ci(pre-commit): autofix

calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/config/c1_intrinsics_calibrator.yaml

@@ -54,6 +54,6 @@ chess_board_detector:
   adaptive_thresh: false
   normalize_image: false
   fast_check: false
-  resized_detection: false 
+  resized_detection: false
   resized_max_resolution: 1000
   sub_pixel_refinement: true

calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/config/c2_intrinsics_calibrator.yaml

@@ -54,6 +54,6 @@ chess_board_detector:
   adaptive_thresh: false
   normalize_image: false
   fast_check: false
-  resized_detection: false 
+  resized_detection: false
   resized_max_resolution: 1000
   sub_pixel_refinement: true

calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/config/intrinsics_calibrator.yaml

@@ -58,6 +58,6 @@ chess_board_detector:
   adaptive_thresh: false
   normalize_image: false
   fast_check: false
-  resized_detection: false 
+  resized_detection: false
   resized_max_resolution: 1000
-  sub_pixel_refinement: true
+  sub_pixel_refinement: true

calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/config/intrinsics_calibrator_ceres.yaml

@@ -58,6 +58,6 @@ chess_board_detector:
   adaptive_thresh: false
   normalize_image: false
   fast_check: false
-  resized_detection: false 
+  resized_detection: false
   resized_max_resolution: 1000
-  sub_pixel_refinement: true
+  sub_pixel_refinement: true

calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/board_detections/array_board_detection.py

@@ -128,4 +128,3 @@ def get_flattened_cell_sizes(self):
 
         self._cached_flattened_cell_sizes = cell_sizes.flatten()
         return self._cached_flattened_cell_sizes
-

calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/board_detections/board_detection.py

@@ -101,7 +101,6 @@ def get_linear_error_rms(self) -> float:
         """Return RMS error product of the projection of the lines of each row of the detection into the line produced by the first and line point of each row."""
         raise NotImplementedError
 
-
     def restart_linearity_heatmap(self):
         """Restart linearity heatmap."""
         raise NotImplementedError
@@ -239,7 +238,7 @@ def get_speed(self, last: "BoardDetection") -> float:
         last_image_points = last.get_flattened_image_points()
 
         return np.linalg.norm(current_image_points - last_image_points, axis=-1).mean()
-    
+
     def get_aspect_ratio_pattern(self, model: CameraModel) -> float:
         """Get aspect ratio using the calibration pattern, which should be squared."""
         tilt, pan = self.get_rotation_angles(model)

calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/board_detectors/chessboard_detector.py

@@ -14,13 +14,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import time
+
 import cv2
 from intrinsic_camera_calibrator.board_detections.chess_board_detection import ChessBoardDetection
 from intrinsic_camera_calibrator.board_detectors.board_detector import BoardDetector
 from intrinsic_camera_calibrator.parameter import Parameter
 from intrinsic_camera_calibrator.utils import to_grayscale
 import numpy as np
-import time
 
 
 class ChessBoardDetector(BoardDetector):
@@ -59,7 +60,7 @@ def detect(self, img: np.array, stamp: float):
             resized_detection = self.resized_detection.value
             resized_max_resolution = self.resized_max_resolution.value
 
-        def get_roi(corners, frame_shape, padding = 120):
+        def get_roi(corners, frame_shape, padding=120):
             x_min, y_min = np.min(corners, axis=0).ravel().astype(int) - padding
             x_max, y_max = np.max(corners, axis=0).ravel().astype(int) + padding
             x_min, y_min = max(0, x_min), max(0, y_min)
@@ -81,7 +82,7 @@ def get_roi(corners, frame_shape, padding = 120):
                     self.detection_results_signal.emit(img, None, stamp)
                     return
             else:
-                roi_frame = grayscale[self.roi[1]:self.roi[3], self.roi[0]:self.roi[2]]
+                roi_frame = grayscale[self.roi[1] : self.roi[3], self.roi[0] : self.roi[2]]
                 (ok, corners) = cv2.findChessboardCorners(roi_frame, (cols, rows), flags=flags)
                 if ok:
                     corners += (self.roi[0], self.roi[1])
@@ -93,7 +94,9 @@ def get_roi(corners, frame_shape, padding = 120):
                     return
 
             if self.roi:
-                cv2.rectangle(img, (self.roi[0], self.roi[1]), (self.roi[2], self.roi[3]), (0, 255, 0), 2)
+                cv2.rectangle(
+                    img, (self.roi[0], self.roi[1]), (self.roi[2], self.roi[3]), (0, 255, 0), 2
+                )
 
