pyrox.dev
1diff --git a/opensfm/exif.py b/opensfm/exif.py
2--- a/opensfm/exif.py
3+++ b/opensfm/exif.py
4@@ -509,7 +509,7 @@ class EXIF:
5 )
6 )
7
8- if np.all(ypr) is not None:
9+ if np.all(ypr != None):
10 ypr = np.radians(ypr)
11
12 # Convert YPR --> OPK
13diff --git a/opensfm/transformations.py b/opensfm/transformations.py
14--- a/opensfm/transformations.py
15+++ b/opensfm/transformations.py
16@@ -232,7 +232,7 @@ def translation_from_matrix(matrix: numpy.ndarray) -> numpy.ndarray:
17 True
18
19 """
20- return numpy.array(matrix, copy=False)[:3, 3].copy()
21+ return numpy.asarray(matrix)[:3, 3].copy()
22
23
24 def reflection_matrix(point: numpy.ndarray, normal: numpy.ndarray) -> numpy.ndarray:
25@@ -275,7 +275,7 @@ def reflection_from_matrix(
26 True
27
28 """
29- M = numpy.array(matrix, dtype=numpy.float64, copy=False)
30+ M = numpy.asarray(matrix, dtype=numpy.float64)
31 # normal: unit eigenvector corresponding to eigenvalue -1
32 w, V = numpy.linalg.eig(M[:3, :3])
33 i = numpy.where(abs(numpy.real(w) + 1.0) < 1e-8)[0]
34@@ -339,7 +339,7 @@ def rotation_matrix(
35 M[:3, :3] = R
36 if point is not None:
37 # rotation not around origin
38- point = numpy.array(point[:3], dtype=numpy.float64, copy=False)
39+ point = numpy.asarray(point[:3], dtype=numpy.float64)
40 M[:3, 3] = point - numpy.dot(R, point)
41 return M
42
43@@ -359,7 +359,7 @@ def rotation_from_matrix(
44 True
45
46 """
47- R = numpy.array(matrix, dtype=numpy.float64, copy=False)
48+ R = numpy.asarray(matrix, dtype=numpy.float64)
49 R33 = R[:3, :3]
50 # direction: unit eigenvector of R33 corresponding to eigenvalue of 1
51 w, W = numpy.linalg.eig(R33.T)
52@@ -444,7 +444,7 @@ def scale_from_matrix(
53 True
54
55 """
56- M = numpy.array(matrix, dtype=numpy.float64, copy=False)
57+ M = numpy.asarray(matrix, dtype=numpy.float64)
58 M33 = M[:3, :3]
59 factor = numpy.trace(M33) - 2.0
60 try:
61@@ -505,11 +505,11 @@ def projection_matrix(
62
63 """
64 M = numpy.identity(4)
65- point = numpy.array(point[:3], dtype=numpy.float64, copy=False)
66+ point = numpy.asarray(point[:3], dtype=numpy.float64)
67 normal = unit_vector(normal[:3])
68 if perspective is not None:
69 # perspective projection
70- perspective = numpy.array(perspective[:3], dtype=numpy.float64, copy=False)
71+ perspective = numpy.asarray(perspective[:3], dtype=numpy.float64)
72 M[0, 0] = M[1, 1] = M[2, 2] = numpy.dot(perspective - point, normal)
73 M[:3, :3] -= numpy.outer(perspective, normal)
74 if pseudo:
75@@ -522,7 +522,7 @@ def projection_matrix(
76 M[3, 3] = numpy.dot(perspective, normal)
77 elif direction is not None:
78 # parallel projection
79- direction = numpy.array(direction[:3], dtype=numpy.float64, copy=False)
80+ direction = numpy.asarray(direction[:3], dtype=numpy.float64)
81 scale = numpy.dot(direction, normal)
82 M[:3, :3] -= numpy.outer(direction, normal) / scale
83 M[:3, 3] = direction * (numpy.dot(point, normal) / scale)
84@@ -569,7 +569,7 @@ def projection_from_matrix(
85 True
86
87 """
88- M = numpy.array(matrix, dtype=numpy.float64, copy=False)
89+ M = numpy.asarray(matrix, dtype=numpy.float64)
90 M33 = M[:3, :3]
91 w, V = numpy.linalg.eig(M)
92 i = numpy.where(abs(numpy.real(w) - 1.0) < 1e-8)[0]
93@@ -726,7 +726,7 @@ def shear_from_matrix(
94 True
95
96 """
97- M = numpy.array(matrix, dtype=numpy.float64, copy=False)
98+ M = numpy.asarray(matrix, dtype=numpy.float64)
99 M33 = M[:3, :3]
100 # normal: cross independent eigenvectors corresponding to the eigenvalue 1
101 w, V = numpy.linalg.eig(M33)
102@@ -790,7 +790,7 @@ def decompose_matrix(
103 True
104
105 """
106- M = numpy.array(matrix, dtype=numpy.float64, copy=True).T
107+ M = numpy.asarray(matrix, dtype=numpy.float64, copy=True).T
108 if abs(M[3, 3]) < _EPS:
109 raise ValueError("M[3, 3] is zero")
110 M /= M[3, 3]
111@@ -982,8 +982,8 @@ def affine_matrix_from_points(
112 More examples in superimposition_matrix()
113
114 """
115- v0 = numpy.array(v0, dtype=numpy.float64, copy=True)
116- v1 = numpy.array(v1, dtype=numpy.float64, copy=True)
117+ v0 = numpy.asarray(v0, dtype=numpy.float64, copy=True)
118+ v1 = numpy.asarray(v1, dtype=numpy.float64, copy=True)
119
120 ndims = v0.shape[0]
