Fixing black

.pre-commit-config.yaml

@@ -7,6 +7,6 @@ repos:
       - id: trailing-whitespace
       - id: requirements-txt-fixer
   - repo: https://github.com/psf/black
-    rev: 22.6.0
+    rev: 22.10.0
     hooks:
       - id: black

project/Visualisation.py

@@ -41,7 +41,7 @@ def visualize(self, pcd_s: List[Pcd], graph_estimated_state):
         )
 
         pc_answ = o3d.geometry.PointCloud()
-        graph_estimated_state = graph_estimated_state[:len(pcd_s)]
+        graph_estimated_state = graph_estimated_state[: len(pcd_s)]
         for i in range(num_of_nodes):
             pc = self.visualize_pcd(
                 pcd_s[-(i + 1)], [graph_estimated_state[-(i + 1)], reflection]
@@ -69,8 +69,6 @@ def __draw_pcd(pcd: o3d.geometry.PointCloud):
         for point in picked_points:
             print(
                 "Pont with position {0} picked. Color: {1}".format(
-                    points[point],
-                    denormalize_color(colors[point])
+                    points[point], denormalize_color(colors[point])
                 )
             )
-

project/annotators/Annotator.py

@@ -33,7 +33,9 @@ def annotate(self, pcd, depth_image_number: int):
         """
         pcd.planes = self._get_planes(
             pcd,
-            self.array_path_to_annot[self._get_annot_image_number_by_depth(depth_image_number)]
+            self.array_path_to_annot[
+                self._get_annot_image_number_by_depth(depth_image_number)
+            ],
         )
 
         return pcd

project/annotators/AnnotatorImage.py

@@ -12,9 +12,16 @@ class AnnotatorImage(Annotator):
     Extracts planes from annotation in rgb format
     """
 
-    def __init__(self, array_path_annot: List[str], array_path_depth: List[str], is_office: bool = False):
+    def __init__(
+        self,
+        array_path_annot: List[str],
+        array_path_depth: List[str],
+        is_office: bool = False,
+    ):
         super().__init__(array_path_annot)
-        self.depth_to_rgb = AnnotatorImage.__match_rgb_with_depth(array_path_annot, array_path_depth, is_office)
+        self.depth_to_rgb = AnnotatorImage.__match_rgb_with_depth(
+            array_path_annot, array_path_depth, is_office
+        )
 
     def _get_planes(self, pcd, image_colors: str):
         planes_of_image = []
@@ -45,7 +52,7 @@ def __match_rgb_with_depth(rgb_filenames, depth_filenames, is_office: bool) -> l
         depth_to_rgb_index = []
         rgb_index = 0
         depth_index = 0
-        prev_delta = float('inf')
+        prev_delta = float("inf")
         while depth_index < len(depth_filenames) and rgb_index < len(rgb_filenames):
             if is_office:
                 rgb_timestamp = float(rgb_filenames[rgb_index][-8:-4])

project/annotators/AnnotatorPointCloud.py

@@ -28,9 +28,7 @@ def _get_planes(self, pcd, image_colors: str):
             equation = Plane.get_equation(plane_points)
             equations.append(equation)
 
-            plane = Plane(
-                equation, track=annot_num, color=None, indices=indices
-            )
+            plane = Plane(equation, track=annot_num, color=None, indices=indices)
             planes.append(plane)
 
         return planes

project/associators/AssociatorAnnotNpy.py

@@ -17,7 +17,9 @@ def associate(self, pcd_s: List[Pcd]):
         for pcd in pcd_s:
             for plane in pcd.planes:
                 if plane.track not in self.__track_to_color:
-                    self.__track_to_color[plane.track] = color_to_string(get_random_color())
+                    self.__track_to_color[plane.track] = color_to_string(
+                        get_random_color()
+                    )
                 plane.color = color_from_string(self.__track_to_color[plane.track])
 
         return pcd_s

project/main.py

@@ -25,7 +25,11 @@
 from project.postprocessing.SmallPlanesFilter import SmallPlanesFilter
 from project.slam.EigenPointsSLAMGraph import EigenPointsSLAMGraph
 from project.slam.LandmarksSLAMGraph import LandmarksSLAMGraph
-from project.utils.intervals import load_evaluation_intervals, dump_evaluation_intervals, ids_list_to_intervals
+from project.utils.intervals import (
+    load_evaluation_intervals,
+    dump_evaluation_intervals,
+    ids_list_to_intervals,
+)
 from project.utils.quaternion import read_poses_csv
 
