format with Black

slampy.py

@@ -94,7 +94,7 @@ def process_image_stereo(self, image_left, image_right, tframe):
         """
         self.image_shape = image_left.shape
         self.slam.process_image_stereo(image_left, image_right, tframe)
-        self.image = image
+        self.image = image_left
         if self.get_state() == State.OK:
             self.pose_array.append(self.get_pose_to_target())
         return self.get_state()
@@ -141,7 +141,7 @@ def process_image_imu_stereo(self, image_left, image_right, tframe, imu):
         """
         self.image_shape = image_left.shape
         self.slam.process_image_imu_stereo(image_left, image_right, tframe, imu)
-        self.image = image
+        self.image = image_left
         if self.get_state() == State.OK:
             self.pose_array.append(self.get_pose_to_target())
         return self.get_state()

utils.py

@@ -232,7 +232,7 @@ def save_pose_txt(args, name, pose):
     """
     pose_file_path = os.path.join(args.dest, "pose.txt")
     fp = open(pose_file_path, "a")
-    pose34 = pose[:3] 
+    pose34 = pose[:3]
     fp.write(name)
     for row in pose34:
         fp.write(" ")
@@ -242,31 +242,28 @@ def save_pose_txt(args, name, pose):
     fp.close()
 
 
-
-
 def save_pose_and_times_txt(args, name, pose):
     """Save pose and time in two different txt files."""
-    
+
     time_file_path = os.path.join(args.dest, "times.txt")
     pose_file_path = os.path.join(args.dest, "pose.txt")
     fd = open(time_file_path, "a")
     fp = open(pose_file_path, "a")
-    pose34 = pose[:3] 
+    pose34 = pose[:3]
     fd.write(name)
     fd.write("\n")
     fd.close()
-    line=""
-    for row in pose34:   
-        line+=(" ".join(str(round(i, 10)) for i in row))
-        line+=(" ")
-    line=line[:-1]
-    line+=("\n")
+    line = ""
+    for row in pose34:
+        line += " ".join(str(round(i, 10)) for i in row)
+        line += " "
+    line = line[:-1]
+    line += "\n"
     fp.write(line)
     # fp.write('\n')
     fp.close()
 
 
-
 def evaluate_pose(args):
     """Evaluate odometry on the KITTI dataset"""
     orb_pose_dir = os.path.join(args.dest, "pose")
@@ -398,7 +395,6 @@ def get_error(args, filename, points, gt_filename):
     return err
 
 
-
 def load_images_KITTI_VO(path_to_sequence):
     """Return the sequence of the images found in the path and the corrispondent timestamp
 
@@ -454,10 +450,10 @@ def load_images_OTHERS(path_to_sequence):
         two array : one contains the sequence of the image filename and the second the timestamp in whitch they are acquired
 
     Inside of path_to_sequence must be: +data
-                                           xxxxxxxx.png 
+                                           xxxxxxxx.png
                                            xxxxxxxy.png
                                            ....
-                                        -times.txt 
+                                        -times.txt
     where times.txt simply contains timestamps of every frame
 
     """
@@ -469,67 +465,70 @@ def load_images_OTHERS(path_to_sequence):
         for line in times_file:
             if len(line) > 0 and not line.startswith("#"):
                 timestamps.append(float(line))
-                
-    for framename in sorted(os.listdir(os.path.join(path_to_sequence,"data"))):
+
+    for framename in sorted(os.listdir(os.path.join(path_to_sequence, "data"))):
         if framename.endswith(".png"):
             framenames.append(framename)
 
-    return [os.path.join(path_to_sequence,"data",name) for name in framenames], timestamps
+    return [
+        os.path.join(path_to_sequence, "data", name) for name in framenames
+    ], timestamps
 
 
 def load_images_TUM_VI(path_to_sequence):
 
-    """ This loader is created for Visual Inertial TUM datasets. Format of such datasets is:
-        path_to_sequence/mav0/cam0/+data/xxxx.png
-                                  /-times.txt
+    """This loader is created for Visual Inertial TUM datasets. Format of such datasets is:
+    path_to_sequence/mav0/cam0/+data/xxxx.png
+                              /-times.txt
     """
     timestamps = []
     framenames = []
-    
-    with open(os.path.join(path_to_sequence,"mav0/cam0/times.txt")) as times_file:
+
+    with open(os.path.join(path_to_sequence, "mav0/cam0/times.txt")) as times_file:
         for line in times_file:
             if len(line) > 0 and not line.startswith("#"):
                 framenames.append(line.split()[0] + ".png")
                 timestamps.append(float(line.split()[1]))
-
-    return [os.path.join(path_to_sequence,"mav0/cam0/data",name) for name in framenames], timestamps
+
+    return [
+        os.path.join(path_to_sequence, "mav0/cam0/data", name) for name in framenames
+    ], timestamps
 
 
 def load_images_EuRoC(path_to_sequence):
 
-    """ This loader is created for Visual Inertial EuRoC datasets. Format of such datasets is:
-        path_to_sequence/mav0/cam0/+data/xxxx.png
-                                  /-times.txt
+    """This loader is created for Visual Inertial EuRoC datasets. Format of such datasets is:
+    path_to_sequence/mav0/cam0/+data/xxxx.png
+                              /-times.txt
     """
     timestamps = []
     framenames = []
-    
-    with open(os.path.join(path_to_sequence,"mav0/cam0/data.csv")) as times_file:
+
+    with open(os.path.join(path_to_sequence, "mav0/cam0/data.csv")) as times_file:
         for line in times_file:
             if len(line) > 0 and not line.startswith("#"):
                 framenames.append(line.split(",")[1].rstrip())
-                timestamps.append(float(line.split(",")[0])*1e-9)
-
-    return [os.path.join(path_to_sequence,"mav0/cam0/data",name) for name in framenames], timestamps
+                timestamps.append(float(line.split(",")[0]) * 1e-9)
+
+    return [
+        os.path.join(path_to_sequence, "mav0/cam0/data", name) for name in framenames
+    ], timestamps
 
 
 def load_IMU_datas_TUM_VI(path_to_sequence):
     timestamp = []
     gyro_data = []
     acc_data = []
-    with open(os.path.join(path_to_sequence,"mav0/imu0/data.csv")) as imu_file:
+    with open(os.path.join(path_to_sequence, "mav0/imu0/data.csv")) as imu_file:
         for line in imu_file:
             if len(line) > 0 and not line.startswith("#"):
-                imu_line=line.split(",")
-                timestamp.append(float(imu_line[0])*1e-9) 
-                gyro_data.append([float(imu_line[1]),float(imu_line[2]),float(imu_line[3])]) 
-                acc_data.append([float(imu_line[4]),float(imu_line[5]),float(imu_line[6])])
-
-    return acc_data,gyro_data,timestamp
-
-
-
-
-
-
+                imu_line = line.split(",")
+                timestamp.append(float(imu_line[0]) * 1e-9)
+                gyro_data.append(
+                    [float(imu_line[1]), float(imu_line[2]), float(imu_line[3])]
+                )
+                acc_data.append(
+                    [float(imu_line[4]), float(imu_line[5]), float(imu_line[6])]
+                )
 
+    return acc_data, gyro_data, timestamp