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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
and the unit translations directions between some camera pairs are computed from their
global translations. """
# Using toy dataset in SfMdata for example.
wTc_list = SFMdata.createPoses(gtsam.Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0))
fx, fy, s, u0, v0 = 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.
wRc_values = gtsam.Values()
# 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():
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.append(Z) for Z in w_iZj_list if avg_outlier_weights[(
Z.key1(), Z.key2())] < OUTLIER_WEIGHT_THRESHOLD]
[w_iZj_inliers.append(Z) for w_iZj in w_iZj_list if avg_outlier_weights[(
w_iZj.key1(), w_iZj.key2())] < OUTLIER_WEIGHT_THRESHOLD]
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.
Returns:
Values: Estimated poses.
gtsam.Values: Estimated poses.
"""
# Convert the translation direction measurements to world frame using the rotations.