diff --git a/test_b3d_tracking_batch.py b/test_b3d_tracking_batch.py index d535ac51..054c9b40 100644 --- a/test_b3d_tracking_batch.py +++ b/test_b3d_tracking_batch.py @@ -320,15 +320,13 @@ def compute_angular_velocity(q1, q2, delta_t): return angular_velocity mesh = b3d.Mesh( - vertices=scale_mesh(mesh.vertices, scale), faces=mesh.faces, vertex_attributes=None + vertices=scale_mesh(mesh.vertices, scale), + faces=mesh.faces, + vertex_attributes=None, ) - pos_now, q_now = compute_center_of_mass( - mesh, object_pose_last_frame - ) - pos_last, q_last = compute_center_of_mass( - mesh, object_pose_window_frame - ) + pos_now, q_now = compute_center_of_mass(mesh, object_pose_last_frame) + pos_last, q_last = compute_center_of_mass(mesh, object_pose_window_frame) linear_vel = (pos_now - pos_last) / dt angular_velocity = compute_angular_velocity(q_last, q_now, dt)