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PRBonn · Sep 20, 2024 · 3ef3bfd · 3ef3bfd
1 parent 26c69dd
commit 3ef3bfd
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/mapmos/mapping.py b/src/mapmos/mapping.py
@@ -53,7 +53,7 @@ def point_cloud_with_timestamps(self):
     def voxels_with_belief(self):
         voxels, belief = self._internal_map._voxels_with_belief()
         return np.asarray(voxels), np.asarray(belief)
-    
+
     def remove_voxels_far_from_location(self, location: np.ndarray):
         self._internal_map._remove_far_away_points(location)
 

diff --git a/src/mapmos/utils/visualizer.py b/src/mapmos/utils/visualizer.py
@@ -211,7 +211,7 @@ def _register_belief(self):
         if self._last_belief_map is None:
             return
         voxels, belief = self._last_belief_map.voxels_with_belief()
-        
+
         belief_nodes = np.zeros((voxels.shape[0] * 8, 3), dtype=np.float64)
         belief_colors = np.zeros((voxels.shape[0] * 8, 3), dtype=np.float64)
         belief_edges = np.zeros((voxels.shape[0] * 12, 2), dtype=np.int64)
@@ -318,7 +318,7 @@ def _global_view_callback(self):
                 if self._toggle_belief:
                     self._ps.get_curve_network("belief").set_transform(np.eye(4))
             else:
-                inv_pose=np.linalg.inv(self._last_pose)
+                inv_pose = np.linalg.inv(self._last_pose)
                 self._ps.get_point_cloud("scan").set_transform(inv_pose)
                 self._ps.get_point_cloud("map").set_transform(inv_pose)
                 if self._toggle_belief: