Merge pull request #135 from nim65s/lints

extend ruff config

.pre-commit-config.yaml

@@ -1,15 +1,12 @@
 repos:
-- repo: https://github.com/PyCQA/isort
-  rev: 5.13.2
-  hooks:
-  - id: isort
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.2.1
+  rev: v0.2.2
   hooks:
   - id: ruff
     args:
     - --fix
     - --exit-non-zero-on-fix
+  - id: ruff-format
 - repo: https://github.com/pappasam/toml-sort
   rev: v0.23.1
   hooks:
@@ -33,7 +30,3 @@ repos:
   - id: fix-byte-order-marker
   - id: mixed-line-ending
   - id: trailing-whitespace
-- repo: https://github.com/psf/black
-  rev: 24.2.0
-  hooks:
-  - id: black

docs/conf.py

@@ -10,7 +10,7 @@
 import happypose
 
 project = happypose.__name__
-copyright = f"2023, {happypose.__author__}"  # noqa: A001
+copyright = f"2023, {happypose.__author__}"
 author = happypose.__author__
 release = happypose.__version__
 

experiments/job-runner/job_runner/utils.py

@@ -3,6 +3,7 @@
 from typing import List
 
 import submitit
+
 from job_runner.configs import JobEnvironmentConfig, RunnerConfig
 
 

happypose/pose_estimators/cosypose/cosypose/datasets/bop.py

@@ -13,7 +13,7 @@
 from happypose.toolbox.lib3d.transform import Transform
 
 sys.path.append(str(BOP_TOOLKIT_DIR))
-from bop_toolkit_lib import inout  # noqa
+from bop_toolkit_lib import inout
 
 sys.path = sys.path[:-1]
 

happypose/pose_estimators/cosypose/cosypose/evaluation/meters/pose_meters.py

@@ -262,9 +262,10 @@ def add(self, pred_data, gt_data):
         errors_TCO_xyz = errors["TCO_xyz"].cpu().numpy()[matches["cand_id"].values]
         errors_TCO_norm = errors["TCO_norm"].cpu().numpy()[matches["cand_id"].values]
 
-        matches["obj_diameter"] = "match_id", [
-            self.mesh_db.infos[k.item()]["diameter_m"] for k in matches["label"]
-        ]
+        matches["obj_diameter"] = (
+            "match_id",
+            [self.mesh_db.infos[k.item()]["diameter_m"] for k in matches["label"]],
+        )
         matches["norm"] = "match_id", errors_norm
         matches["0.1d"] = "match_id", errors_norm < 0.1 * matches["obj_diameter"]
         matches["xyz"] = ("match_id", "dim3"), errors_xyz

happypose/pose_estimators/cosypose/cosypose/recording/bop_recording_scene.py

@@ -120,7 +120,7 @@ def pick_rand_objects(self):
         self.bodies = self.body_cache.get_bodies_by_ids(ids)
 
     def visuals_rand(self):
-        bodies = [self.background] + [self.plane]
+        bodies = [self.background, self.plane]
         if self.textures_on_objects and self.np_random.rand() > 0.9:
             bodies = self.bodies + bodies
         for body in bodies:

happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_inference.py

@@ -22,10 +22,10 @@
     make_object_dataset,
     make_scene_dataset,
 )
-from happypose.pose_estimators.cosypose.cosypose.datasets.wrappers.multiview_wrapper import (  # noqa: E501
+from happypose.pose_estimators.cosypose.cosypose.datasets.wrappers.multiview_wrapper import (
     MultiViewWrapper,
 )
-from happypose.pose_estimators.cosypose.cosypose.evaluation.pred_runner.bop_predictions import (  # noqa: E501
+from happypose.pose_estimators.cosypose.cosypose.evaluation.pred_runner.bop_predictions import (
     BopPredictionRunner,
 )
 from happypose.pose_estimators.cosypose.cosypose.evaluation.runner_utils import (
@@ -67,9 +67,7 @@
     init_distributed_mode,
 )
 from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
-from happypose.toolbox.renderer.bullet_batch_renderer import (  # noqa: E501
-    BulletBatchRenderer,
-)
+from happypose.toolbox.renderer.bullet_batch_renderer import BulletBatchRenderer
 
