Merge pull request #33 from WillB97/ruff

Tidy up packaging

.github/workflows/test_build.yml

@@ -0,0 +1,76 @@
+name: Lint & build
+
+on:
+  push:
+  workflow_dispatch:
+
+jobs:
+  test:
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]
+        py_version: ["3.8", "3.9", "3.10", "3.11"]
+        include:
+          - os: windows-latest
+            py_version: "3.8"
+          - os: windows-latest
+            py_version: "3.11"
+          - os: macos-latest
+            py_version: "3.8"
+          - os: macos-latest
+            py_version: "3.11"
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: ${{ matrix.py_version }}
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        python -m pip install .[dev,cli]
+        python -m pip install 'opencv-python-headless>=4.8,<4.9'
+    - name: Lint
+      run: |
+        poe lint
+    - name: Typecheck
+      run: |
+        poe type
+    - name: Run tests
+      run: |
+        poe test
+
+  build:
+    permissions:
+      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+    runs-on: ubuntu-latest
+    needs: test
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v5
+      with:
+        python-version: "3.8"
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip build poethepoet
+        # Install package to generate version info
+        python -m pip install --no-deps .
+    - name: Build package
+      run: |
+        poe build
+    - name: Save built package
+      uses: actions/upload-artifact@v4
+      with:
+        name: package
+        path: |
+          dist
+    - name: Publish to PyPi
+      if: ${{ github.ref_type	== 'tag' }}
+      uses: pypa/gh-action-pypi-publish@release/v1

.gitignore

@@ -103,6 +103,9 @@ venv.bak/
 # mypy
 .mypy_cache/
 
+# ruff
+.ruff_cache/
+
 # PyCharm stuff
 .idea
 core

README.md

@@ -1,5 +1,9 @@
 # april_vision
 
+[![Lint & build](https://github.com/WillB97/april_vision/actions/workflows/test_build.yml/badge.svg)](https://github.com/WillB97/april_vision/actions/workflows/test_build.yml)
+[![PyPI version](https://badge.fury.io/py/april-vision.svg)](https://badge.fury.io/py/april-vision)
+[![MIT license](https://img.shields.io/badge/license-MIT-brightgreen.svg?style=flat)](https://opensource.org/licenses/MIT)
+
 A fiducial marker system used by Student Robotics.
 Uses [april tag](https://april.eecs.umich.edu/software/apriltag) markers to provide detection, pose and distance estimation for these markers.
 

april_vision/__init__.py

@@ -1,4 +1,5 @@
 """An AprilTags wrapper with camera discovery and axis conversion."""
+# ruff: noqa: E402
 import os
 
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
@@ -8,13 +9,17 @@
 from .detect_cameras import CalibratedCamera, find_cameras
 from .frame_sources import FrameSource, USBCamera
 from .helpers import generate_marker_size_mapping
-from .marker import (CartesianCoordinates, Marker, Orientation,
-                     PixelCoordinates, SphericalCoordinate)
+from .marker import (
+    CartesianCoordinates,
+    Marker,
+    Orientation,
+    PixelCoordinates,
+    SphericalCoordinate,
+)
 from .utils import Frame
 from .vision import Processor
 
 __all__ = [
-    '__version__',
     'CalibratedCamera',
     'CartesianCoordinates',
     'Frame',
@@ -25,6 +30,7 @@
     'Processor',
     'SphericalCoordinate',
     'USBCamera',
+    '__version__',
     'calibrations',
     'find_cameras',
     'generate_marker_size_mapping',

april_vision/cli/calibrate.py

@@ -1,6 +1,4 @@
-"""
-Camera calibration script.
-"""
+"""Camera calibration script."""
 import argparse
 import logging
 from datetime import datetime
@@ -19,7 +17,8 @@
 
 
 class CalBoard:
-    """Class used to represent a calibration board"""
+    """Class used to represent a calibration board."""
+
     def __init__(
         self,
         rows: int,
@@ -38,10 +37,11 @@ def __init__(
     def corners_from_id(self, marker_id: int) -> List[Tuple[float, float, float]]:
         """
         Takes an input of a marker ID and returns the coordinates of the corners of the marker.
+
         The coordinates are 3D real world positions, top left of the board is 0,0,0.
         The Z coordinate of the board is always zero.
         The list of co-ords are in the order:
-        [bottom_left, bottom_right, top_right, top_left]
+        bottom_left, bottom_right, top_right, top_left
         """
         marker_pixel_size = self.marker_size / self.marker_details.width_at_border
 