 FORMAT_ICL_TUM = 1
@@ -74,8 +78,18 @@ def create_main_lists_office(main_data_path: str):
 
 def create_main_and_annot_list_carla(main_data_path: str):
     files = os.listdir(main_data_path)
-    annot_list = list(map(lambda x: os.path.join(main_data_path, x), filter(lambda x: x.endswith(".npy"), files)))
-    main_data_list = list(map(lambda x: os.path.join(main_data_path, x), filter(lambda x: x.endswith(".pcd"), files)))
+    annot_list = list(
+        map(
+            lambda x: os.path.join(main_data_path, x),
+            filter(lambda x: x.endswith(".npy"), files),
+        )
+    )
+    main_data_list = list(
+        map(
+            lambda x: os.path.join(main_data_path, x),
+            filter(lambda x: x.endswith(".pcd"), files),
+        )
+    )
 
     return annot_list, main_data_list
 
@@ -156,7 +170,6 @@ def main(
     # TODO: 1203,1285 living
     # TODO: 1300,1508 living
 
-
     # in not normalized format (0-255 for RGB)
     ignore_color_strs = [
         # # Associator.make_string_from_array([156, 244, 150]),  # подушка-сидушка левая  --- не влияет на первом интервале (380 -- 500)
@@ -188,7 +201,9 @@ def main(
         enough_intervals = ids_list_to_intervals(pcd_enough_planes_ids)
         dump_evaluation_intervals("intervals.csv", enough_intervals)
     else:
-        enough_intervals = load_evaluation_intervals(intervals_source_path, total_frames)
+        enough_intervals = load_evaluation_intervals(
+            intervals_source_path, total_frames
+        )
 
     for interval in enough_intervals:
         pcds = []
@@ -225,7 +240,6 @@ def main(
         # graph_estimated_state = graph_estimated_state_landmarks
         graph_estimated_state = read_poses_csv("pose_result.csv")
 
-
         # measure_error = MeasureError(ds_filename_gt, len(annot_list), num_of_nodes)
         # measure_error.measure_error(first_node, first_gt_node, graph_estimated_state)
         #
@@ -255,7 +269,7 @@ def main(
         "--evaluate_intervals_source_path",
         type=str,
         default=None,
-        help="Path to csv with intervals of frames to evaluate on"
+        help="Path to csv with intervals of frames to evaluate on",
     )
     parser.add_argument(
         "first_gt_node", type=int, help="From what node gt references start"

project/pcdBuilders/PcdBuilderPointCloud.py

@@ -13,11 +13,7 @@ class PcdBuilderPointCloud(PcdBuilder):
     """
 
     def __init__(
-        self,
-        camera: Camera,
-        annot: AnnotatorPointCloud,
-        reflection=None,
-        scale=1000
+        self, camera: Camera, annot: AnnotatorPointCloud, reflection=None, scale=1000
     ):
         super().__init__(camera, annot)
         self.reflection = reflection

project/postprocessing/PlaneInfoPrinter.py

@@ -12,6 +12,8 @@ def print_planes_info(pcds: List[Pcd]):
             for plane in pcd.planes:
                 color_str = color_to_string(plane.color)
                 if color_str not in data:
-                    data[color_str] = "id: {0}, pts_cnt: {1}".format(plane.track, len(plane.plane_indices))
+                    data[color_str] = "id: {0}, pts_cnt: {1}".format(
+                        plane.track, len(plane.plane_indices)
+                    )
 
         print(data)

project/postprocessing/PlaneRemover.py

@@ -9,7 +9,10 @@ class PlaneRemover:
     def remove_by_colors(pcd: Pcd, color_strs: List[str]) -> Pcd:
         result = Pcd(pcd.points)
         for plane in pcd.planes:
-            if plane.color is None or Associator.make_string_from_array(plane.color) not in color_strs:
+            if (
+                plane.color is None
+                or Associator.make_string_from_array(plane.color) not in color_strs
+            ):
                 result.planes.append(plane)
 
         return result

project/postprocessing/PostProcessing.py

@@ -29,4 +29,4 @@ def post_process(pcd_s: List[Pcd], verbose=False):
         map_indx_to_max_num_points = sorted(
             indx_to_max_num_points, key=indx_to_max_num_points.get
         )
-        return map_indx_to_max_num_points[-config.MAX_PLANES_COUNT:]
+        return map_indx_to_max_num_points[-config.MAX_PLANES_COUNT :]

project/slam/EigenPointsSLAMGraph.py

@@ -6,7 +6,6 @@
 
 
 class EigenPointsSLAMGraph(SLAMGraph):
-
     def _add_plane_node(self) -> int:
         return self.graph.add_eigen_factor_plane()
 
