Merge branch 'main' into remove-tracks

Author: kielnino

annotation_gui_gcp/lib/GUI.py

@@ -7,11 +7,12 @@
 from collections import defaultdict
 
 import flask
+from opensfm import dataset
+
 from .views.cad_view import CADView
 from .views.cp_finder_view import ControlPointFinderView
 from .views.image_view import ImageView
 from .views.tools_view import ToolsView
-from opensfm import dataset
 
 
 class Gui:

annotation_gui_gcp/lib/gcp_manager.py

@@ -71,7 +71,7 @@ def __repr__(self):
 
 
 def observation_to_json(
-    obs: t.Union[PointMeasurement3D, PointMeasurement]
+    obs: t.Union[PointMeasurement3D, PointMeasurement],
 ) -> t.Dict[str, t.Any]:
     if isinstance(obs, PointMeasurement):
         return {
@@ -90,7 +90,7 @@ def observation_to_json(
 
 
 def observation_from_json(
-    obs: t.Dict[str, t.Any]
+    obs: t.Dict[str, t.Any],
 ) -> t.Union[PointMeasurement3D, PointMeasurement]:
     if "projection" in obs:
         return PointMeasurement(

annotation_gui_gcp/lib/geometry.py

@@ -1,8 +1,9 @@
 # pyre-unsafe
-from opensfm import dataset
-from numpy import ndarray
 from typing import Dict, Tuple
 
+from numpy import ndarray
+from opensfm import dataset
+
 
 def get_all_track_observations(gcp_database, track_id: str) -> Dict[str, ndarray]:
     print(f"Getting all observations of track {track_id}")
@@ -12,7 +13,9 @@ def get_all_track_observations(gcp_database, track_id: str) -> Dict[str, ndarray
     return {shot_id: obs.point for shot_id, obs in track_obs.items()}
 
 
-def get_tracks_visible_in_image(gcp_database, image_key, min_len: int=5) -> Dict[str, Tuple[ndarray, int]]:
+def get_tracks_visible_in_image(
+    gcp_database, image_key, min_len: int = 5
+) -> Dict[str, Tuple[ndarray, int]]:
     print(f"Getting track observations visible in {image_key}")
     data = dataset.DataSet(gcp_database.path)
     tracks_manager = data.load_tracks_manager()

annotation_gui_gcp/lib/views/cad_view.py

@@ -5,10 +5,11 @@
 from typing import Any, Dict, Tuple
 
 import rasterio
-from ..views.web_view import WebView, distinct_colors
 from flask import send_file
 from PIL import ImageColor
 
+from ..views.web_view import distinct_colors, WebView
+
 logger: logging.Logger = logging.getLogger(__name__)
 
 
@@ -31,7 +32,7 @@ def __init__(
         route_prefix,
         path_cad_file,
         is_geo_reference=False,
-    )-> None:
+    ) -> None:
         super().__init__(main_ui, web_app, route_prefix)
 
         self.main_ui = main_ui
@@ -60,7 +61,7 @@ def process_client_message(self, data: Dict[str, Any]) -> None:
         else:
             raise ValueError(f"Unknown event {event}")
 
-    def add_remove_update_point_observation(self, point_coordinates=None)->None:
+    def add_remove_update_point_observation(self, point_coordinates=None) -> None:
         gcp_manager = self.main_ui.gcp_manager
         active_gcp = self.main_ui.curr_point
         if active_gcp is None:
@@ -98,17 +99,17 @@ def add_remove_update_point_observation(self, point_coordinates=None)->None:
     def display_points(self) -> None:
         pass
 
-    def refocus(self, lat, lon)->None:
+    def refocus(self, lat, lon) -> None:
         x, y, z = self.latlon_to_xyz(lat, lon)
         self.send_sse_message(
             {"x": x, "y": y, "z": z},
             event_type="move_camera",
         )
 
-    def highlight_gcp_reprojection(self, *args, **kwargs)->None:
+    def highlight_gcp_reprojection(self, *args, **kwargs) -> None:
         pass
 