@@ -68,7 +68,7 @@ def frame_capture(
     LOGGER.info("Press space to capture frame.")
 
     while True:
-        ret, frame = cap.read()
+        _ret, frame = cap.read()
 
         cv2.imshow("Frame", frame)
 
@@ -90,6 +90,7 @@ def parse_detections(
 ) -> Tuple[List[Tuple[float, float, float]], List[Tuple[float, float]]]:
     """
     Pairs up 2D pixel corners with 3D real world co-ords.
+
     Takes the input of marker detections and the board design and outputs two lists
     where board_obj_points[i] pairs with board_img_points[i].
     """
@@ -108,6 +109,7 @@ def parse_detections(
 
 
 def main(args: argparse.Namespace) -> None:
+    """Main function for calibrate command."""
     # Setup the camera
     video_dev = cv2.VideoCapture(args.index)
 
@@ -152,7 +154,7 @@ def main(args: argparse.Namespace) -> None:
     width, height = frames[0].grey_frame.shape[::-1]
 
     # Calculate the camera calibration
-    reproj_error, camera_matrix, dist_coeff, rvec, tvec = cv2.calibrateCamera(
+    reproj_error, camera_matrix, dist_coeff, _rvec, _tvec = cv2.calibrateCamera(
         objectPoints,
         imagePoints,
         (width, height),
@@ -188,6 +190,12 @@ def write_cal_file(
     avg_reprojection_error: float,
     vidpid: Optional[str] = None,
 ) -> None:
+    """
+    Write the calibration data to an XML file.
+
+    This file can be loaded by the detect_cameras module.
+    The file is also compatible with the OpenCV calibration module.
+    """
     LOGGER.info("Generating calibration XML file")
     output_filename = cal_filename
     if not output_filename.lower().endswith(".xml"):

april_vision/cli/live.py

@@ -25,6 +25,7 @@
 
 
 def parse_properties(args: argparse.Namespace) -> List[Tuple[int, int]]:
+    """Parse the camera properties supplied on the command line."""
     props = []
 
     if args.set_fps is not None:

april_vision/cli/marker_generator/__init__.py

@@ -17,9 +17,9 @@
 def create_subparser(subparsers: argparse._SubParsersAction) -> None:
     """
     Marker_generator command parser.
+
     Add multiple subparsers to deal with different modes of page generation.
     """
-
     parser = subparsers.add_parser(
         "marker_generator",
         description="Generate markers",

april_vision/cli/marker_generator/marker_modes/mode_cal.py

@@ -1,3 +1,4 @@
+"""Marker_generator subparser CAL_BOARD used to generate a calibration board."""
 import argparse
 import logging
 
@@ -14,7 +15,7 @@
 
 
 def main(args: argparse.Namespace) -> None:
-    """Generate a calibration board"""
+    """Generate a calibration board."""
     tag_data = get_tag_family(args.marker_family)
     LOGGER.info(tag_data)
 

april_vision/cli/marker_generator/marker_modes/mode_image.py

@@ -1,3 +1,4 @@
+"""Marker_generator subparser IMAGE used to generate an image of a marker."""
 import argparse
 import logging
 
@@ -14,7 +15,7 @@
 
 
 def main(args: argparse.Namespace) -> None:
-    """Generate a marker image"""
+    """Generate a marker image."""
     tag_data = get_tag_family(args.marker_family)
     LOGGER.info(tag_data)
 

april_vision/cli/marker_generator/marker_modes/mode_single.py

@@ -1,3 +1,4 @@
+"""Marker_generator subparser SINGLE used to generate a PDF of a marker."""
 import argparse
 import logging
 from typing import Union
@@ -8,15 +9,22 @@
 from april_vision.marker import MarkerType
 
 from ..marker_tile import MarkerTile
-from ..utils import (DEFAULT_COLOUR, DEFAULT_FONT, DEFAULT_FONT_SIZE, DPI,
-                     CustomPageSize, PageSize, mm_to_pixels,
-                     parse_marker_ranges)
+from ..utils import (
+    DEFAULT_COLOUR,
+    DEFAULT_FONT,
+    DEFAULT_FONT_SIZE,
+    DPI,
+    CustomPageSize,
+    PageSize,
+    mm_to_pixels,
+    parse_marker_ranges,
+)
 
 LOGGER = logging.getLogger(__name__)
 
 
 def main(args: argparse.Namespace) -> None:
-    """Generate a single marker on a page with the provided arguments"""
+    """Generate a single marker on a page with the provided arguments."""
     tag_data = get_tag_family(args.marker_family)
     LOGGER.info(tag_data)