121 if ndims < 2 or v0.shape[1] < ndims or v0.shape != v1.shape:
122@@ -1099,8 +1099,8 @@ def superimposition_matrix(
123 True
124
125 """
126- v0 = numpy.array(v0, dtype=numpy.float64, copy=False)[:3]
127- v1 = numpy.array(v1, dtype=numpy.float64, copy=False)[:3]
128+ v0 = numpy.asarray(v0, dtype=numpy.float64)[:3]
129+ v1 = numpy.asarray(v1, dtype=numpy.float64)[:3]
130 return affine_matrix_from_points(v0, v1, shear=False, scale=scale, usesvd=usesvd)
131
132
133@@ -1198,7 +1198,7 @@ def euler_from_matrix(
134 j = _NEXT_AXIS[i + parity]
135 k = _NEXT_AXIS[i - parity + 1]
136
137- M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:3, :3]
138+ M = numpy.asarray(matrix, dtype=numpy.float64)[:3, :3]
139 if repetition:
140 sy = math.sqrt(M[i, j] * M[i, j] + M[i, k] * M[i, k])
141 if sy > _EPS:
142@@ -1329,7 +1329,7 @@ def quaternion_matrix(quaternion: numpy.ndarray) -> numpy.ndarray:
143 True
144
145 """
146- q = numpy.array(quaternion, dtype=numpy.float64, copy=True)
147+ q = numpy.asarray(quaternion, dtype=numpy.float64, copy=True)
148 n = numpy.dot(q, q)
149 if n < _EPS:
150 return numpy.identity(4)
151@@ -1379,7 +1379,7 @@ def quaternion_from_matrix(
152 True
153
154 """
155- M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:4, :4]
156+ M = numpy.asarray(matrix, dtype=numpy.float64)[:4, :4]
157 if isprecise:
158 q = numpy.empty((4,))
159 t = numpy.trace(M)
160@@ -1460,7 +1460,7 @@ def quaternion_conjugate(quaternion: numpy.ndarray) -> numpy.ndarray:
161 True
162
163 """
164- q = numpy.array(quaternion, dtype=numpy.float64, copy=True)
165+ q = numpy.asarray(quaternion, dtype=numpy.float64, copy=True)
166 numpy.negative(q[1:], q[1:])
167 return q
168
169@@ -1474,7 +1474,7 @@ def quaternion_inverse(quaternion: numpy.ndarray) -> numpy.ndarray:
170 True
171
172 """
173- q = numpy.array(quaternion, dtype=numpy.float64, copy=True)
174+ q = numpy.asarray(quaternion, dtype=numpy.float64, copy=True)
175 numpy.negative(q[1:], q[1:])
176 return q / numpy.dot(q, q)
177
178@@ -1496,7 +1496,7 @@ def quaternion_imag(quaternion: numpy.ndarray) -> numpy.ndarray:
179 array([ 0., 1., 2.])
180
181 """
182- return numpy.array(quaternion[1:4], dtype=numpy.float64, copy=True)
183+ return numpy.asarray(quaternion[1:4], dtype=numpy.float64, copy=True)
184
185
186 def quaternion_slerp(
187@@ -1654,7 +1654,7 @@ def vector_norm(
188 1.0
189
190 """
191- data = numpy.array(data, dtype=numpy.float64, copy=True)
192+ data = numpy.asarray(data, dtype=numpy.float64, copy=True)
193 if out is None:
194 if data.ndim == 1:
195 return math.sqrt(numpy.dot(data, data))
196@@ -1697,13 +1697,13 @@ def unit_vector(
197
198 """
199 if out is None:
200- data = numpy.array(data, dtype=numpy.float64, copy=True)
201+ data = numpy.asarray(data, dtype=numpy.float64, copy=True)
202 if data.ndim == 1:
203 data /= math.sqrt(numpy.dot(data, data))
204 return data
205 else:
206 if out is not data:
207- out[:] = numpy.array(data, copy=False)
208+ out[:] = numpy.asarray(data)
209 data = out
210 length = numpy.atleast_1d(numpy.sum(data * data, axis))
211 numpy.sqrt(length, length)
212@@ -1777,8 +1777,8 @@ def angle_between_vectors(
213 True
214
215 """
216- v0 = numpy.array(v0, dtype=numpy.float64, copy=False)
217- v1 = numpy.array(v1, dtype=numpy.float64, copy=False)
218+ v0 = numpy.asarray(v0, dtype=numpy.float64)
219+ v1 = numpy.asarray(v1, dtype=numpy.float64)
220 dot = numpy.sum(v0 * v1, axis=axis)
221 dot /= vector_norm(v0, axis=axis) * vector_norm(v1, axis=axis)
222 dot = numpy.clip(dot, -1.0, 1.0)
223@@ -1826,9 +1826,9 @@ def is_same_transform(matrix0: numpy.ndarray, matrix1: numpy.ndarray) -> numpy.n
224 False
225
226 """
227- matrix0 = numpy.array(matrix0, dtype=numpy.float64, copy=True)
228+ matrix0 = numpy.asarray(matrix0, dtype=numpy.float64, copy=True)
229 matrix0 /= matrix0[3, 3]
230- matrix1 = numpy.array(matrix1, dtype=numpy.float64, copy=True)
231+ matrix1 = numpy.asarray(matrix1, dtype=numpy.float64, copy=True)
232 matrix1 /= matrix1[3, 3]
233 return numpy.allclose(matrix0, matrix1)
234
235@@ -1874,3 +1874,4 @@ if __name__ == "__main__":
236
237 numpy.set_printoptions(suppress=True, precision=5)
238 doctest.testmod()
239+