pose_optimization.py [197:212]:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
        params.op = DepthVideoProcessor.Op.ResetDepthXforms
        params.depthXformDesc.type = XformType.Depth
        params.depthXformDesc.depthType = DepthXformType.Global
        params.depthXformDesc.valueXform = ValueXformType.Scale
        processor.process(params)

        params.op = DepthVideoProcessor.Op.ResetSpatialXforms
        params.spatialXformDesc.type = XformType.Spatial
        params.spatialXformDesc.spatialType = SpatialXformType.Identity
        params.spatialXformDesc.valueXform = ValueXformType.Scale
        processor.process(params)

        processor.normalizeDepth(params, self.flow_constraints)

        # Now optimize poses and depth transforms jointly.
        processor.optimizePoses(params, self.flow_constraints)
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -



pose_optimization.py [221:238]:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
            params.op = DepthVideoProcessor.Op.ResetDepthXforms
            params.depthXformDesc.type = XformType.Depth
            params.depthXformDesc.depthType = DepthXformType.Global
            params.depthXformDesc.valueXform = ValueXformType.Scale
            processor.process(params)

            # Reset spatial transform
            params.op = DepthVideoProcessor.Op.ResetSpatialXforms
            params.spatialXformDesc.type = XformType.Spatial
            params.spatialXformDesc.spatialType = SpatialXformType.Identity
            params.spatialXformDesc.valueXform = ValueXformType.Scale
            processor.process(params)

            # Normalize depth
            processor.normalizeDepth(params, self.flow_constraints)

            # Optimize depth transfomration (while keeping the pose fixed)
            processor.optimizePoses(params, self.flow_constraints)
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -