Bump Ruff to 0.11.4 (#30)

Author: YifuTao

Diff for: .github/workflows/ruff.yml

@@ -5,6 +5,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
-      - uses: chartboost/ruff-action@v1
+      - uses: astral-sh/ruff-action@v3
         with:
-          version: 0.8.1
+          version: "0.11.4"
+          args: "--version"
+      - run: ruff check --config pyproject.toml
+      - run: ruff format --check --config pyproject.toml

Diff for: .pre-commit-config.yaml

@@ -1,15 +1,16 @@
 repos:
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.8.1
+    rev: v0.11.4
     hooks:
       # Run the linter.
       - id: ruff
         types_or: [python, pyi, jupyter]
-        args: [ --fix ]
+        args: [--fix, --config, pyproject.toml]
       # Run the formatter.
       - id: ruff-format
         types_or: [python, pyi, jupyter]
+        args: [--config, pyproject.toml]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
     rev: v18.1.8  # Replace with the latest version

Diff for: oxford_spires_utils/sensor.py

@@ -40,9 +40,9 @@ class Camera:
     def __post_init__(self):
         assert self.camera_model in supported_camera_models, f"Camera model {self.camera_model} not supported"
         assert len(self.intrinsics) == 4, f"Expected 4 intrinsics, got {len(self.intrinsics)}"
-        assert (
-            len(self.extra_params) == expected_num_extra_param[self.camera_model]
-        ), f"Expected {expected_num_extra_param[self.camera_model]} extra params, got {len(self.extra_params)}"
+        assert len(self.extra_params) == expected_num_extra_param[self.camera_model], (
+            f"Expected {expected_num_extra_param[self.camera_model]} extra params, got {len(self.extra_params)}"
+        )
         self.T_cam_lidar_overwrite = (
             get_transformation_matrix(self.T_cam_lidar_t_xyz_q_xyzw_overwrite)
             if len(self.T_cam_lidar_t_xyz_q_xyzw_overwrite) > 0

Diff for: oxford_spires_utils/trajectory/file_interfaces/nerf.py

@@ -163,14 +163,14 @@ def replace_transform_matrix(self, pose: PosePath3D, template_meta: dict):
         @params template_meta: template json file
         """
         meta = deepcopy(template_meta)
-        assert (
-            len(meta["frames"]) == pose.num_poses
-        ), "Number of frames in template file does not match the number of poses"
+        assert len(meta["frames"]) == pose.num_poses, (
+            "Number of frames in template file does not match the number of poses"
+        )
         for i in range(pose.num_poses):
             # assume order of frames in template file is the same as the order of poses
-            assert pose.timestamps[i] == NeRFTrajUtils.get_t_float128_from_fname(
-                meta["frames"][i]["file_path"]
-            ), "Timestamps of frames in template file does not match the timestamps of poses"
+            assert pose.timestamps[i] == NeRFTrajUtils.get_t_float128_from_fname(meta["frames"][i]["file_path"]), (
+                "Timestamps of frames in template file does not match the timestamps of poses"
+            )
             meta["frames"][i]["transform_matrix"] = pose.poses_se3[i].tolist()
         return meta
 

Diff for: oxford_spires_utils/trajectory/file_interfaces/timestamp.py

@@ -74,9 +74,9 @@ def t_float128(self):
 
         t_float128 = np.float128(self.t_string)
         # check
-        assert (
-            TimeStamp.get_string_from_t_float128(t_float128) == self.t_string
-        ), f"Precision Lost: t_float128 {t_float128} should be {self.t_string}"
+        assert TimeStamp.get_string_from_t_float128(t_float128) == self.t_string, (
+            f"Precision Lost: t_float128 {t_float128} should be {self.t_string}"
+        )
 
         return t_float128
 
@@ -109,9 +109,9 @@ def get_sec_nsec_from_float128(t_float128):
         @param f: np.float128
         @return: (sec, nsec), both str, nsec is 9 digits
         """
-        assert isinstance(
-            t_float128, np.float128
-        ), f"t_float128 should be of type np.float128, but is {type(t_float128)}"
+        assert isinstance(t_float128, np.float128), (
+            f"t_float128 should be of type np.float128, but is {type(t_float128)}"
+        )
         sec, nsec = str(t_float128).split(".")
         nsec = nsec.ljust(NSECONDS_DIGITS, "0")
         assert len(nsec) == NSECONDS_DIGITS, f"nsec {nsec} should be {NSECONDS_DIGITS} digits"

