GeneralSFMFactorCal3Bundler(uv, noise, C(i), P(j))) graph.add(GeneralSFMFactorCal3Bundler(uv, noise, C(i), P(j)))
j += 1 j += 1
# # Add a prior on pose x1. This indirectly specifies where the origin is. # Add a prior on pose x1. This indirectly specifies where the origin is.
# # and a prior on the position of the first landmark to fix the scale
graph.push_back( graph.push_back(
gtsam.PriorFactorPinholeCameraCal3Bundler( gtsam.PriorFactorPinholeCameraCal3Bundler(
C(0), mydata.camera(0), gtsam.noiseModel.Isotropic.Sigma(9, 0.1) C(0), mydata.camera(0), gtsam.noiseModel.Isotropic.Sigma(9, 0.1)
) )
) )
# Also add a prior on the position of the first landmark to fix the scale
graph.push_back( graph.push_back(
gtsam.PriorFactorPoint3( gtsam.PriorFactorPoint3(
P(0), mydata.track(0).point3(), gtsam.noiseModel.Isotropic.Sigma(3, 0.1) P(0), mydata.track(0).point3(), gtsam.noiseModel.Isotropic.Sigma(3, 0.1)
@ -107,7 +103,7 @@ def run(args):
if __name__ == "__main__": if __name__ == "__main__":
parser = argparse.ArgumentParser() parser = argparse.ArgumentParser()
parser.add_argument('-i', '--input_file', type=str, default="", parser.add_argument('-i', '--input_file', type=str, default="dubrovnik-3-7-pre",
help='Read SFM data from the specified BAL file') help='Read SFM data from the specified BAL file')
run(parser.parse_args()) run(parser.parse_args())