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utiasASRL · Jan 12, 2024 · 2b7edb4 · 2b7edb4
1 parent 59ea38f
commit 2b7edb4
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/lifters/state_lifter.py b/lifters/state_lifter.py
@@ -4,10 +4,10 @@
 import numpy as np
 import scipy.sparse as sp
 from cert_tools.linalg_tools import get_nullspace
-from lifters.base_class import BaseClass
-from utils.common import upper_triangular
 
+from lifters.base_class import BaseClass
 from poly_matrix import PolyMatrix, unroll
+from utils.common import upper_triangular
 
 
 def ravel_multi_index_triu(index_tuple, shape):

diff --git a/lifters/stereo_lifter.py b/lifters/stereo_lifter.py
@@ -7,13 +7,12 @@
 from utils.geometry import (
     get_C_r_from_theta,
     get_C_r_from_xtheta,
+    get_pose_errors_from_xtheta,
     get_T,
-    get_xtheta_from_theta,
     get_theta_from_xtheta,
-    get_pose_errors_from_xtheta,
+    get_xtheta_from_theta,
 )
 
-
 NOISE = 1.0  #
 
 NORMALIZE = True
@@ -340,7 +339,7 @@ def get_error(self, xtheta_hat):
 
     def local_solver_manopt(self, t0, y, W=None, verbose=False, method="CG", **kwargs):
         import pymanopt
-        from pymanopt.manifolds import SpecialOrthogonalGroup, Euclidean, Product
+        from pymanopt.manifolds import Euclidean, Product, SpecialOrthogonalGroup
 
         if method == "CG":
             from pymanopt.optimizers import ConjugateGradient as Optimizer  # fastest