Set line length to 119 for black and pylint

.pylintrc

@@ -12,4 +12,4 @@ max-locals=16
 max-returns=9
 
 [FORMAT]
-max-line-length=120
+max-line-length=119

continuous-integration/lint.sh

@@ -8,7 +8,7 @@ pythonFiles=$(find "$SOURCE_DIR" -name '*.py' -not -path "*/ur_hand_eye_calibrat
 
 echo Running black on:
 echo "$pythonFiles"
-black --check --diff $pythonFiles || exit $?
+black --config="$ROOT_DIR/pyproject.toml" --check --diff $pythonFiles || exit $?
 
 echo Running flake8 on:
 echo "$pythonFiles"

pyproject.toml

@@ -0,0 +1,2 @@
+[tool.black]
+line-length = 119

source/applications/advanced/color_balance.py

@@ -72,9 +72,7 @@ def _set_settings(dimension, iris, exposure_time, brightness, gain):
  settings.brightness = brightness
  settings.gain = gain
  else:
- raise ValueError(
- f"The dimension value should be '3d' or '2d', got: '{dimension}'"
- )
+ raise ValueError(f"The dimension value should be '3d' or '2d', got: '{dimension}'")
 
  return settings
 
@@ -195,16 +193,10 @@ def _color_balance_calibration(camera, settings_3d):
  f"{int(mean_color.blue)} "
  )
  )
- if int(mean_color.green) == int(mean_color.red) and int(
- mean_color.green
- ) == int(mean_color.blue):
+ if int(mean_color.green) == int(mean_color.red) and int(mean_color.green) == int(mean_color.blue):
  break
- corrected_red_balance = (
- camera.settings.red_balance * mean_color.green / mean_color.red
- )
- corrected_blue_balance = (
- camera.settings.blue_balance * mean_color.green / mean_color.blue
- )
+ corrected_red_balance = camera.settings.red_balance * mean_color.green / mean_color.red
+ corrected_blue_balance = camera.settings.blue_balance * mean_color.green / mean_color.blue
  _display_rgb(rgb, "RGB image after color balance (3D capture)")
 
  return (corrected_red_balance, corrected_blue_balance)

source/applications/advanced/create_depth_map.py

@@ -23,9 +23,7 @@ def _main():
  depth_map = np.dstack([point_cloud["z"]])
 
  depth_map_uint8 = (
- (depth_map - np.nanmin(depth_map))
- / (np.nanmax(depth_map) - np.nanmin(depth_map))
- * 255
+ (depth_map - np.nanmin(depth_map)) / (np.nanmax(depth_map) - np.nanmin(depth_map)) * 255
  ).astype(np.uint8)
 
  # Applying color map

source/applications/advanced/downsample.py

@@ -23,9 +23,7 @@ def _gridsum(matrix, downsampling_factor):
  Returns:
  Matrix reshaped and summed in second direction.
  """
- return _sumline(
- np.transpose(_sumline(matrix, downsampling_factor)), downsampling_factor
- )
+ return _sumline(np.transpose(_sumline(matrix, downsampling_factor)), downsampling_factor)
 
 
 def _sumline(matrix, downsampling_factor):
@@ -41,9 +39,7 @@ def _sumline(matrix, downsampling_factor):
  Matrix reshaped and summed in first direction.
  """
  return np.transpose(
- np.nansum(
- np.transpose(np.transpose(matrix).reshape(-1, downsampling_factor)), 0
- ).reshape(
+ np.nansum(np.transpose(np.transpose(matrix).reshape(-1, downsampling_factor)), 0).reshape(
  int(np.shape(np.transpose(matrix))[0]),
  int(np.shape(np.transpose(matrix))[1] / downsampling_factor),
  )
@@ -69,12 +65,8 @@ def _downsample(xyz, rgb, contrast, downsampling_factor):
  """
 
  # Checking if downsampling_factor is ok
- if fmod(rgb.shape[0], downsampling_factor) or fmod(
- rgb.shape[1], downsampling_factor
- ):
- raise ValueError(
- "Downsampling factor has to be a factor of point cloud width (1920) and height (1200)."
- )
+ if fmod(rgb.shape[0], downsampling_factor) or fmod(rgb.shape[1], downsampling_factor):
+ raise ValueError("Downsampling factor has to be a factor of point cloud width (1920) and height (1200).")
 
  rgb_new = np.zeros(
  (
@@ -86,8 +78,7 @@ def _downsample(xyz, rgb, contrast, downsampling_factor):
  )
  for i in range(3):
  rgb_new[:, :, i] = (
- (np.transpose(_gridsum(rgb[:, :, i], downsampling_factor)))
- / (downsampling_factor * downsampling_factor)
+ (np.transpose(_gridsum(rgb[:, :, i], downsampling_factor))) / (downsampling_factor * downsampling_factor)
  ).astype(np.uint8)
 
  contrast[np.isnan(xyz[:, :, 2])] = 0

source/applications/advanced/gamma_correction.py

@@ -16,10 +16,7 @@ def _options():
 