-    def populate_image_list(self, *args, **kwargs)->None:
+    def populate_image_list(self, *args, **kwargs) -> None:
         pass
 
     def latlon_to_xyz(self, lat, lon) -> Tuple[float, float, float]:
@@ -129,13 +130,13 @@ def xyz_to_latlon(self, x, y, z) -> Tuple[float, float, float]:
         lons, lats, alts = rasterio.warp.transform(self.crs, "EPSG:4326", [x], [y], [z])
         return lats[0], lons[0], alts[0]
 
-    def load_georeference_metadata(self, path_cad_model)->None:
+    def load_georeference_metadata(self, path_cad_model) -> None:
         metadata = _load_georeference_metadata(path_cad_model)
         self.scale = metadata["scale"]
         self.crs = metadata["crs"]
         self.offset = metadata["offset"]
 
-    def sync_to_client(self)->None:
+    def sync_to_client(self) -> None:
         """
         Sends all the data required to initialize or sync the CAD view
         """
@@ -152,7 +153,11 @@ def sync_to_client(self)->None:
         for point_id, coords in visible_points_coords.items():
             hex_color = distinct_colors[divmod(hash(point_id), 19)[1]]
             color = ImageColor.getrgb(hex_color)
-            data["annotations"][point_id] = {"coordinates": coords[:-1], "precision": coords[-1], "color": color}
+            data["annotations"][point_id] = {
+                "coordinates": coords[:-1],
+                "precision": coords[-1],
+                "color": color,
+            }
 
         # Add the 3D reprojections of the points
         fn_reprojections = Path(

annotation_gui_gcp/lib/views/image_view.py

@@ -1,7 +1,7 @@
 # pyre-unsafe
-from typing import Dict, Any
+from typing import Any, Dict
 
-from .web_view import WebView, distinct_colors
+from .web_view import distinct_colors, WebView
 
 
 def point_color(point_id: str) -> str:

annotation_gui_gcp/lib/views/tools_view.py

@@ -1,5 +1,5 @@
 # pyre-unsafe
-from typing import Dict, Any
+from typing import Any, Dict
 
 from .web_view import WebView
 

annotation_gui_gcp/lib/views/web_view.py

@@ -4,7 +4,7 @@
 import time
 from queue import Queue
 
-from flask import Response, jsonify, render_template, request
+from flask import jsonify, render_template, request, Response
 
 distinct_colors = [
     "#46f0f0",

annotation_gui_gcp/main.py

@@ -2,16 +2,18 @@
 import argparse
 import json
 import typing as t
-from collections import OrderedDict, defaultdict
+from collections import defaultdict, OrderedDict
 from os import PathLike
 from pathlib import Path
 from typing import Union
 
 import numpy as np
+from flask import Flask
 from mapillary.opensfm.annotation_gui_gcp.lib import GUI
-from mapillary.opensfm.annotation_gui_gcp.lib.gcp_manager import GroundControlPointManager
+from mapillary.opensfm.annotation_gui_gcp.lib.gcp_manager import (
+    GroundControlPointManager,
+)
 from mapillary.opensfm.annotation_gui_gcp.lib.image_manager import ImageManager
-from flask import Flask
 from opensfm import dataset, io
 
 

annotation_gui_gcp/run_ba.py

@@ -739,7 +739,6 @@ def align(
     resplit = resplit_reconstruction(merged, reconstructions)
     data.save_reconstruction(resplit, fn_resplit)
     if covariance:
-
         # Re-triangulate to remove badly conditioned points
         n_points = len(merged.points)
 

bin/migrate_undistort.sh

@@ -2,16 +2,16 @@
 
 # Migrate dataset to the new undistort folder structure.
 
-if [ $# -le 0 ] 
+if [ $# -le 0 ]
 then
-    echo "Migrate dataset to the new undistort folder structure." 
+    echo "Migrate dataset to the new undistort folder structure."
     echo
-	echo "Usage:"
+    echo "Usage:"
     echo
     echo "    $0 dataset"
     echo
-	exit 1
-fi 
+    exit 1
+fi
 
 cd $1