cleaned up more comments

tools/localization_analysis/include/localization_analysis/utilities.h

@@ -33,29 +33,8 @@
 #include <vector>
 
 namespace localization_analysis {
-// TODO(rsoussan): put these somewhere else!
-/*using Calibration = gtsam::Cal3_S2;
-using Camera = gtsam::PinholePose<Calibration>;
-using SmartFactor = gtsam::RobustSmartProjectionPoseFactor<Calibration>;
-
-void FeatureTrackImage(const graph_localizer::FeatureTrackIdMap& feature_tracks,
-                       const camera::CameraParameters& camera_params, cv::Mat& feature_track_image);
-void MarkSmartFactorPoints(const std::vector<const SmartFactor*> smart_factors,
-                           const camera::CameraParameters& camera_params, const double feature_track_min_separation,
-                           const int max_num_factors, cv::Mat& feature_track_image);
-boost::optional<sensor_msgs::ImagePtr> CreateFeatureTrackImage(
-  const sensor_msgs::ImageConstPtr& image_msg, const graph_localizer::FeatureTrackIdMap& feature_tracks,
-  const camera::CameraParameters& camera_params, const std::vector<const SmartFactor*>& smart_factors = {});
-
-cv::Point2f Distort(const Eigen::Vector2d& undistorted_point, const camera::CameraParameters& params);
-
-std::vector<const SmartFactor*> SmartFactors(const graph_localizer::GraphLocalizer& graph);
-*/
 bool string_ends_with(const std::string& str, const std::string& ending);
-/*
-void SaveImuBiasTesterPredictedStates(
-  const std::vector<localization_common::CombinedNavState>& imu_bias_tester_predicted_states, rosbag::Bag& bag);
-*/
+
 template <typename MsgType>
 void SaveMsg(const MsgType& msg, const std::string& topic, rosbag::Bag& bag) {
   const ros::Time timestamp = localization_common::RosTimeFromHeader(msg.header);

tools/localization_analysis/scripts/config_creator.py

@@ -36,7 +36,7 @@ def fill_in_values(original_config, value_map, new_config):
 def make_value_map(values, value_names):
     value_map = {}
     if len(values) != len(value_names):
-        print("values and value_names not same length!")
+        print("Values and value_names not the same length.")
         exit()
 
     for index, value_name in enumerate(value_names):

tools/localization_analysis/scripts/plot_conversions.py

@@ -31,7 +31,6 @@
 
 # Return list of 3 lists, one each for x, y, z values in poses
 def xyz_vectors_from_poses(poses):
-    # TODO: Do this more efficiently
     xs = [pose.position.x for pose in poses]
     ys = [pose.position.y for pose in poses]
     zs = [pose.position.z for pose in poses]
@@ -40,7 +39,6 @@ def xyz_vectors_from_poses(poses):
 
 # Return list of 3 lists, one each for y, p, r values in poses
 def ypr_vectors_from_poses(poses):
-    # TODO: Do this more efficiently
     ys = [euler_angles[0] for euler_angles in (pose.euler_angles() for pose in poses)]
     ps = [euler_angles[1] for euler_angles in (pose.euler_angles() for pose in poses)]
     rs = [euler_angles[2] for euler_angles in (pose.euler_angles() for pose in poses)]
@@ -49,7 +47,6 @@ def ypr_vectors_from_poses(poses):
 
 # Return list of 3 lists, one each for x, y, z values in velocities
 def xyz_velocity_vectors_from_graph_vio_states(graph_vio_states):
-    # TODO: Do this more efficiently
     xs = [state.velocity_with_covariance.x for state in graph_vio_states]
     ys = [state.velocity_with_covariance.y for state in graph_vio_states]
     zs = [state.velocity_with_covariance.z for state in graph_vio_states]
@@ -58,7 +55,6 @@ def xyz_velocity_vectors_from_graph_vio_states(graph_vio_states):
 
 # Return list of 3 lists, one each for x, y, z values in velocities
 def xyz_velocity_vectors_from_extrapolated_loc_states(extrapolated_loc_states):
-    # TODO: Do this more efficiently
     xs = [state.velocity.x for state in extrapolated_loc_states]
     ys = [state.velocity.y for state in extrapolated_loc_states]
     zs = [state.velocity.z for state in extrapolated_loc_states]
@@ -67,7 +63,6 @@ def xyz_velocity_vectors_from_extrapolated_loc_states(extrapolated_loc_states):
 
 # Return list of 3 lists, one each for x, y, z values in accelerations
 def xyz_acceleration_vectors_from_extrapolated_loc_states(extrapolated_loc_states):
-    # TODO: Do this more efficiently
     xs = [state.acceleration.x for state in extrapolated_loc_states]
     ys = [state.acceleration.y for state in extrapolated_loc_states]
     zs = [state.acceleration.z for state in extrapolated_loc_states]
@@ -76,7 +71,6 @@ def xyz_acceleration_vectors_from_extrapolated_loc_states(extrapolated_loc_state
 
 # Return list of 3 lists, one each for x, y, z values in accelerations
 def xyz_acceleration_vectors_from_imu_accelerations(imu_accelerations):
-    # TODO: Do this more efficiently
     xs = [acceleration.x for acceleration in imu_accelerations]
     ys = [acceleration.y for acceleration in imu_accelerations]
     zs = [acceleration.z for acceleration in imu_accelerations]
@@ -87,7 +81,6 @@ def xyz_acceleration_vectors_from_imu_accelerations(imu_accelerations):
 
 # Return list of 3 lists, one each for x, y, z values in IMU accelerometer bias
 def xyz_accel_bias_vectors_from_graph_vio_states(graph_vio_states):
-    # TODO: Do this more efficiently
     xs = [
         state.imu_bias_with_covariance.accelerometer_bias.x
         for state in graph_vio_states
@@ -105,7 +98,6 @@ def xyz_accel_bias_vectors_from_graph_vio_states(graph_vio_states):
 
 # Return list of 3 lists, one each for x, y, z values in IMU gyro bias
 def xyz_gyro_bias_vectors_from_graph_vio_states(graph_vio_states):
-    # TODO: Do this more efficiently
     xs = [state.imu_bias_with_covariance.gyroscope_bias.x for state in graph_vio_states]
     ys = [state.imu_bias_with_covariance.gyroscope_bias.y for state in graph_vio_states]
     zs = [state.imu_bias_with_covariance.gyroscope_bias.z for state in graph_vio_states]