         else:
             # Find the resized dimensions
@@ -164,5 +167,5 @@ def get_roi(corners, frame_shape, padding = 120):
             object_points=object_points,
             image_points=image_points,
         )
-        print("detect_fcn: ", time.time()-st_time, flush=True)
+        print("detect_fcn: ", time.time() - st_time, flush=True)
         self.detection_results_signal.emit(img, detection, stamp)

calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/camera_calibrator.py

@@ -250,7 +250,7 @@ def make_solver_group(self):
 
         def on_calibrator_clicked():
             self.current_calibrator_type = self.calibrator_type_combobox.currentData()
-       
+
         for calibrator_type in CalibratorEnum:
             self.calibrator_type_combobox.addItem(calibrator_type.value["display"], calibrator_type)
 
@@ -266,7 +266,7 @@ def on_calibrator_clicked():
 
         self.calibrator_type_combobox.currentIndexChanged.connect(on_calibrator_clicked)
         self.current_calibrator_type = self.calibrator_type_combobox.currentData()
-        
+
         solver_layout = QVBoxLayout()
         solver_layout.setAlignment(Qt.AlignTop)
         solver_layout.addWidget(self.calibrator_type_combobox)
@@ -615,7 +615,7 @@ def start(
         board_type: BoardEnum,
         board_parameters: ParameterizedClass,
         initial_intrinsics: CameraModel,
-        cfg : dict,
+        cfg: dict,
     ):
         self.operation_mode = mode
         self.data_source = data_source
@@ -647,7 +647,7 @@ def start(
             calibrator.partial_calibration_results_signal.connect(
                 self.process_partial_calibration_result
             )
-        
+
         # Qt logic
         self.should_process_image.connect(self.process_data)
         self.produced_data_signal.connect(self.process_new_data)
@@ -886,7 +886,7 @@ def save_parameters(self, filename):
         calib_params = self.calibrator_dict[calibrator_type].get_parameters_values()
         with open(filename, "w") as file:
             yaml.dump({"board_parameters": board_params}, file, default_flow_style=False)
-            yaml.dump({"board_type" : self.board_type.value["name"]}, file, default_flow_style=False)
+            yaml.dump({"board_type": self.board_type.value["name"]}, file, default_flow_style=False)
             yaml.dump(
                 {"calibrator_type": calibrator_type.value["name"]}, file, default_flow_style=False
             )
@@ -949,7 +949,7 @@ def on_save_clicked(self):
     def process_detection_results(self, img: np.array, detection: BoardDetection, img_stamp: float):
         """Process the results from an object detection."""
         # Signal that the detector is free
-        print("elapsedtime_Debug: ", time.time()- self.time_for_debug, flush=True)
+        print("elapsedtime_Debug: ", time.time() - self.time_for_debug, flush=True)
         self.consumed_data_signal.emit()
         self.time_for_debug = time.time()
 
@@ -997,7 +997,7 @@ def process_detection_results(self, img: np.array, detection: BoardDetection, im
                 self.indicators_alpha_spinbox.value(),
                 False,
             )
-            self.skip_next_img = 3 # skips the next images if there are no detections
+            self.skip_next_img = 3  # skips the next images if there are no detections
 
         else:
             camera_model_cfg, camera_model_type = self.calibrator_dict[
@@ -1015,7 +1015,7 @@ def process_detection_results(self, img: np.array, detection: BoardDetection, im
                     mode=self.operation_mode,
                 )
                 # filter_result = CollectionStatus.REJECTED
-                print("dat_coll : ", time.time()-dat_coll_start, flush=True)
+                print("dat_coll : ", time.time() - dat_coll_start, flush=True)
             else:
                 filter_result = CollectionStatus.NOT_EVALUATED
 
@@ -1086,7 +1086,7 @@ def process_detection_results(self, img: np.array, detection: BoardDetection, im
                 f"Linear error cols rms:  {err_rms_cols:.2f} px"  # noqa E231
             )
             self.aspect_ratio_label.setText(
-               f"Aspect Ratio:  {detection.get_aspect_ratio_pattern(camera_model):.2f} px"  # noqa E231
+                f"Aspect Ratio:  {detection.get_aspect_ratio_pattern(camera_model):.2f} px"  # noqa E231
             )
             self.rough_tilt_label.setText(
                 f"Rough tilt: {detection.get_tilt(camera_model):.2f} degrees"  # noqa E231
@@ -1203,10 +1203,12 @@ def process_detection_results(self, img: np.array, detection: BoardDetection, im
         detection_time = current_time - self.detection_request_time
 
