Initial lint fixes

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"
@@ -8,8 +9,13 @@
 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
 

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
 
@@ -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)
 
@@ -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
 
@@ -7,14 +8,21 @@
 from april_vision.marker import MarkerType
 
 from ..marker_tile import MarkerTile
-from ..utils import (DEFAULT_COLOUR, DEFAULT_FONT, DEFAULT_FONT_SIZE, DPI,
-                     PageSize, mm_to_pixels, parse_marker_ranges)
+from ..utils import (
+    DEFAULT_COLOUR,
+    DEFAULT_FONT,
+    DEFAULT_FONT_SIZE,
+    DPI,
+    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)
 

april_vision/cli/marker_generator/marker_modes/mode_tile.py

@@ -1,3 +1,4 @@
+"""Marker generator mode to generate a PDF with multiple markers per page."""
 import argparse
 import logging
 
@@ -7,14 +8,21 @@
 from april_vision.marker import MarkerType
 
 from ..marker_tile import MarkerTile
-from ..utils import (DEFAULT_COLOUR, DEFAULT_FONT, DEFAULT_FONT_SIZE, DPI,
-                     PageSize, mm_to_pixels, parse_marker_ranges)
+from ..utils import (
+    DEFAULT_COLOUR,
+    DEFAULT_FONT,
+    DEFAULT_FONT_SIZE,
+    DPI,
+    PageSize,
+    mm_to_pixels,
+    parse_marker_ranges,
+)
 
 LOGGER = logging.getLogger(__name__)
 
 
 def main(args: argparse.Namespace) -> None:
-    """Generate a page of multiple markers with the provided arguments"""
+    """Generate a page of multiple markers with the provided arguments."""
     tag_data = get_tag_family(args.marker_family)
     LOGGER.info(tag_data)
 
@@ -147,6 +155,7 @@ def main(args: argparse.Namespace) -> None:
 def create_subparser(subparsers: argparse._SubParsersAction) -> None:
     """
     Marker_generator subparser TILE.
+
     Used to generate a PDF with multiple markers per page.
     """
     parser = subparsers.add_parser("TILE")

april_vision/cli/marker_generator/marker_tile.py

@@ -1,3 +1,8 @@
+"""
+Used to generate an image tile which can be customised.
+
+These image tiles can be arranged on a page in the different modes.
+"""
 from typing import NamedTuple
 
 import numpy as np
@@ -11,12 +16,16 @@
 
 
 class coord(NamedTuple):
+    """Simple class to store coordinates."""
+
     x: int
     y: int
 
 
 def generate_tag_array(tag_data: ApriltagFamily, tag_id: int) -> NDArray:
     """
+    Generate a marker array for a given tag family and tag ID.
+
     Uses the tag family object to generate a marker, returns this data as a 2d numpy array
     where each of the cells is 1 pixel of the marker.
     """
@@ -53,8 +62,10 @@ def generate_tag_array(tag_data: ApriltagFamily, tag_id: int) -> NDArray:
 class MarkerTile:
     """
     Used to generate an image tile which can be customised.
-    These image tiles can be arranged on a page in the different modes
+
+    These image tiles can be arranged on a page in the different modes.
     """
+
     def __init__(
         self,
         tag_data: ApriltagFamily,
@@ -64,7 +75,8 @@ def __init__(
     ):
         """
         Generate a basic marker, no overlays, scaled to the correct size.
-        The marker PIL.Image can be accessed via MarkerTile.image
+
+        The marker PIL.Image can be accessed via MarkerTile.image.
         """
         self.tag_data = tag_data
         self.tag_id = tag_id
@@ -101,8 +113,9 @@ def add_border_line(
         border_colour: str,
     ) -> None:
         """
-        Add a line arround the board of the marker,
-        changes the current marker design in place.
+        Add a line around the border of the marker.
+
+        This changes the current marker design in place.
         """
         bordered_image = ImageOps.expand(
             self.image,
@@ -129,8 +142,9 @@ def add_centre_ticks(
         tick_colour: str,
     ) -> None:
         """
-        Add tick lines half way along the border of the marker,
-        changes the current marker design in place.
+        Add tick lines half way along the border of the marker.
+
+        This changes the current marker design in place.
         """
         img_size = self.image.size[0]
         image_draw = ImageDraw.Draw(self.image)
@@ -172,8 +186,9 @@ def add_id_number(
         text_colour: str,
     ) -> None:
         """
-        Add the ID number in the top left square of the white border,
-        changes the current marker design in place.
+        Add the ID number in the top left square of the white border.
+
+        This changes the current marker design in place.
         """
         # Add text to the image
         marker_square_size = mm_to_pixels(self.pixel_size)
@@ -211,8 +226,9 @@ def add_description_border(
         double_text: bool = False,
     ) -> None:
         """
-        Expand the marker by one marker square and add description text to this area,
-        changes the current marker design in place.
+        Expand the marker by one marker square and add description text to this area.
+
+        This changes the current marker design in place.
         """
         marker_square_size = mm_to_pixels(self.pixel_size)
 

april_vision/cli/marker_generator/utils.py

@@ -1,3 +1,4 @@
+"""Utility functions for the marker generator."""
 import logging
 from enum import Enum
 from typing import List, Tuple
@@ -17,6 +18,7 @@
 def parse_marker_ranges(marker_family: ApriltagFamily, range_str: str) -> List[int]:
     """
     Utility function to parse the provided range of markers.
+
     Also checks bounds against the marker family.
     """
     if range_str == "ALL":
@@ -37,24 +39,22 @@ def parse_marker_ranges(marker_family: ApriltagFamily, range_str: str) -> List[i
 
 
 def mm_to_pixels(mm: float) -> int:
-    """
-    Convert millimeters to pixels
-    """
+    """Convert millimeters to pixels."""
     inches = mm / 25.4
     return int(inches * DPI)
 
 
 class PageSize(Enum):
-    """
-    Enum to define the dimentions of different page sizes
-    """
+    """Enum to define the dimentions of different page sizes."""
+
     A3 = (297, 420)
     A3L = (420, 297)
     A4 = (210, 297)
     A4L = (297, 210)
 
     @property
     def pixels(self) -> Tuple[int, int]:
+        """Return the page size in pixels."""
         return (
             mm_to_pixels(self.value[0]),
             mm_to_pixels(self.value[1]),

april_vision/cli/tools/__init__.py

@@ -8,6 +8,7 @@
 
 
 def create_subparser(subparsers: argparse._SubParsersAction) -> None:
+    """Subparser for the tools commands."""
     parser = subparsers.add_parser(
         "tools",
         description="A collection of useful tools",

april_vision/cli/tools/family_details.py

@@ -1,3 +1,8 @@
+"""
+Provide the details about a marker family.
+
+The values are extracted from the AprilTag binary.
+"""
 import argparse
 import logging
 
@@ -9,6 +14,7 @@
 
 
 def main(args: argparse.Namespace) -> None:
+    """Provide the details about a marker family."""
     tag_data = get_tag_family(args.tag_family)
     print(tag_data)
 

april_vision/cli/tools/list_cameras.py

@@ -1,3 +1,4 @@
+"""List out the available cameras connected to the system."""
 import argparse
 
 from tabulate import tabulate
@@ -7,6 +8,7 @@
 
 
 def main(args: argparse.Namespace) -> None:
+    """List out the available cameras connected to the system."""
     cameras = find_cameras(calibrations, include_uncalibrated=True)
     print(tabulate(cameras, headers="keys"))