  """
  parser = argparse.ArgumentParser(
- description=(
- "Capture 2D image and apply gamma correction\n"
- "Example:\n\t $ python gamma_correction.py 2"
- ),
+ description=("Capture 2D image and apply gamma correction\n" "Example:\n\t $ python gamma_correction.py 2"),
  formatter_class=argparse.RawTextHelpFormatter,
  )
 
@@ -44,9 +41,7 @@ def adjust_gamma(image, gamma: float):
  # build a lookup table mapping the pixel values [0, 255] to
  # their adjusted gamma values
  inv_gamma = 1.0 / gamma
- table = np.array(
- [((i / 255.0) ** inv_gamma) * 255 for i in np.arange(0, 256)]
- ).astype("uint8")
+ table = np.array([((i / 255.0) ** inv_gamma) * 255 for i in np.arange(0, 256)]).astype("uint8")
  # apply gamma correction using the lookup table
  return cv2.LUT(image, table)
 

source/applications/advanced/hand_eye_calibration/calibrate_eye_to_hand.py

@@ -19,8 +19,7 @@ def _acquire_checkerboard_frame(camera):
 
 def _enter_robot_pose(index):
  inputted = input(
- f"Enter pose with id={index} (a line with 16 space separated values"
- " describing 4x4 row-major matrix):"
+ f"Enter pose with id={index} (a line with 16 space separated values" " describing 4x4 row-major matrix):"
  )
  elements = inputted.split(maxsplit=15)
  data = np.array(elements, dtype=np.float64).reshape((4, 4))
@@ -38,9 +37,7 @@ def _main():
  calibrate = False
 
  while not calibrate:
- command = input(
- "Enter command, p (to add robot pose) or c (to perform calibration):"
- ).strip()
+ command = input("Enter command, p (to add robot pose) or c (to perform calibration):").strip()
  if command == "p":
  try:
  robot_pose = _enter_robot_pose(current_pose_id)

source/applications/advanced/hand_eye_calibration/pose_conversions.py

@@ -232,12 +232,8 @@ def roll_pitch_yaw_to_rotation_matrix(rpy_list):
 
  """
  for rotation in rpy_list:
- rotation_matrix = R.from_euler(
- rotation["convention"].value, rotation["roll_pitch_yaw"]
- ).as_matrix()
- print(
- f"Rotation Matrix from Roll-Pitch-Yaw angles ({rotation['convention'].name}):"
- )
+ rotation_matrix = R.from_euler(rotation["convention"].value, rotation["roll_pitch_yaw"]).as_matrix()
+ print(f"Rotation Matrix from Roll-Pitch-Yaw angles ({rotation['convention'].name}):")
  print(f"{rotation_matrix}")
 
 

source/applications/advanced/hand_eye_calibration/ur_hand_eye_calibration/3rdParty/rtde-2.3.6/rtde/csv_binary_writer.py

@@ -22,16 +22,17 @@
 # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 import sys
-sys.path.append('..')
+
+sys.path.append("..")
 
 import struct
 from rtde import serialize
 
+
 class CSVBinaryWriter(object):
-
- def __init__(self, file, names, types, delimiter=' '):
+ def __init__(self, file, names, types, delimiter=" "):
  if len(names) != len(types):
- raise ValueError('List sizes are not identical.')
+ raise ValueError("List sizes are not identical.")
  self.__file = file
  self.__names = names
  self.__types = types
@@ -43,75 +44,146 @@ def __init__(self, file, names, types, delimiter=' '):
  self.__columns += size
  if size > 1:
  for j in range(size):
- name = self.__names[i]+'_'+str(j)
+ name = self.__names[i] + "_" + str(j)
  self.__header_names.append(name)
  else:
  name = self.__names[i]
  self.__header_names.append(name)
- 
+
  def getType(self, vtype):
- if(vtype == 'VECTOR3D'):
+ if vtype == "VECTOR3D":
  return "DOUBLE" + self.__delimiter + "DOUBLE" + self.__delimiter + "DOUBLE"
- elif(vtype == 'VECTOR6D'):
- return "DOUBLE" + self.__delimiter + "DOUBLE" + self.__delimiter + "DOUBLE" + self.__delimiter + "DOUBLE" + self.__delimiter + "DOUBLE" + self.__delimiter + "DOUBLE"
- elif(vtype == 'VECTOR6INT32'):
- return "INT32" + self.__delimiter + "INT32" + self.__delimiter + "INT32" + self.__delimiter + "INT32" + self.__delimiter + "INT32" + self.__delimiter + "INT32"
- elif(vtype == 'VECTOR6UINT32'):
- return "UINT32" + self.__delimiter + "UINT32" + self.__delimiter + "UINT32" + self.__delimiter + "UINT32" + self.__delimiter + "UINT32" + self.__delimiter + "UINT32"
+ elif vtype == "VECTOR6D":
+ return (
+ "DOUBLE"
+ + self.__delimiter
+ + "DOUBLE"
+ + self.__delimiter
+ + "DOUBLE"
+ + self.__delimiter
+ + "DOUBLE"
+ + self.__delimiter
+ + "DOUBLE"
+ + self.__delimiter
+ + "DOUBLE"
+ )
+ elif vtype == "VECTOR6INT32":
+ return (
+ "INT32"
+ + self.__delimiter
+ + "INT32"
+ + self.__delimiter
+ + "INT32"
+ + self.__delimiter
+ + "INT32"
+ + self.__delimiter
+ + "INT32"
+ + self.__delimiter
+ + "INT32"
+ )
+ elif vtype == "VECTOR6UINT32":
+ return (
+ "UINT32"
+ + self.__delimiter
+ + "UINT32"
+ + self.__delimiter
+ + "UINT32"
+ + self.__delimiter
+ + "UINT32"
+ + self.__delimiter
+ + "UINT32"
+ + self.__delimiter
+ + "UINT32"
+ )
  else:
  return str(vtype)
 