         if self.operation_mode == OperationMode.CALIBRATION:
-            self.setWindowTitle(f"Camera intrinsics calibrator ({self.data_source.get_camera_name()}). Data delay={detection_delay: .2f} Detection time={detection_time: .2f} fps={self.estimated_fps: .2f} Data time={img_stamp: .2f}"
+            self.setWindowTitle(
+                f"Camera intrinsics calibrator ({self.data_source.get_camera_name()}). Data delay={detection_delay: .2f} Detection time={detection_time: .2f} fps={self.estimated_fps: .2f} Data time={img_stamp: .2f}"
             )
         if self.operation_mode == OperationMode.EVALUATION:
-            self.setWindowTitle(f"Camera intrinsics Evaluation Mode ({self.data_source.get_camera_name()}). Data delay={detection_delay: .2f} Detection time={detection_time: .2f} fps={self.estimated_fps: .2f} Data time={img_stamp: .2f}"
+            self.setWindowTitle(
+                f"Camera intrinsics Evaluation Mode ({self.data_source.get_camera_name()}). Data delay={detection_delay: .2f} Detection time={detection_time: .2f} fps={self.estimated_fps: .2f} Data time={img_stamp: .2f}"
             )
 
         self.image_view.update()

calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/views/initialization_view.py

@@ -14,9 +14,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import logging
-import yaml
 from collections import defaultdict
+import logging
+import os
+
 from PySide2.QtCore import Signal
 from PySide2.QtWidgets import QComboBox
 from PySide2.QtWidgets import QFileDialog
@@ -25,6 +26,7 @@
 from PySide2.QtWidgets import QRadioButton
 from PySide2.QtWidgets import QVBoxLayout
 from PySide2.QtWidgets import QWidget
+from ament_index_python.packages import get_package_share_directory
 from intrinsic_camera_calibrator.board_parameters.board_parameters_factory import (
     make_board_parameters,
 )
@@ -39,8 +41,7 @@
 from intrinsic_camera_calibrator.views.parameter_view import ParameterView
 from intrinsic_camera_calibrator.views.ros_bag_view import RosBagView
 from intrinsic_camera_calibrator.views.ros_topic_view import RosTopicView
-from ament_index_python.packages import get_package_share_directory
-import os
+import yaml
 
 
 class InitializationView(QWidget):
@@ -65,9 +66,9 @@ def __init__(self, calibrator: "CameraIntrinsicsCalibratorUI", cfg):  # noqa F82
         }
 
         # Get the package share directory
-        package_share_dir = get_package_share_directory('intrinsic_camera_calibrator')
+        package_share_dir = get_package_share_directory("intrinsic_camera_calibrator")
         # Get the path to the config directory
-        config_dir = os.path.join(package_share_dir, 'config')
+        config_dir = os.path.join(package_share_dir, "config")
 
         self.layout = QVBoxLayout(self)
 
@@ -94,22 +95,19 @@ def __init__(self, calibrator: "CameraIntrinsicsCalibratorUI", cfg):  # noqa F82
         def on_params_combo_box_changed(index):
             if self.params_combobox.currentText() == "Load File":
                 file_name, _ = QFileDialog.getOpenFileName(
-                    self,
-                    "Open File",
-                    "",
-                    "All Files (*.*);;Text Files (*.yaml)"
+                    self, "Open File", "", "All Files (*.*);;Text Files (*.yaml)"
                 )
                 if file_name:
                     print(f"Selected file: {file_name}")
                     config_file_path = file_name
             elif self.params_combobox.currentText() == "C1":
-                config_file_path = os.path.join(config_dir, 'c1_intrinsics_calibrator.yaml')
+                config_file_path = os.path.join(config_dir, "c1_intrinsics_calibrator.yaml")
             elif self.params_combobox.currentText() == "C2":
-                config_file_path = os.path.join(config_dir, 'c2_intrinsics_calibrator.yaml')
+                config_file_path = os.path.join(config_dir, "c2_intrinsics_calibrator.yaml")
             elif self.params_combobox.currentText() == "Ceres Calib":
-                config_file_path = os.path.join(config_dir, 'intrinsics_calibrator_ceres.yaml')
+                config_file_path = os.path.join(config_dir, "intrinsics_calibrator_ceres.yaml")
             elif self.params_combobox.currentText() == "General":
-                config_file_path = os.path.join(config_dir, 'intrinsics_calibrator.yaml')
+                config_file_path = os.path.join(config_dir, "intrinsics_calibrator.yaml")
 
             if config_file_path:
                 cfg = {}
@@ -238,7 +236,7 @@ def on_success():
                 board_type,
                 self.board_parameters_dict[board_type],
                 self.initial_intrinsics,
-                self.cfg
+                self.cfg,
             )
             self.close()