Refactor code for speed and clarity

ultralytics · Aug 26, 2024 · e7beec1 · e7beec1
1 parent 1111329
commit e7beec1
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Showing 6 changed files with 1 addition and 11 deletions.
diff --git a/utils/KLT.py b/utils/KLT.py
@@ -1,7 +1,6 @@
 # Ultralytics YOLO 🚀, AGPL-3.0 License https://ultralytics.com/license
 
 import cv2
-
 from utils.common import *
 from utils.images import boundingRect
 
@@ -101,7 +100,6 @@ def KLTmain(im, im0, im0_small, p0):
     """Runs the Kanade-Lucas-Tomasi (KLT) feature tracking algorithm with coarse-to-fine tracking and affine
     transformation.
     """
-
     # Parameters for KLT
     EPS = cv2.TERM_CRITERIA_EPS
     COUNT = cv2.TERM_CRITERIA_COUNT

diff --git a/utils/MSV.py b/utils/MSV.py
@@ -9,7 +9,6 @@ def fcnMSV1_t(K, P, B, vg, ii):  # solves for 1 camera translation
     """Solves for 1 camera translation by optimizing translation vectors given camera matrix K, pixel coordinates P,
     baseline B, valid mask vg, and image index ii.
     """
-
     # vg = np.isnan(P[0, :, i])==False
     nf = ii + 1
     ng = vg.sum()
@@ -52,7 +51,6 @@ def fcnMSV1_t(K, P, B, vg, ii):  # solves for 1 camera translation
 
 def fcnMSV2_t(K, P, B, vg, i):  # solves for 1 camera translation
     """Solves for 1 camera translation via iterative minimization, returns optimized camera parameters as np.float32."""
-
     # vg = np.isnan(P[0, :, i])==False
     nf = i + 1
     ng = vg.sum()
@@ -101,7 +99,6 @@ def fcn2vintercept(A, U):
     """Calculates 3D intercepts of vectors (U) from origins (A) for camera frame combinations, returning nx3 tie point
     centers.
     """
-
     # A = nx3 camera origins, ux1 = nxnp x unit vectors
     _, nf, nv = U.shape  # 3, nframes, npoints
     C0 = np.zeros([nv, 3])

diff --git a/utils/NLS.py b/utils/NLS.py
@@ -12,7 +12,6 @@ def estimateWorldCameraPose(K, p, p3, t=np.array([0, 0, 1]), R=np.eye(3), findR=
 
     Args: K (array): camera matrix, p (2D array): image points, p3 (3D array): world points, t (array, optional): initial translation, R (array, optional): initial rotation, findR (bool, optional): if True estimates rotation. Returns: tuple (translation, rotation, residuals, projected points).
     """
-
     # Linear solution
     # Re, te = extrinsicsPlanar(p, p3, K)
 
@@ -132,7 +131,6 @@ def fcnNLS_t(K, p, pw, x):
 # @profile
 def fcnNLS_Rt(K, p, pw, x):
     """Estimates camera rotation (R) and translation (t) from world to image points using Non-Linear Least Squares."""
-
     # K = 3x3 intrinsic matrix
     # p = nx2 image points
     # pw = nx3 world points = pc @ cam2ned().T

diff --git a/utils/images.py b/utils/images.py
@@ -1,7 +1,6 @@
 # Ultralytics YOLO 🚀, AGPL-3.0 License https://ultralytics.com/license
 
 import cv2
-
 from utils.common import *
 from utils.strings import *
 

diff --git a/utils/vid2images.py b/utils/vid2images.py
@@ -3,7 +3,6 @@
 import os
 
 import cv2
-
 import utils.common
 
 PATH = "/Users/glennjocher/Downloads/DATA/VSM/chessboard/IMG_4414.MOV"

diff --git a/vidExample.py b/vidExample.py
@@ -1,8 +1,7 @@
 # Ultralytics YOLO 🚀, AGPL-3.0 License https://ultralytics.com/license
 
-import scipy
-
 import plots
+import scipy
 from utils.images import *
 from utils.KLT import *
 from utils.MSV import *