-
  def writeheader(self):
- #Header names
- headerStr=str("")
+ # Header names
+ headerStr = str("")
  for i in range(len(self.__header_names)):
- if(i != 0):
+ if i != 0:
  headerStr += self.__delimiter
 
  headerStr += self.__header_names[i]
 
  headerStr += "\n"
- self.__file.write(struct.pack(str(len(headerStr)) + 's', headerStr))
+ self.__file.write(struct.pack(str(len(headerStr)) + "s", headerStr))
 
- #Header types
- typeStr=str("")
+ # Header types
+ typeStr = str("")
  for i in range(len(self.__names)):
- if(i != 0):
+ if i != 0:
  typeStr += self.__delimiter
 
  typeStr += self.getType(self.__types[i])
 
  typeStr += "\n"
- self.__file.write(struct.pack(str(len(typeStr)) + 's', typeStr))
+ self.__file.write(struct.pack(str(len(typeStr)) + "s", typeStr))
 
-
  def packToBinary(self, vtype, value):
  print(vtype)
- if(vtype == 'BOOL'):
+ if vtype == "BOOL":
  print("isBOOL" + str(value))
- if(vtype == 'UINT8'):
+ if vtype == "UINT8":
  print("isUINT8" + str(value))
- elif(vtype == 'INT32'):
+ elif vtype == "INT32":
  print("isINT32" + str(value))
- elif(vtype == 'INT64'):
+ elif vtype == "INT64":
  print("isINT64" + str(value))
- elif(vtype == 'UINT32'):
+ elif vtype == "UINT32":
  print("isUINT32" + str(value))
- elif(vtype == 'UINT64'):
+ elif vtype == "UINT64":
  print("isUINT64" + str(value))
- elif(vtype == 'DOUBLE'):
+ elif vtype == "DOUBLE":
  print("isDOUBLE" + str(value) + str(type(value)) + str(sys.getsizeof(value)))
- elif(vtype == 'VECTOR3D'):
- print("isVECTOR3D" + str(value[0]) + ","+ str(value[1]) + ","+ str(value[2]))
- elif(vtype == 'VECTOR6D'):
- print("isVECTOR6D" + str(value[0]) + ","+ str(value[1]) + ","+ str(value[2]) + ","+ str(value[3]) + ","+ str(value[4]) + ","+ str(value[5]))
- elif(vtype == 'VECTOR6INT32'):
- print("isVECTOR6INT32" + str(value[0]) + ","+ str(value[1]) + ","+ str(value[2]) + ","+ str(value[3]) + ","+ str(value[4]) + ","+ str(value[5]))
- elif(vtype == 'VECTOR6UINT32'):
- print("isVECTOR6UINT32" + str(value[0]) + ","+ str(value[1]) + ","+ str(value[2]) + ","+ str(value[3]) + ","+ str(value[4]) + ","+ str(value[5]))
+ elif vtype == "VECTOR3D":
+ print("isVECTOR3D" + str(value[0]) + "," + str(value[1]) + "," + str(value[2]))
+ elif vtype == "VECTOR6D":
+ print(
+ "isVECTOR6D"
+ + str(value[0])
+ + ","
+ + str(value[1])
+ + ","
+ + str(value[2])
+ + ","
+ + str(value[3])
+ + ","
+ + str(value[4])
+ + ","
+ + str(value[5])
+ )
+ elif vtype == "VECTOR6INT32":
+ print(
+ "isVECTOR6INT32"
+ + str(value[0])
+ + ","
+ + str(value[1])
+ + ","
+ + str(value[2])
+ + ","
+ + str(value[3])
+ + ","
+ + str(value[4])
+ + ","
+ + str(value[5])
+ )
+ elif vtype == "VECTOR6UINT32":
+ print(
+ "isVECTOR6UINT32"
+ + str(value[0])
+ + ","
+ + str(value[1])
+ + ","
+ + str(value[2])
+ + ","
+ + str(value[3])
+ + ","
+ + str(value[4])
+ + ","
+ + str(value[5])
+ )
 
  def writerow(self, data_object):
  self.__file.write(data_object)
-
-