Diff for: oxford_spires_utils/trajectory/file_interfaces/tum.py

@@ -74,9 +74,9 @@ def read_tum_pose_custom(self, file_path, prefix="", suffix=""):
                 print("skipping lines with wrong prefix or suffix")
                 continue
             t_float128 = TimeStamp(t_string=fname[len(prefix) : len(fname) - len(suffix)]).t_float128
-            assert (
-                TimeStamp.get_string_from_t_float128(t_float128) == fname[len(prefix) : len(fname) - len(suffix)]
-            ), f"loss of precision in timestamp: before {fname[len(prefix) : len(fname)-len(suffix)]}; after {t_float}"
+            assert TimeStamp.get_string_from_t_float128(t_float128) == fname[len(prefix) : len(fname) - len(suffix)], (
+                f"loss of precision in timestamp: before {fname[len(prefix) : len(fname) - len(suffix)]}; after {t_float}"
+            )
             time_stamp.append(t_float128)
             translation = splited[1:4]
             quaternion_xyzw = splited[4:8]

Diff for: oxford_spires_utils/trajectory/file_interfaces/vilens_slam.py

@@ -31,6 +31,7 @@ def read_file(self):
         quat_wxyz = np.roll(quat_xyzw, 1, axis=1)  # xyzw -> wxyz
         return evo.core.trajectory.PoseTrajectory3D(xyz, quat_wxyz, timestamps=timestamps)
 
+
 class VilensSlamTrajWriter(BasicTrajWriter):
     """
     write VILENS SLAM trajectory format file (poses.csv)
@@ -41,7 +42,7 @@ def __init__(self, file_path, **kwargs):
 
     def write_file(self, pose):
         """
-        this is used for CSV style trajectory file 
+        this is used for CSV style trajectory file
         @param self.file_path: path to save the file
         @param pose: PoseTrajectory3D from evo
         """
@@ -69,4 +70,4 @@ def write_file(self, pose):
                 f.write(str(pose.orientations_quat_wxyz[i][2]) + ", ")
                 f.write(str(pose.orientations_quat_wxyz[i][3]) + ", ")
                 f.write(str(pose.orientations_quat_wxyz[i][0]))
-                f.writelines("\n")
+                f.writelines("\n")

Diff for: requirements.txt

@@ -7,4 +7,6 @@ pye57>=0.4.13
 # nerfstudio==1.1.4
 evo>=1.29.0
 pytransform3d>=3.5.0
-huggingface_hub>=0.25.1
+huggingface_hub>=0.25.1
+ruff==0.11.4
+pre-commit==3.0.0

Diff for: scripts/localisation_benchmark/colmap.py

@@ -10,8 +10,7 @@
 from oxford_spires_utils.trajectory.json_handler import JsonHandler
 
 
-def convert_to_tum (path_to_output, path_to_sec):
-    
+def convert_to_tum(path_to_output, path_to_sec):
     print("Convert from JSON format to TUM!!")
 
     # Remove other cameras
@@ -28,80 +27,81 @@ def convert_to_tum (path_to_output, path_to_sec):
     print("*********************************************************")
 
