Code release

lamaria/eval/create_empty_recon_from_estimate.py

@@ -29,7 +29,8 @@ def add_images_to_reconstruction(
     device_calibration_json: Path,
     slam_input_imu: int = 1,
 ):
-    """Add images to an existing empty reconstruction from a pose estimate file."""
+    """Add images to an existing empty
+    reconstruction from a pose estimate file."""
     pose_data = []
     with open(estimate_file) as f:
         lines = f.readlines()
@@ -141,11 +142,18 @@ def create_baseline_reconstruction(
 
     Args:
         estimate_file (Path): Path to the pose estimate file.
+
         cp_json_file (Path): Path to the sparse GT json file.
-        device_calibration_json (Path): Path to the Aria device calibration json file.
-        output_path (Path): Path to the output folder where the reconstruction will be saved.
-        slam_input_imu (int, optional): If 1, the poses in the estimate file are IMU poses.
-                                        If 0, the poses are left camera poses (monocular-cam0).
+
+        device_calibration_json (Path):
+        Path to the Aria device calibration json file.
+
+        output_path (Path): Path to the output folder
+        where the reconstruction will be saved.
+
+        slam_input_imu (int, optional):
+        If 1, the poses in the estimate file are IMU poses.
+        If 0, the poses are left camera poses (monocular-cam0).
     """
     recon_path = output_path / "reconstruction"
     recon_path.mkdir(parents=True, exist_ok=True)

lamaria/pipeline/keyframing/keyframe_selection.py

@@ -35,7 +35,9 @@ def run(
         original_image_dir: Path,
         keyframes_dir: Path,
     ) -> LamariaReconstruction:
-        """Entry point to run keyframing and copy keyframes into keyframe directory."""
+        """Entry point to run keyframing and
+        copy keyframes into keyframe directory.
+        """
 
         selector = KeyframeSelector(options, data)
         kf_recon = selector.run_keyframing()
@@ -236,9 +238,12 @@ def copy_images_to_keyframes_dir(
         images: Path,
         output: Path,
     ) -> Path:
-        """Copy images corresponding to keyframes to a separate directory.
-        Images are expected to be in `images/left` and `images/right` subdirectories.
-        Check: `extract_images_from_vrs` in `lamaria/utils/general.py` for more details.
+        """Copy images corresponding to
+        keyframes to a separate directory.
+        Images are expected to be in `images/left`
+        and `images/right` subdirectories.
+        Check: `extract_images_from_vrs` in
+        `lamaria/utils/general.py` for more details.
         """
         if self.keyframe_frame_ids is None:
             raise ValueError(

lamaria/pipeline/keyframing/to_colmap.py

@@ -100,7 +100,8 @@ def _init_data(
         estimate: Path | None = None,
         mps_folder: Path | None = None,
     ) -> None:
-        """Initializes data providers and extracts images, timestamps and builds per-frame data object.
+        """Initializes data providers and extracts images, timestamps
+        and builds per-frame data object.
         Per-frame data is used to create the initial Lamaria reconstruction.
         """
 
@@ -136,7 +137,7 @@ def _init_data(
         if self.options.mps.use_mps:
             timestamps = self._get_mps_timestamps()
             closed_loop_data = get_closed_loop_data_from_mps(mps_folder)
-            pose_timestamps = [l for l, _ in timestamps]
+            pose_timestamps = [left for left, _ in timestamps]
             mps_poses = get_mps_poses_for_timestamps(
                 closed_loop_data, pose_timestamps
             )
@@ -270,9 +271,10 @@ def _get_mps_timestamps(self, max_diff=1e6) -> list[tuple[int, int]]:
                 "Unequal number of left and right timestamps"
             )
             matched = list(zip(L, R))
-            if not all(abs(l - r) < max_diff for l, r in matched):
+            if not all(abs(left - right) < max_diff for left, right in matched):
                 logger.warning(
-                    f"Left and right timestamps differ by more than {max_diff} ns"
+                    f"Left and right timestamps differ "
+                    f"by more than {max_diff} ns"
                 )
         else:
             matched = get_matched_timestamps(L, R, max_diff)
@@ -451,7 +453,9 @@ def _add_online_sensors(self) -> None:
             self.data.reconstruction.add_rig(rig)
 
     def _add_device_frames(self) -> None:
-        """Adds frame data for each rig, all rigs share same device calibrated sensors"""
+        """Adds frame data for each rig,
+        all rigs share same device calibrated sensors
+        """
         image_id = 1
 
         rig = self.data.reconstruction.rigs[1]
@@ -479,7 +483,8 @@ def _add_device_frames(self) -> None:
                 self.data.reconstruction.add_image(im)
 
     def _add_online_frames(self) -> None:
-        """Adds frame data for each rig, each rig has its own online calibrated sensors
+        """Adds frame data for each rig, each rig has
+        its own online calibrated sensors
 
