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readability changes

release/4.3a0
akrishnan86 2020-10-02 07:56:41 -07:00
parent a490017669
commit 695f75bc8d
1 changed files with 6 additions and 6 deletions
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12
python/gtsam/examples/TranslationAveragingExample.py
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@ -32,8 +32,8 @@ def get_data() -> Tuple[gtsam.Values, List[gtsam.BinaryMeasurementUnit3]]:
that lie on a circle and face the center. The poses of 8 cameras are obtained from SFMdata that lie on a circle and face the center. The poses of 8 cameras are obtained from SFMdata
and the unit translations directions between some camera pairs are computed from their and the unit translations directions between some camera pairs are computed from their
global translations. """ global translations. """
# Using toy dataset in SfMdata for example. fx, fy, s, u0, v0 = 50.0, 50.0, 0.0, 50.0, 50.0
wTc_list = SFMdata.createPoses(gtsam.Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0)) wTc_list = SFMdata.createPoses(gtsam.Cal3_S2(fx, fy, s, u0, v0))
# Rotations of the cameras in the world frame. # Rotations of the cameras in the world frame.
wRc_values = gtsam.Values() wRc_values = gtsam.Values()
# Normalized translation directions from camera i to camera j # Normalized translation directions from camera i to camera j
@ -88,10 +88,10 @@ def prune_to_inliers(w_iZj_list: gtsam.BinaryMeasurementsUnit3) -> gtsam.BinaryM
for keypair, weight in outlier_weight_dict.items(): for keypair, weight in outlier_weight_dict.items():
avg_outlier_weights[keypair] += weight / len(outlier_weights) avg_outlier_weights[keypair] += weight / len(outlier_weights)
# Remove w_relative_tranlsations that have weight greater than threshold, these are outliers. # Remove w_iZj that have weight greater than threshold, these are outliers.
w_iZj_inliers = gtsam.BinaryMeasurementsUnit3() w_iZj_inliers = gtsam.BinaryMeasurementsUnit3()
[w_iZj_inliers.append(Z) for Z in w_iZj_list if avg_outlier_weights[( [w_iZj_inliers.append(Z) for w_iZj in w_iZj_list if avg_outlier_weights[(
Z.key1(), Z.key2())] < OUTLIER_WEIGHT_THRESHOLD] w_iZj.key1(), w_iZj.key2())] < OUTLIER_WEIGHT_THRESHOLD]
return w_iZj_inliers return w_iZj_inliers
@ -108,7 +108,7 @@ def estimate_poses(i_iZj_list: gtsam.BinaryMeasurementsUnit3,
wRc_values: Rotations of the cameras in the world frame. wRc_values: Rotations of the cameras in the world frame.
Returns: Returns:
Values: Estimated poses. gtsam.Values: Estimated poses.
""" """
# Convert the translation direction measurements to world frame using the rotations. # Convert the translation direction measurements to world frame using the rotations.