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clean up comments

release/4.3a0
John Lambert 2020-10-17 12:47:57 -04:00 committed by GitHub
parent b4bbad32df
commit b1c53000f7
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1 changed files with 5 additions and 7 deletions
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12
python/gtsam/examples/SFMExample_bal.py
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@ -36,14 +36,14 @@ 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 """
input_file = gtsam.findExampleDataFile(args.input_file) input_file = gtsam.findExampleDataFile(args.input_file)
# # Load the SfM data from file # Load the SfM data from file
mydata = readBal(input_file) mydata = readBal(input_file)
logging.info(f"read {mydata.number_tracks()} tracks on {mydata.number_cameras()} cameras\n") logging.info(f"read {mydata.number_tracks()} tracks on {mydata.number_cameras()} cameras\n")
# # Create a factor graph # Create a factor graph
graph = gtsam.NonlinearFactorGraph() graph = gtsam.NonlinearFactorGraph()
# # We share *one* noiseModel between all projection factors # We share *one* noiseModel between all projection factors
noise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v noise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v
# Add measurements to the factor graph # Add measurements to the factor graph
@ -71,7 +71,7 @@ def run(args):
) )
) )
# # Create initial estimate # Create initial estimate
initial = gtsam.Values() initial = gtsam.Values()
i = 0 i = 0
@ -97,7 +97,7 @@ def run(args):
except Exception as e: except Exception as e:
logging.exception("LM Optimization failed") logging.exception("LM Optimization failed")
return return
# Error drops from 2764.22 to 0.046 # Error drops from ~2764.22 to ~0.046
logging.info(f"final error: {graph.error(result)}") logging.info(f"final error: {graph.error(result)}")
@ -107,5 +107,3 @@ if __name__ == "__main__":
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())