From 2b7edb4a761b156b32bfca929de926081631dc5b Mon Sep 17 00:00:00 2001 From: Frederike Duembgen Date: Thu, 11 Jan 2024 22:03:02 -0500 Subject: [PATCH] Sort imports --- lifters/state_lifter.py | 4 ++-- lifters/stereo_lifter.py | 7 +++---- 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/lifters/state_lifter.py b/lifters/state_lifter.py index 87895cb..211042d 100644 --- 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 index 906190d..a4a2044 100644 --- 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