adjust code example on readme

README.md

@@ -27,7 +27,7 @@ cd src # For descriptions on the command line arguments, run python3 calibrate.p
 python3 calibrate.py [-h] [-p POSE_PATH] [-m MOTION_PATH] [-c] [-a] [-n] [-s SAMPLE]
 ```
 
-For those who wish to create their own custom scripts, an example template is provided in `src/example.py` which can also be seen below.
+For those who wish to create their own custom scripts, an example template is provided in `src/example.py` *(small snippet shown below)*. Running these examples will also perform the calibration on the provided example data.
 ```python3
 def main():
     with open("../example_data/pose_samples.pkl", "rb") as f:
@@ -37,43 +37,21 @@ def main():
             # python 2 to python 3 pickle in case sampling was done in ROS
             base_to_hand, camera_to_marker = pickle.load(f, encoding='latin1')
 
-    with open("../example_data/paired_poses.pkl", "rb") as f:
-        motions = pickle.load(f)
+    # Obtain optimal motions as dual quaternions.
+    motions = robot_pose_selector(camera_to_marker, base_to_hand)
 
     # Initialize calibrator with precomputed motions.
     cb = Calibrator4DOF(motions)
 
-    # Our camera and end effector z-axes are antiparallel so we must apply a 180deg x-axis rotation.
+    # Our camera and end effector z-axes are antiparallel so we apply a 180deg x-axis rotation.
     dq_x = cb.calibrate(antiparallel_screw_axes=True)
 
-    # Calibration Obtained Hand to Camera
+    # Hand to Camera TF obtained from handeye calibration.
     ca_hand_to_camera = np.linalg.inv(dq_x.as_transform())
 
-    # Calibration Obtained with post nonlinear refinement
+    # Hand to Camera TF obtained from post nonlinear refinement.
     nl_hand_to_camera = cb.nonlinear_refinement(base_to_hand, camera_to_marker, ca_hand_to_camera)
-
-    ca_rotation = np.rad2deg(R.from_matrix(ca_hand_to_camera[:3, :3]).as_euler('xyz'))
-    nl_rotation = np.rad2deg(R.from_matrix(nl_hand_to_camera[:3, :3]).as_euler('xyz'))
-
-    # Ground Truth Hand to Camera
-    gt_translation = [-0.456, -0.037, -0.112]
-    gt_rotation = [180, 0, 0]
-
-    # NOTE: (1) Ground Truth itself may be inaccurate (manually measured).
-    #       (2) z-translation is an invalid number.
-    np.set_printoptions(precision=5)
-    print("Hand to Camera Transform Comparisons")
-    print("Translations: Calibration  {}".format(ca_hand_to_camera[:3, -1]))
-    print("              Nonlinear    {}".format(nl_hand_to_camera[:3, -1]))
-    print("              Ground Truth {}".format(gt_translation))
-    print("Rotations:    Calibration  {}".format(ca_rotation))
-    print("              Nonlinear    {}".format(nl_rotation))
-    print("              Ground Truth {}".format(gt_rotation))
-
-
-if __name__ == '__main__':
-    main()
-```
+  ```
 
 ## TODO
 - Improve README documentation.