diff --git a/doc/source/tutorials/examples/blenddemo_beesampling.py b/doc/source/tutorials/examples/blenddemo_beesampling.py
index e0a6e1d77703ca6128aa2427efea364279ea5df3..09cda5bec9e53300bfe517da96fe9d3aa534732d 100644
--- a/doc/source/tutorials/examples/blenddemo_beesampling.py
+++ b/doc/source/tutorials/examples/blenddemo_beesampling.py
@@ -13,7 +13,7 @@ from navipy.sensors.renderer import BlenderRender
# create a bee sampling
cyberbee = BlenderRender()
-cyberbee.cycle_samples = 100 # higher value -> slower but nicer
+cyberbee.cycle_samples = 100 # higher value -> slower but nicer
bee_samp = BeeSampling(cyberbee)
# Create a list of point from which we want to render images
# Careful three d meshing grow quickly.
@@ -41,52 +41,56 @@ mydb = DataBaseLoad(filename_db)
# Plot a view of db
posorients = mydb.posorients
-posorient = posorients.loc[1,:]
-f, axarr = plt.subplots(3,3,figsize=(15,10))
-ax=axarr[1][1]
-ax.plot(posorients.x,posorients.y,'ko')
+posorient = posorients.loc[1, :]
+f, axarr = plt.subplots(3, 3, figsize=(15, 10))
+ax = axarr[1][1]
+ax.plot(posorients.x, posorients.y, 'ko')
ax.set_xlabel('x')
ax.set_ylabel('y')
ax.set_aspect('equal')
-ax.text(0,2.5,'Top view of the grid',horizontalalignment='center',fontsize=15)
+ax.text(0, 2.5, 'Top view of the grid',
+ horizontalalignment='center', fontsize=15)
unique_x = posorients.x.unique()[::-1]
unique_y = posorients.y.unique()
-for i,axar in enumerate(axarr):
+for i, axar in enumerate(axarr):
for j, ax in enumerate(axar):
- if j==1 and i==1:
+ if j == 1 and i == 1:
continue
- posorient.x=unique_x[j]
- posorient.y=unique_y[i]
+ posorient.x = unique_x[j]
+ posorient.y = unique_y[i]
scene = mydb.scene(posorient)
- to_plot_im = scene[:, :, :3,0]
+ to_plot_im = scene[:, :, :3, 0]
ax.imshow(to_plot_im)
ax.invert_yaxis()
ax.set_aspect('equal')
ax.get_xaxis().set_ticks([])
ax.get_yaxis().set_ticks([])
- ax.set_title('Panorama at ({},{})'.format(posorient.x,posorient.y))
- xyA=[0,0]
- if j==0:
- xyA[0]=to_plot_im.shape[1]
- elif j==1:
- xyA[0]=to_plot_im.shape[1]//3
- elif j==2:
- xyA[0]=0
- print(i,j,posorient.x,posorient.y)
- if i==0:
- xyA[1]=0
- elif i==1:
- xyA[1]=to_plot_im.shape[0]//3
- elif i==2:
- xyA[1]=to_plot_im.shape[0]
-
- con = ConnectionPatch(xyA=xyA, xyB=(posorient.x,posorient.y), coordsA="data", coordsB="data",
- axesA=ax, axesB=axarr[1][1], color="black")
+ ax.set_title('Panorama at ({},{})'.format(posorient.x, posorient.y))
+ xyA = [0, 0]
+ if j == 0:
+ xyA[0] = to_plot_im.shape[1]
+ elif j == 1:
+ xyA[0] = to_plot_im.shape[1] // 3
+ elif j == 2:
+ xyA[0] = 0
+ print(i, j, posorient.x, posorient.y)
+ if i == 0:
+ xyA[1] = 0
+ elif i == 1:
+ xyA[1] = to_plot_im.shape[0] // 3
+ elif i == 2:
+ xyA[1] = to_plot_im.shape[0]
+
+ con = ConnectionPatch(xyA=xyA,
+ xyB=(posorient.x, posorient.y),
+ coordsA="data", coordsB="data",
+ axesA=ax, axesB=axarr[1][1],
+ color="black")
ax.add_artist(con)
-
-for i,axar in enumerate(axarr):
+
+for i, axar in enumerate(axarr):
axar[0].set_ylabel('Elevation')
-for i,axar in enumerate(axarr.transpose()):
+for i, axar in enumerate(axarr.transpose()):
axar[-1].set_xlabel('Azimuth')
f.show()
diff --git a/doc/source/tutorials/examples/blenddemo_cyberbee.py b/doc/source/tutorials/examples/blenddemo_cyberbee.py
index d689323d1bd0770871bed7e160dbf3b99d7ba63d..a1a71430b5db7d661b6158873d2a31db9693953d 100644
--- a/doc/source/tutorials/examples/blenddemo_cyberbee.py
+++ b/doc/source/tutorials/examples/blenddemo_cyberbee.py