 torch.multiprocessing.set_sharing_strategy("file_system")
 torch.backends.cudnn.deterministic = True

happypose/pose_estimators/cosypose/cosypose/scripts/run_colmap_reconstruction.py

@@ -9,7 +9,7 @@
 from happypose.pose_estimators.cosypose.cosypose.datasets.datasets_cfg import (
     make_scene_dataset,
 )
-from happypose.pose_estimators.cosypose.cosypose.datasets.wrappers.multiview_wrapper import (  # noqa: E501
+from happypose.pose_estimators.cosypose.cosypose.datasets.wrappers.multiview_wrapper import (
     MultiViewWrapper,
 )
 

happypose/pose_estimators/cosypose/cosypose/scripts/run_cosypose_eval.py

@@ -28,16 +28,16 @@
     make_scene_dataset,
 )
 from happypose.pose_estimators.cosypose.cosypose.datasets.samplers import ListSampler
-from happypose.pose_estimators.cosypose.cosypose.datasets.wrappers.multiview_wrapper import (  # noqa: E501
+from happypose.pose_estimators.cosypose.cosypose.datasets.wrappers.multiview_wrapper import (
     MultiViewWrapper,
 )
-from happypose.pose_estimators.cosypose.cosypose.evaluation.eval_runner.pose_eval import (  # noqa: E501
+from happypose.pose_estimators.cosypose.cosypose.evaluation.eval_runner.pose_eval import (
     PoseEvaluation,
 )
 from happypose.pose_estimators.cosypose.cosypose.evaluation.meters.pose_meters import (
     PoseErrorMeter,
 )
-from happypose.pose_estimators.cosypose.cosypose.evaluation.pred_runner.multiview_predictions import (  # noqa: E501
+from happypose.pose_estimators.cosypose.cosypose.evaluation.pred_runner.multiview_predictions import (
     MultiviewPredictionRunner,
 )
 from happypose.pose_estimators.cosypose.cosypose.evaluation.runner_utils import (
@@ -65,9 +65,7 @@
 )
 from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
 from happypose.toolbox.lib3d.transform import Transform
-from happypose.toolbox.renderer.bullet_batch_renderer import (  # noqa: E501
-    BulletBatchRenderer,
-)
+from happypose.toolbox.renderer.bullet_batch_renderer import BulletBatchRenderer
 
 logger = get_logger(__name__)
 

happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py

@@ -26,7 +26,7 @@
 from happypose.pose_estimators.cosypose.cosypose.visualization.multiview import nms3d
 
 sys.path.append(str(BOP_TOOLKIT_DIR))
-from bop_toolkit_lib import inout  # noqa
+from bop_toolkit_lib import inout
 
 logger = get_logger(__name__)
 

happypose/pose_estimators/cosypose/cosypose/scripts/run_detection_eval.py

@@ -14,13 +14,13 @@
 from happypose.pose_estimators.cosypose.cosypose.datasets.datasets_cfg import (
     make_scene_dataset,
 )
-from happypose.pose_estimators.cosypose.cosypose.evaluation.eval_runner.detection_eval import (  # noqa: E501
+from happypose.pose_estimators.cosypose.cosypose.evaluation.eval_runner.detection_eval import (
     DetectionEvaluation,
 )
-from happypose.pose_estimators.cosypose.cosypose.evaluation.meters.detection_meters import (  # noqa: E501
+from happypose.pose_estimators.cosypose.cosypose.evaluation.meters.detection_meters import (
     DetectionMeter,
 )
-from happypose.pose_estimators.cosypose.cosypose.evaluation.pred_runner.detections import (  # noqa: E501
+from happypose.pose_estimators.cosypose.cosypose.evaluation.pred_runner.detections import (
     DetectionRunner,
 )
 from happypose.pose_estimators.cosypose.cosypose.evaluation.runner_utils import (

happypose/pose_estimators/cosypose/cosypose/utils/tensor_collection.py

@@ -65,7 +65,7 @@ def tensors(self):
 
