Update optic flow ipython notebook

navipy/maths/coordinates.py

@@ -6,6 +6,19 @@ from navipy.scene import is_numeric_array
 
 
 def cartesian_to_spherical(x, y, z):
+    """ Cartesian to spherical coordinates
+
+    :param x: position along x-axis
+    :param y: position along y-axis
+    :param z: position along z-axis
+    :returns: elevation,azimuth,radius
+
+    inverse transform of :
+    x = radius*cos(elevation) * cos(azimuth)
+    y = radius*cos(elevation) * sin(azimuth)
+    z = radius*sin(elevation)
+
+    """
     radius = np.sqrt(x**2 + y**2 + z**2)
     elevation = np.arctan2(z, np.sqrt(x**2 + y**2))
     azimuth = np.arctan2(y, x)
@@ -15,6 +28,18 @@ def cartesian_to_spherical(x, y, z):
 
 
 def spherical_to_cartesian(elevation, azimuth, radius=1):
+    """Spherical to cartesian coordinates
+
+    :param elevation: elevation
+    :param azimuth: azimuth
+    :param radius: radius
+    :returns: x,y,z
+
+    transform :
+    x = radius*cos(elevation) * cos(azimuth)
+    y = radius*cos(elevation) * sin(azimuth)
+    z = radius*sin(elevation)
+    """
     x = radius*np.cos(elevation) * np.cos(azimuth)
     y = radius*np.cos(elevation) * np.sin(azimuth)
     z = radius*np.sin(elevation)

navipy/processing/mcode.py

@@ -7,8 +7,7 @@ from navipy.scene import is_numeric_array
 from navipy.maths.homogeneous_transformations\
     import compose_matrix
 from navipy.maths.coordinates\
-    import spherical_to_cartesian, cartesian_to_spherical_vectors, \
-    cartesian_to_spherical
+    import spherical_to_cartesian, cartesian_to_spherical_vectors
 import numpy as np
 import pandas as pd
 from navipy.maths.euler import angular_velocity