@@ -25,8 +25,8 @@ scene = cyberbee.scene(posorient)
# plot
f, axarr = plt.subplots(2, 1, sharex=True)
-to_plot_im = scene[:, :, :3,0]
-to_plot_dist = 1 / scene[:, :, 3,0]
+to_plot_im = scene[:, :, :3, 0]
+to_plot_dist = 1 / scene[:, :, 3, 0]
ax = axarr[0]
ax.imshow(to_plot_im)
diff --git a/navipy/__init__.py b/navipy/__init__.py
index d1a86f5360ce71170998de25cef1ec913c89700b..9c66ee80b65d7488f53dd330799b206e620f0829 100644
--- a/navipy/__init__.py
+++ b/navipy/__init__.py
@@ -38,7 +38,6 @@ An agent using an average skyline homing vector, could be build as follow
"""
from navipy.database import DataBaseLoad
-import numpy as np
class Bunch:
diff --git a/navipy/maths/__init__.py b/navipy/maths/__init__.py
index d3173e6360a3eeeeffd356895771a31de79dad1d..5bb534f795ae0f566ba9f57c31944d8c6f45284c 100644
--- a/navipy/maths/__init__.py
+++ b/navipy/maths/__init__.py
@@ -1 +1 @@
-#package
+# package
diff --git a/navipy/maths/euler.py b/navipy/maths/euler.py
index a125a6313033121aa593d3cf0d694d71da7805bd..0b9ca987c9b6ff527a4d89eef2b8a4f5fba33db5 100644
--- a/navipy/maths/euler.py
+++ b/navipy/maths/euler.py
@@ -64,8 +64,9 @@ def from_matrix(matrix, axes='sxyz'):
Note that many Euler angle triplets can describe one matrix.
"""
try:
- firstaxis, parity, repetition, frame = constants._AXES2TUPLE[axes.lower(
- )]
+ firstaxis, parity, \
+ repetition, frame = constants._AXES2TUPLE[axes.lower(
+ )]
except (AttributeError, KeyError):
constants._TUPLE2AXES[axes] # validation
firstaxis, parity, repetition, frame = axes
diff --git a/navipy/maths/random.py b/navipy/maths/random.py
index 096018d6fd02019f12ab9afbf42b1252daf4e63c..e7b4b420a122427fd65fd96c8b785dcd6cfebadf 100644
--- a/navipy/maths/random.py
+++ b/navipy/maths/random.py
@@ -46,4 +46,4 @@ def quaternion(rand=None):
t1 = pi2 * rand[1]
t2 = pi2 * rand[2]
return np.array([np.cos(t2) * r2, np.sin(t1) * r1,
- np.cos(t1) * r1, np.sin(t2) * r2])
+ np.cos(t1) * r1, np.sin(t2) * r2])
diff --git a/navipy/maths/test_euler.py b/navipy/maths/test_euler.py
index c1c95337abf5949684b6d79374a568096d01230d..6246e1fceb6562290c593d9272badb98cc880c9c 100644
--- a/navipy/maths/test_euler.py
+++ b/navipy/maths/test_euler.py
@@ -1,8 +1,6 @@
import unittest
import numpy as np
-import navipy.maths.random as random
import navipy.maths.euler as euler
-from navipy.maths.tools import vector_norm
import navipy.maths.constants as constants
diff --git a/navipy/maths/test_homogenous_transformations.py b/navipy/maths/test_homogenous_transformations.py
index 2c45dea553c744cb9838384e1c91ea48d40a1751..e20ab66c4c9f9bd443585dea990b3822b135224c 100644
--- a/navipy/maths/test_homogenous_transformations.py
+++ b/navipy/maths/test_homogenous_transformations.py
@@ -137,11 +137,8 @@ class TestHT(unittest.TestCase):
def test_projection_matrix(self):
point = np.random.random(3) - 0.5
normal = np.random.random(3) - 0.5
- direct = np.random.random(3) - 0.5
persp = np.random.random(3) - 0.5
projection_0 = ht.projection_matrix(point, normal)
- projection_1 = ht.projection_matrix(point, normal,
- direction=direct)
projection_2 = ht.projection_matrix(point, normal,
perspective=persp)
projection_3 = ht.projection_matrix(point, normal,
@@ -184,7 +181,6 @@ class TestHT(unittest.TestCase):
def test_projection_from_matrix_persp_pseudo_true(self):
point = np.random.random(3) - 0.5
normal = np.random.random(3) - 0.5
- direct = np.random.random(3) - 0.5
persp = np.random.random(3) - 0.5
projection_0 = ht.projection_matrix(point, normal, persp,
pseudo=True)