         Frame ID layout:
         fid=1 -> (imu=1, left=2, right=3), (image IDs: 1, 2);
@@ -497,7 +502,8 @@ def _add_online_frames(self) -> None:
 
             images_to_add = []
             # Camera ID layout from _add_online_sensors():
-            # fid=1 -> (imu=1, left=2, right=3); fid=2 -> (imu=4, left=5, right=6); ...
+            # fid=1 -> (imu=1, left=2, right=3);
+            # fid=2 -> (imu=4, left=5, right=6); ...
             left_cam_id = 3 * fid - 1
             right_cam_id = 3 * fid
 

lamaria/pipeline/optim/iterative_global_ba.py

@@ -148,7 +148,8 @@ def adjust(
         reg_image_ids = mapper.reconstruction.reg_image_ids()
         if len(reg_image_ids) < 2:
             logger.warning(
-                "At least two images must be registered for global bundle-adjustment"
+                "At least two images must be "
+                "registered for global bundle-adjustment"
             )
 
         ba_options = self._configure_ba_options(
@@ -177,7 +178,9 @@ def adjust(
         )
 
     def _configure_ba_options(self, pipeline_options, num_reg_images):
-        """Configure bundle adjustment options based on number of registered images"""
+        """Configure bundle adjustment options based on
+        number of registered images and pipeline options.
+        """
         ba_options = pipeline_options.get_global_bundle_adjustment()
         ba_options.print_summary = True
         ba_options.refine_rig_from_world = True  # Refine rig poses
@@ -224,17 +227,17 @@ def refine(
         # Configure triangulation options
         tri_options = pipeline_options.get_triangulation()
         mapper.complete_and_merge_tracks(tri_options)
-        num_retriangulated_observations = mapper.retriangulate(tri_options)
+        num_retri_obs = mapper.retriangulate(tri_options)
         logging.verbose(
             1,
-            f"=> Retriangulated observations: {num_retriangulated_observations}",
+            f"=> Retriangulated observations: {num_retri_obs}",
         )
 
         # Configure mapper options
         mapper_options = pipeline_options.get_mapper()
 
         # Iterative refinement
-        for i in range(pipeline_options.ba_global_max_refinements):
+        for _i in range(pipeline_options.ba_global_max_refinements):
             num_observations = mapper.reconstruction.compute_num_observations()
 
             GlobalBundleAdjustment.run(

lamaria/pipeline/optim/residual.py

@@ -76,7 +76,7 @@ def setup_manifolds_and_constraints(
         problem.set_parameter_block_constant(session.imu_from_rig.translation)
     if not imu_options.optimize_bias:
         constant_idxs = np.arange(3, 9)
-        for frame_id in session.imu_states.keys():
+        for frame_id in session.imu_states:
             problem.set_manifold(
                 session.imu_states[frame_id].data,
                 pyceres.SubsetManifold(9, constant_idxs),

lamaria/pipeline/optim/triangulation.py

@@ -53,7 +53,7 @@ def pairs_from_frames(recon: pycolmap.Reconstruction):
             by_index[k].append(n)
 
     adj_pairs = set()
-    for idx, seq in by_index.items():
+    for _idx, seq in by_index.items():
         for a, b in zip(seq[:-1], seq[1:]):
             adj_pairs.add((a, b))
 

lamaria/utils/camera.py

@@ -19,12 +19,15 @@ def add_cameras_to_reconstruction(
     reconstruction: pycolmap.Reconstruction,
     calibration_file: Path,
 ) -> None:
-    """Add Aria cameras to COLMAP reconstruction from calibration json file found on website:
-    https://lamaria.ethz.ch/slam_datasets
+    """Add Aria cameras to COLMAP reconstruction from calibration
+    json file found on website: https://lamaria.ethz.ch/slam_datasets
 
     Args:
-        reconstruction (pycolmap.Reconstruction): The COLMAP reconstruction to which cameras will be added
-        calibration_file (Path): Path to the Aria calibration json file
+        reconstruction (pycolmap.Reconstruction): The COLMAP reconstruction
+        to which cameras will be added
+
+        calibration_file (Path):
+        Path to the Aria calibration json file
     """
 
     for i, (key, _) in enumerate(ARIA_CAMERAS):
@@ -61,7 +64,8 @@ def get_camera_params_for_colmap(
     Convert Aria CameraCalibration to COLMAP camera parameters.
     Supported models: OPENCV_FISHEYE, FULL_OPENCV, RAD_TAN_THIN_PRISM_FISHEYE
     Args:
-        camera_calibration (CameraCalibration): The projectaria_tools CameraCalibration object
+        camera_calibration (CameraCalibration):
+        The projectaria_tools CameraCalibration object
         camera_model (str): The COLMAP camera model to use
     Returns:
         list[float]: The camera parameters in COLMAP format

lamaria/utils/control_point.py

@@ -18,8 +18,9 @@ def construct_control_points_from_json(
     Args:
         cp_json_file (Path): Path to the sparse GT JSON file
     """
+    with open(cp_json_file) as file:
+        cp_data = json.load(file)
 
-    cp_data = json.load(open(cp_json_file))
     control_points = {}
     for geo_id, data in cp_data["control_points"].items():
         tag_ids = data["tag_id"]