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remove breakpoints

release/4.3a0
John Lambert 2020-10-09 23:33:53 -04:00
parent 93825d0bc7
commit c97af55c63
1 changed files with 4 additions and 5 deletions
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9
python/gtsam/examples/SFMExample_bal.py
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@ -7,11 +7,12 @@
See LICENSE for the license information See LICENSE for the license information
Solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file Solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file
Author: John Lambert Author: Frank Dellaert (Python: Akshay Krishan, John Lambert)
""" """
import argparse import argparse
import logging import logging
import sys
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
import numpy as np import numpy as np
@ -28,7 +29,8 @@ from gtsam import (
C = symbol_shorthand.C C = symbol_shorthand.C
P = symbol_shorthand.P P = symbol_shorthand.P
import pdb
logging.basicConfig(stream=sys.stdout, level=logging.DEBUG)
# We will be using a projection factor that ties a SFM_Camera to a 3D point. # We will be using a projection factor that ties a SFM_Camera to a 3D point.
# An SfmCamera is defined in dataset.h as a pinhole camera with unknown Cal3Bundler calibration # An SfmCamera is defined in dataset.h as a pinhole camera with unknown Cal3Bundler calibration
@ -42,7 +44,6 @@ def run(args):
else: else:
input_file = gtsam.findExampleDataFile("dubrovnik-3-7-pre") input_file = gtsam.findExampleDataFile("dubrovnik-3-7-pre")
pdb.set_trace()
# # 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")
@ -55,7 +56,6 @@ def run(args):
# Add measurements to the factor graph # Add measurements to the factor graph
j = 0 j = 0
pdb.set_trace()
for t_idx in range(mydata.number_tracks()): for t_idx in range(mydata.number_tracks()):
track = mydata.track(t_idx) # SfmTrack track = mydata.track(t_idx) # SfmTrack
# retrieve the SfmMeasurement objects # retrieve the SfmMeasurement objects
@ -65,7 +65,6 @@ def run(args):
# note use of shorthand symbols C and P # note use of shorthand symbols C and P
graph.add(GeneralSFMFactorSfmCamera(uv, noise, C(i), P(j))) graph.add(GeneralSFMFactorSfmCamera(uv, noise, C(i), P(j)))
j += 1 j += 1
pdb.set_trace()
# # 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 # # and a prior on the position of the first landmark to fix the scale