formatting problems

leggedrobotics · Aug 16, 2023 · 467149e · 467149e
1 parent 5205a04
commit 467149e
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Showing 3 changed files with 35 additions and 10 deletions.
diff --git a/scripts/dataset_generation/extract_binary_images_and_labels.py b/scripts/dataset_generation/extract_binary_images_and_labels.py
@@ -66,9 +66,11 @@ def do(n, dry_run):
 
     valid_topics = ["/state_estimator/anymal_state", "/wide_angle_camera_front/img_out"]
 
-    rosbags = ["/home/rschmid/RosBags/6/images.bag",
-               "/home/rschmid/RosBags/6/2023-03-02-11-13-08_anymal-d020-lpc_mission_0.bag",
-               "/home/rschmid/RosBags/6/2023-03-02-11-13-08_anymal-d020-lpc_mission_1.bag"]
+    rosbags = [
+        "/home/rschmid/RosBags/6/images.bag",
+        "/home/rschmid/RosBags/6/2023-03-02-11-13-08_anymal-d020-lpc_mission_0.bag",
+        "/home/rschmid/RosBags/6/2023-03-02-11-13-08_anymal-d020-lpc_mission_1.bag",
+    ]
 
     output_bag_wvn = s + "_wvn.bag"
     output_bag_tf = s + "_tf.bag"
@@ -115,7 +117,20 @@ def do(n, dry_run):
     info_msg.distortion_model = "equidistant"
     info_msg.D = [0.4316922809468283, 0.09279900476637248, -0.4010909691803734, 0.4756163338479413]
     info_msg.K = [575.6050407221768, 0.0, 745.7312198525915, 0.0, 578.564849365178, 519.5207040671075, 0.0, 0.0, 1.0]
-    info_msg.P = [575.6050407221768, 0.0, 745.7312198525915, 0.0, 0.0, 578.564849365178, 519.5207040671075, 0.0, 0.0, 0.0, 1.0, 0.0]
+    info_msg.P = [
+        575.6050407221768,
+        0.0,
+        745.7312198525915,
+        0.0,
+        0.0,
+        578.564849365178,
+        519.5207040671075,
+        0.0,
+        0.0,
+        0.0,
+        1.0,
+        0.0,
+    ]
     info_msg.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
 
     rosbag_info_dict = get_bag_info(output_bag_wvn)
@@ -150,7 +165,7 @@ def do(n, dry_run):
 
                     info_msg.header = msg.header
                     camera_options = {}
-                    camera_options['name'] = "wide_angle_camera_front"
+                    camera_options["name"] = "wide_angle_camera_front"
                     camera_options["use_for_training"] = True
 
                     info_msg.header = msg.header

diff --git a/wild_visual_navigation_ros/scripts/rotate_image.py b/wild_visual_navigation_ros/scripts/rotate_image.py
@@ -6,7 +6,6 @@
 from cv_bridge import CvBridge, CvBridgeError
 
 
-
 class ImageRotator:
     def __init__(self):
         self.bridge = CvBridge()

diff --git a/wild_visual_navigation_ros/scripts/wild_visual_navigation_node.py b/wild_visual_navigation_ros/scripts/wild_visual_navigation_node.py
@@ -276,7 +276,9 @@ def read_params(self):
 
         # Select mode: # debug, online, extract_labels
         self.use_debug_for_desired = rospy.get_param("~use_debug_for_desired")  # Note: Unused parameter
-        self.use_binary_only = rospy.get_param("~use_binary_only") # Only extract binary labels, do not update traversability
+        self.use_binary_only = rospy.get_param(
+            "~use_binary_only"
+        )  # Only extract binary labels, do not update traversability
         self.mode = WVNMode.from_string(rospy.get_param("~mode", "debug"))
         self.extraction_store_folder = rospy.get_param("~extraction_store_folder")
 
@@ -510,7 +512,12 @@ def query_tf(self, parent_frame: str, child_frame: str, stamp: Optional[rospy.Ti
                 res = self.tf_buffer.lookup_transform(parent_frame, child_frame, stamp)
                 trans = (res.transform.translation.x, res.transform.translation.y, res.transform.translation.z)
                 rot = np.array(
-                    [res.transform.rotation.x, res.transform.rotation.y, res.transform.rotation.z, res.transform.rotation.w]
+                    [
+                        res.transform.rotation.x,
+                        res.transform.rotation.y,
+                        res.transform.rotation.z,
+                        res.transform.rotation.w,
+                    ]
                 )
                 rot /= np.linalg.norm(rot)
                 return (trans, tuple(rot))
@@ -593,7 +600,11 @@ def robot_state_callback(self, state_msg, desired_twist_msg: TwistStamped):
                 desired_twist_tensor = rc.twist_stamped_to_torch(desired_twist_msg, device=self.device)
 
                 # Update traversability
-                traversability, traversability_var, is_untraversable = self.supervision_generator.update_velocity_tracking(
+                (
+                    traversability,
+                    traversability_var,
+                    is_untraversable,
+                ) = self.supervision_generator.update_velocity_tracking(
                     current_twist_tensor, desired_twist_tensor, velocities=["vx", "vy"]
                 )
 
@@ -706,7 +717,7 @@ def image_callback(self, image_msg: Image, info_msg: CameraInfo, camera_options:
 
             # Add node to graph
             added_new_node = self.traversability_estimator.add_mission_node(mission_node)
-            
+
             if not self.use_binary_only:
                 with SystemLevelContextGpuMonitor(self, "update_prediction"):
                     with SystemLevelContextTimer(self, "update_prediction"):