     @property
     def device(self):
-        return list(self.tensors.values())[0].device
+        return next(iter(self.tensors.values())).device
 
     def __getstate__(self):
         return {"tensors": self.tensors}

happypose/pose_estimators/cosypose/cosypose/visualization/multiview.py

@@ -13,9 +13,7 @@
 from happypose.toolbox.lib3d.rotations import euler2quat
 from happypose.toolbox.lib3d.transform import Transform
 from happypose.toolbox.lib3d.transform_ops import invert_transform_matrices
-from happypose.toolbox.renderer.bullet_scene_renderer import (  # noqa: E501
-    BulletSceneRenderer,
-)
+from happypose.toolbox.renderer.bullet_scene_renderer import BulletSceneRenderer
 
 from .plotter import Plotter
 

happypose/pose_estimators/cosypose/cosypose/visualization/plotter.py

@@ -1,3 +1,4 @@
+import typing
 from itertools import cycle
 
 import numpy as np
@@ -10,7 +11,7 @@
 
 
 class Plotter:
-    source_map = {}
+    source_map: typing.ClassVar = {}
 
     @property
     def hex_colors(self):

happypose/pose_estimators/cosypose/cosypose/visualization/singleview.py

@@ -3,7 +3,7 @@
 from happypose.pose_estimators.cosypose.cosypose.datasets.augmentations import (
     CropResizeToAspectAugmentation,
 )
-from happypose.pose_estimators.cosypose.cosypose.datasets.wrappers.augmentation_wrapper import (  # noqa: E501
+from happypose.pose_estimators.cosypose.cosypose.datasets.wrappers.augmentation_wrapper import (
     AugmentationWrapper,
 )
 

happypose/pose_estimators/megapose/evaluation/eval_config.py

@@ -59,7 +59,7 @@ class EvalConfig:
     ds_name: str = "ycbv.bop19"
 
     # Inference
-    inference: InferenceConfig = InferenceConfig()
+    inference: InferenceConfig = InferenceConfig()  # noqa RUF009
 
     # Run management
     result_id: Optional[str] = None
@@ -75,7 +75,7 @@ class EvalConfig:
 
     # Infos
     global_batch_size: Optional[int] = None
-    hardware: HardwareConfig = HardwareConfig()
+    hardware: HardwareConfig = HardwareConfig()  # noqa RUF009
 
     # Debug
     debug: bool = False

happypose/pose_estimators/megapose/scripts/make_shapenet_statistics.py

@@ -45,17 +45,17 @@ def measure_memory(gltf_path):
         if "GeomVertexData arrays occupy" in line:
             print(line)
             l_ = line.split(" ")
-            idx = [n for n, w in enumerate(l_) if w == "occupy"][0]
+            idx = next(n for n, w in enumerate(l_) if w == "occupy")
             mems.append(float(l_[idx + 1]))
         elif "GeomPrimitive arrays occupy" in line:
             print(line)
             l_ = line.split(" ")
-            idx = [n for n, w in enumerate(l_) if w == "occupy"][0]
+            idx = next(n for n, w in enumerate(l_) if w == "occupy")
             mems.append(float(l_[idx + 1]))
         elif "texture memory required" in line:
             print(line)
             l_ = line.split(" ")
-            idx = [n for n, w in enumerate(l_) if w == "minimum"][0]
+            idx = next(n for n, w in enumerate(l_) if w == "minimum")
             mems.append(float(l_[idx + 1]))
     tot_mem_kb = sum(mems)
     stats = {

happypose/pose_estimators/megapose/training/training_config.py

@@ -142,4 +142,4 @@ class TrainingConfig(omegaconf.dictconfig.DictConfig):
 