@@ -22,7 +21,7 @@ def _add_planes(self, pcd_s: List[Pcd], needed_indices: List[int]):
                     planeEigenId=cur_indx,
                     nodePoseId=self.graph_trajectory[i],
                     pointsArray=plane_points,
-                    W=1.0
+                    W=1.0,
                 )
 
     def _solve(self):

project/slam/SLAMGraph.py

@@ -34,9 +34,15 @@ def _add_plane_node(self) -> int:
     def _solve(self):
         pass
 
-    def __build_graph(self, pcd_s: List[Pcd], needed_indices: List[int] = None, initial_poses=None):
+    def __build_graph(
+        self, pcd_s: List[Pcd], needed_indices: List[int] = None, initial_poses=None
+    ):
         for index, _ in enumerate(pcd_s):
-            item = geometry.SE3() if initial_poses is None else geometry.SE3(initial_poses[index])
+            item = (
+                geometry.SE3()
+                if initial_poses is None
+                else geometry.SE3(initial_poses[index])
+            )
             if index == 0:
                 next_node = self.graph.add_node_pose_3d(item, mrob.NODE_ANCHOR)
             else:
@@ -46,13 +52,14 @@ def __build_graph(self, pcd_s: List[Pcd], needed_indices: List[int] = None, init
         for pcd in pcd_s:
             for plane in pcd.planes:
                 if (
-                        (needed_indices is None or plane.track in needed_indices)
-                        and plane.track not in self.plane_index_to_real_index
-                ):
+                    needed_indices is None or plane.track in needed_indices
+                ) and plane.track not in self.plane_index_to_real_index:
                     real_index = self._add_plane_node()
                     self.plane_index_to_real_index[plane.track] = real_index
 
-    def estimate_graph(self, pcd_s: List[Pcd], needed_indices: List[int] = None, initial_poses=None):
+    def estimate_graph(
+        self, pcd_s: List[Pcd], needed_indices: List[int] = None, initial_poses=None
+    ):
         self.__build_graph(pcd_s, needed_indices, initial_poses)
         self._add_planes(pcd_s, needed_indices)
         self._solve()

project/utils/colors.py

@@ -7,7 +7,9 @@ def color_to_string(color_arr):
 
 
 def color_from_string(color_str):
-    return np.fromiter((float(channel_str) for channel_str in color_str.split(',')), dtype=np.float64)
+    return np.fromiter(
+        (float(channel_str) for channel_str in color_str.split(",")), dtype=np.float64
+    )
 
 
 def normalize_color(color):
@@ -34,7 +36,9 @@ def denormalize_color_arr(color_arr):
 def get_random_color():
     random_color = np.asarray(UNSEGMENTED_PCD_COLOR)
     while color_to_string(random_color) in produced_colors_set:
-        random_color = np.asarray([int(x) for x in np.random.choice(range(256), size=3)])
+        random_color = np.asarray(
+            [int(x) for x in np.random.choice(range(256), size=3)]
+        )
 
     produced_colors_set.add(color_to_string(random_color))
 
@@ -43,5 +47,3 @@ def get_random_color():
 
 def get_random_normalized_color():
     return normalize_color(get_random_color())
-
-

project/utils/intervals.py

@@ -4,8 +4,8 @@
 
 def load_evaluation_intervals(path: str, total_frames: int) -> List[Tuple[int, int]]:
     result = []
-    with open(path, 'r', newline='') as csvfile:
-        reader = csv.reader(csvfile, delimiter=',', quotechar='|')
+    with open(path, "r", newline="") as csvfile:
+        reader = csv.reader(csvfile, delimiter=",", quotechar="|")
         for row in reader:
             from_id, to_id = row[:2]
             result.append((int(from_id), int(to_id)))
@@ -14,12 +14,9 @@ def load_evaluation_intervals(path: str, total_frames: int) -> List[Tuple[int, i
 
 
 def dump_evaluation_intervals(path: str, intervals: List[Tuple[int, int]]):
-    with open(path, 'w', newline='') as csvfile:
+    with open(path, "w", newline="") as csvfile:
         writer = csv.writer(
-            csvfile,
-            delimiter=',',
-            quotechar='|',
-            quoting=csv.QUOTE_MINIMAL
+            csvfile, delimiter=",", quotechar="|", quoting=csv.QUOTE_MINIMAL
         )
         for interval in intervals:
             writer.writerow(interval)

project/utils/quaternion.py

@@ -6,7 +6,7 @@
 
 def read_poses_csv(path_to_file: str) -> List[np.array]:
     result = []
-    with open(path_to_file, 'r') as poses_file:
+    with open(path_to_file, "r") as poses_file:
         for line in poses_file:
             values = line.split(",")
             x, y, z = list(map(lambda x: float(x), values[:3]))