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perception: ROS2 Node to convert from 2D to 3D detections #94

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cleanup and add viz

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perception: ROS2 Node to convert from 2D to 3D detections #94

cleanup and add viz
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GitHub Actions / Autopep8 failed Oct 4, 2024 in 0s

4 errors

Autopep8 found 4 errors

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Check failure on line 30 in src/perception/tracking/tracking_viz/tracking_viz/draw_tracks.py

See this annotation in the file changed.

@github-actions github-actions / Autopep8

src/perception/tracking/tracking_viz/tracking_viz/draw_tracks.py#L24-L30 

 from random import randint
 
 mutex = Lock()
+
 
 class DrawBasicDetections(Node):
     def __init__(self):

Check failure on line 130 in src/perception/tracking/tracking_viz/tracking_viz/draw_tracks.py

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@github-actions github-actions / Autopep8

src/perception/tracking/tracking_viz/tracking_viz/draw_tracks.py#L123-L130 

     def try_draw(self):
         if not self.unprocessed_images or not self.unprocessed_dets or self.transform is None or self.camera_info is None:
             return
-        
+
         with mutex:
             image_msg = self.unprocessed_images.popleft()
             det_3d_msg = self.unprocessed_dets.popleft()

Check failure on line 159 in src/perception/tracking/tracking_viz/tracking_viz/draw_tracks.py

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@github-actions github-actions / Autopep8

src/perception/tracking/tracking_viz/tracking_viz/draw_tracks.py#L139-L159 

         for det_msg in det_3d_msg.detections:
             bbox = det_msg.bbox
 
-            center = np.array([bbox.center.position.x, bbox.center.position.y, bbox.center.position.z])
-            rot = Rotation.from_quat([bbox.center.orientation.x, bbox.center.orientation.y, bbox.center.orientation.z, bbox.center.orientation.w])
+            center = np.array(
+                [bbox.center.position.x, bbox.center.position.y, bbox.center.position.z])
+            rot = Rotation.from_quat([bbox.center.orientation.x, bbox.center.orientation.y,
+                                     bbox.center.orientation.z, bbox.center.orientation.w])
             size = np.array([bbox.size.x, bbox.size.y, bbox.size.z])
 
             # get all 8 corners
-            vert = [ center + rot.apply(np.multiply(size , np.array([-1, 1, 1]))),
-                     center + rot.apply(np.multiply(size , np.array([-1, -1, 1]))),
-                     center + rot.apply(np.multiply(size , np.array([-1, -1, -1]))),
-                     center + rot.apply(np.multiply(size , np.array([-1, 1, -1]))),
-                     center + rot.apply(np.multiply(size , np.array([1, 1, 1]))),
-                     center + rot.apply(np.multiply(size , np.array([1, -1, 1]))),
-                     center + rot.apply(np.multiply(size , np.array([1, -1, -1]))),
-                     center + rot.apply(np.multiply(size , np.array([1, 1, -1]))),
-            ]
+            vert = [center + rot.apply(np.multiply(size, np.array([-1, 1, 1]))),
+                    center + rot.apply(np.multiply(size, np.array([-1, -1, 1]))),
+                    center + rot.apply(np.multiply(size, np.array([-1, -1, -1]))),
+                    center + rot.apply(np.multiply(size, np.array([-1, 1, -1]))),
+                    center + rot.apply(np.multiply(size, np.array([1, 1, 1]))),
+                    center + rot.apply(np.multiply(size, np.array([1, -1, 1]))),
+                    center + rot.apply(np.multiply(size, np.array([1, -1, -1]))),
+                    center + rot.apply(np.multiply(size, np.array([1, 1, -1]))),
+                    ]
 
             color = (randint(0, 255), randint(0, 255), randint(0, 255))
             verts_2d = []

Check failure on line 197 in src/perception/tracking/tracking_viz/tracking_viz/draw_tracks.py

See this annotation in the file changed.

@github-actions github-actions / Autopep8

src/perception/tracking/tracking_viz/tracking_viz/draw_tracks.py#L179-L197 

 
             # draw edges
             for i in range(4):
-                image = cv2.line(image, verts_2d[i], verts_2d[(i+1) % 4], color, 10) # face 1
-                image = cv2.line(image, verts_2d[i+4], verts_2d[(i+1) % 4 + 4], color, 10) # face 2
-                image = cv2.line(image, verts_2d[i], verts_2d[i+4], color, 10) # connect faces
+                image = cv2.line(image, verts_2d[i], verts_2d[(i+1) % 4], color, 10)  # face 1
+                image = cv2.line(image, verts_2d[i+4], verts_2d[(i+1) % 4 + 4], color, 10)  # face 2
+                image = cv2.line(image, verts_2d[i], verts_2d[i+4], color, 10)  # connect faces
 
         self.publish_viz(image, image_msg)
-            
+
     def publish_viz(self, cv_img, msg):
         imgmsg = self.cv_bridge.cv2_to_imgmsg(cv_img, "bgr8")
         imgmsg.header.stamp = msg.header.stamp
         imgmsg.header.frame_id = msg.header.frame_id
         self.viz_publisher.publish(imgmsg)
 
+
 def main(args=None):
     rclpy.init(args=args)
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