     # Infos
     global_batch_size: Optional[int] = None
-    hardware: HardwareConfig = HardwareConfig()
+    hardware: HardwareConfig = HardwareConfig()  # noqa: RUF009

happypose/toolbox/datasets/bop_scene_dataset.py

@@ -41,7 +41,7 @@
 
 sys.path.append(str(BOP_TOOLKIT_DIR))
 # Third Party
-from bop_toolkit_lib import inout  # noqa
+from bop_toolkit_lib import inout
 
 sys.path = sys.path[:-1]
 

happypose/toolbox/datasets/datasets_cfg.py

@@ -223,7 +223,7 @@ def make_scene_dataset(
 
     # Synthetic datasets
     elif "synthetic." in ds_name:
-        from happypose.pose_estimators.cosypose.cosypose.datasets.synthetic_dataset import (  # noqa: E501
+        from happypose.pose_estimators.cosypose.cosypose.datasets.synthetic_dataset import (
             SyntheticSceneDataset,
         )
 

happypose/toolbox/datasets/pose_dataset.py

@@ -16,6 +16,7 @@
 # Standard Library
 import random
 import time
+import typing
 from dataclasses import dataclass
 from typing import List, Optional, Set, Union
 
@@ -40,11 +41,11 @@
     PillowColor,
     PillowContrast,
     PillowSharpness,
+    VOCBackgroundAugmentation,
 )
 from happypose.toolbox.datasets.augmentations import (
     SceneObservationAugmentation as SceneObsAug,
 )
-from happypose.toolbox.datasets.augmentations import VOCBackgroundAugmentation
 
 # HappyPose
 from happypose.toolbox.datasets.scene_dataset import (
@@ -105,8 +106,8 @@ class NoObjectError(Exception):
 
 
 class PoseDataset(torch.utils.data.IterableDataset):
-    RGB_DIMS = [0, 1, 2]
-    DEPTH_DIMS = [3]
+    RGB_DIMS: typing.ClassVar = [0, 1, 2]
+    DEPTH_DIMS: typing.ClassVar = [3]
 
     def __init__(
         self,
@@ -238,7 +239,7 @@ def collate_fn(self, list_data: List[PoseData]) -> BatchPoseData:
 
         has_depth = [d.depth is not None for d in list_data]
         if all(has_depth):
-            batch_data.depths = torch.from_numpy(np.stack([d.depth for d in list_data]))  # type: ignore # noqa
+            batch_data.depths = torch.from_numpy(np.stack([d.depth for d in list_data]))  # type: ignore
         return batch_data
 
     def make_data_from_obs(self, obs: SceneObservation) -> Union[PoseData, None]:

happypose/toolbox/renderer/types.py

@@ -92,7 +92,7 @@ class CameraRenderingData:
 class Panda3dCameraData:
     K: np.ndarray
     resolution: Tuple[int, int]
-    TWC: Transform = Transform((0.0, 0.0, 0.0, 1.0), (0.0, 0.0, 0.0))
+    TWC: Transform = Transform((0.0, 0.0, 0.0, 1.0), (0.0, 0.0, 0.0))  # noqa: RUF009
     z_near: float = 0.1
     z_far: float = 10
     node_name: str = "camera"
@@ -153,7 +153,7 @@ class Panda3dLightData:
 @dataclass
 class Panda3dObjectData:
     label: str
-    TWO: Transform = Transform((0.0, 0.0, 0.0, 1.0), (0.0, 0.0, 0.0))
+    TWO: Transform = Transform((0.0, 0.0, 0.0, 1.0), (0.0, 0.0, 0.0))  # noqa: RUF009
     color: Optional[RgbaColor] = None
     material: Optional[p3d.core.Material] = None
     remove_mesh_material: bool = False

happypose/toolbox/utils/tensor_collection.py

@@ -81,7 +81,7 @@ def tensors(self):
 
     @property
     def device(self):
-        return list(self.tensors.values())[0].device
+        return next(iter(self.tensors.values())).device
 
     def __getstate__(self):
         return {"tensors": self.tensors}