 
-def get_sec_list (dataset_dir, flag_is_all=True):
+def get_sec_list(dataset_dir, flag_is_all=True):
     if flag_is_all:
         list_sec = os.listdir(dataset_dir)
     else:
         list_sec = [
-                    "2024-03-12-keble-college-02",
-                    "2024-03-12-keble-college-03",
-                    "2024-03-12-keble-college-04",
-                    "2024-03-12-keble-college-05",
-                    "2024-03-13-observatory-quarter-01",
-                    "2024-03-13-observatory-quarter-02",
-                    "2024-03-14-blenheim-palace-01",
-                    "2024-03-14-blenheim-palace-02",
-                    "2024-03-14-blenheim-palace-05",
-                    "2024-03-18-christ-church-01",
-                    "2024-03-18-christ-church-02",
-                    "2024-03-18-christ-church-03",
-                    "2024-03-20-christ-church-05",
-                    "2024-05-20-bodleian-library-02",
-                    "2024-05-20-bodleian-library-03",
-                    "2024-05-20-bodleian-library-04",
-                    "2024-05-20-bodleian-library-05"
-                    ]
+            "2024-03-12-keble-college-02",
+            "2024-03-12-keble-college-03",
+            "2024-03-12-keble-college-04",
+            "2024-03-12-keble-college-05",
+            "2024-03-13-observatory-quarter-01",
+            "2024-03-13-observatory-quarter-02",
+            "2024-03-14-blenheim-palace-01",
+            "2024-03-14-blenheim-palace-02",
+            "2024-03-14-blenheim-palace-05",
+            "2024-03-18-christ-church-01",
+            "2024-03-18-christ-church-02",
+            "2024-03-18-christ-church-03",
+            "2024-03-20-christ-church-05",
+            "2024-05-20-bodleian-library-02",
+            "2024-05-20-bodleian-library-03",
+            "2024-05-20-bodleian-library-04",
+            "2024-05-20-bodleian-library-05",
+        ]
     return list_sec
 
-def evaluation_ape_rmse (path_to_gt, path_traj, dataset_dir, method):
-    
+
+def evaluation_ape_rmse(path_to_gt, path_traj, dataset_dir, method):
     print("RUNNING VILENS EVALUATION ...")
 
-    output = run_command("evo_ape tum {} {} --align --t_max_diff 0.01".format(path_to_gt, path_traj), print_output=False)
-    
+    output = run_command(
+        "evo_ape tum {} {} --align --t_max_diff 0.01".format(path_to_gt, path_traj), print_output=False
+    )
+
     rmse = -1
     for line in output.stdout:
         print(line, end="")
         if "rmse" in line:
-            numbers = re.findall('\d+\.\d+|\d+', line)
+            numbers = re.findall("\d+\.\d+|\d+", line)
             rmse = numbers[0]
-    
+
     logging.basicConfig(filename=dataset_dir + "results.log", filemode="a", level=logging.INFO)
     logging.info(path_to_sec)
     logging.info("APE - RMSE result ({}): {}".format(method, rmse))
     print("RMSE added to log: {}".format(rmse))
 
     return rmse
 
-def create_output_folder (path_to_sec):
+
+def create_output_folder(path_to_sec):
     path_to_output = path_to_sec + "/output" + "/colmap/"
     # if not os.path.exists(path_to_output):
     #         os.makedirs(path_to_output)
     return path_to_output
 
-if __name__ == "__main__":
 
+if __name__ == "__main__":
     # -------------------------------------------------------------------------------- #
     # TODO: get path from arg an define folders in the future class.
     package_dir = "/home/mice85/oxford-lab/labrobotica/algorithms/oxford_spires_dataset"
-    dataset_dir = "/media/mice85/blackdrive1/oxford_spires_dataset/data/" 
+    dataset_dir = "/media/mice85/blackdrive1/oxford_spires_dataset/data/"
     flag_is_all = False
     # -------------------------------------------------------------------------------- #
 
-    list_sec = get_sec_list (dataset_dir, flag_is_all)
-    
-    print('Total sequence folders: ' + str(len(list_sec)))
-    
+    list_sec = get_sec_list(dataset_dir, flag_is_all)
+
+    print("Total sequence folders: " + str(len(list_sec)))
+
     # Print list of sequences
     for sec in list_sec:
-        
         path_to_sec = dataset_dir + sec
         path_to_gt = path_to_sec + "/processed/trajectory/gt-tum.txt"
 
-        path_to_output = create_output_folder (path_to_sec)
+        path_to_output = create_output_folder(path_to_sec)
 
-        convert_to_tum (path_to_output, path_to_sec)
+        convert_to_tum(path_to_output, path_to_sec)
 
         path_traj = path_to_sec + "/output" + "/colmap-tum.txt"
-        rmse = evaluation_ape_rmse (path_to_gt, path_traj, dataset_dir, "COLMAP")
-    
+        rmse = evaluation_ape_rmse(path_to_gt, path_traj, dataset_dir, "COLMAP")