Switch to ruff, format everything

.github/workflows/ci-action.yml

@@ -22,6 +22,9 @@ jobs:
         uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python-version }}
+
+      - name: Pre-commit
+        run: pip install pre-commit && cd ${{ github.workspace }}/ouroboros_repo && pre-commit run --all-files
       - name: Install Ouroboros
         run: cd ${{ github.workspace }}/ouroboros_repo && pwd && pip install .
       - name: Run test script

.pre-commit-config.yaml

@@ -2,20 +2,11 @@
 # See https://pre-commit.com for more information
 # See https://pre-commit.com/hooks.html for more hooks
 repos:
-  - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.2.0
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    # Ruff version.
+    rev: v0.9.2
     hooks:
-      - id: trailing-whitespace
-      - id: end-of-file-fixer
-      - id: check-yaml
-      - id: check-added-large-files
-  - repo: https://github.com/psf/black
-    rev: 22.10.0
-    hooks:
-      - id: black
-  - repo: https://github.com/pycqa/flake8
-    rev: 7.1.1
-    hooks:
-      - id: flake8
-        additional_dependencies: [flake8-docstrings, flake8-bugbear]
-        exclude: .*setup\.py
+      # Run the linter.
+      - id: ruff
+      # Run the formatter.
+      - id: ruff-format

examples/place_descriptor_debugging.py

@@ -3,10 +3,10 @@
 import cv2
 import matplotlib.pyplot as plt
 import numpy as np
-from ouroboros_salad.salad_model import get_salad_model
 from spark_dataset_interfaces.rosbag_dataloader import RosbagDataLoader
 
 import ouroboros as ob
+from ouroboros_salad.salad_model import get_salad_model
 
 embedding_model = get_salad_model()
 

examples/salad_example.py

@@ -1,7 +1,9 @@
 import pathlib
+
 import imageio.v3 as iio
-from ouroboros_salad.salad_model import get_salad_model
+
 import ouroboros as ob
+from ouroboros_salad.salad_model import get_salad_model
 
 
 def resource_dir():

extra/ouroboros_ros/nodes/place_matching_example.py

@@ -1,14 +1,13 @@
 #!/usr/bin/env python3
+import cv_bridge
 import rospy
-
 from dynamic_reconfigure.server import Server
+from ouroboros_ros.cfg import PlaceDescriptorDebuggingConfig
 from sensor_msgs.msg import Image
-import cv_bridge
 
-from ouroboros import VlcDb, SparkImage
-from ouroboros_salad.salad_model import get_salad_model
-from ouroboros_ros.cfg import PlaceDescriptorDebuggingConfig
+from ouroboros import SparkImage, VlcDb
 from ouroboros.utils.plotting_utils import display_image_pair
+from ouroboros_salad.salad_model import get_salad_model
 
 
 class PlaceDescriptorExample:

extra/ouroboros_ros/setup.py

@@ -1,5 +1,6 @@
 # ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 from distutils.core import setup
+
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml

extra/ouroboros_ros/src/ouroboros_ros/utils.py

@@ -1,6 +1,6 @@
+import numpy as np
 import rospy
 import tf2_ros
-import numpy as np
 
 from ouroboros import VlcPose
 

extra/ouroboros_ros/src/ouroboros_ros/vlc_server_ros.py

@@ -15,7 +15,6 @@
 
 
 def update_plot(line, pts, images_to_pose):
-
     if len(images_to_pose) == 0:
         return
 
@@ -35,7 +34,6 @@ def update_plot(line, pts, images_to_pose):
 
 
 def plot_lc(lc, image_to_pose):
-
     query_pos = image_to_pose[lc.from_image_uuid].position
     match_pos = image_to_pose[lc.to_image_uuid].position
     plt.plot(
@@ -52,7 +50,6 @@ def build_lc_message(
     from_T_to,
     pose_cov,
 ):
-
     relative_position = from_T_to[:3, 3]
     relative_orientation = R.from_matrix(from_T_to[:3, :3])
 
@@ -77,9 +74,7 @@ def build_lc_message(
 
 
 class VlcServerRos:
-
     def __init__(self):
-
         self.tf_buffer = tf2_ros.Buffer()
         self.listener = tf2_ros.TransformListener(self.tf_buffer)
 
@@ -133,7 +128,6 @@ def __init__(self):
         self.image_sub = rospy.Subscriber("~image_in", Image, self.image_callback)
 
     def image_callback(self, msg):
-
         if not (
             self.last_vlc_frame_time is None
             or (rospy.Time.now() - self.last_vlc_frame_time).to_sec()
@@ -173,7 +167,6 @@ def image_callback(self, msg):
         pg = PoseGraph()
         pg.header.stamp = rospy.Time.now()
         for lc in loop_closures:
-
             if self.show_plots:
                 plot_lc(lc, self.images_to_pose)
 
@@ -210,7 +203,6 @@ def run(self):
             self.loop_rate.sleep()
 
     def step(self):
-
         if self.show_plots:
             update_plot(self.position_line, self.position_points, self.images_to_pose)
 

pyproject.toml

@@ -9,6 +9,9 @@ profile = "black"
 testpaths = "tests"
 addopts = ["--cov-report=term-missing"]
 
+[tool.ruff.lint.per-file-ignores]
+"__init__.py" = ["F401", "F403"]
+
 [tool.tox]
 requires = ["tox>=4"]
 skip_missing_interpreters = true

setup.py

@@ -1,4 +1,4 @@
-from setuptools import setup, find_packages
+from setuptools import find_packages, setup
 
 setup(
     name="ouroboros",

src/ouroboros-superglue/superglue_model.py

@@ -1,3 +1,2 @@
 def get_superglue_model():
     return lambda x: None
-

src/ouroboros/__init__.py

@@ -9,5 +9,4 @@
     VlcImageMetadata,
     VlcPose,
 )
-
 from ouroboros.vlc_server.vlc_server import VlcServer

src/ouroboros/utils/__init__.py

@@ -1,2 +0,0 @@
-
-

src/ouroboros/utils/plotting_utils.py

@@ -1,9 +1,8 @@
+import cv2
 import matplotlib
 import matplotlib.pyplot as plt
 import numpy as np
 
-import cv2
-
 cv2.startWindowThread()
 
 

src/ouroboros/vlc_db/__init__.py

@@ -5,5 +5,5 @@
 from ouroboros.vlc_db.vlc_image import *
 from ouroboros.vlc_db.vlc_image_table import *
 from ouroboros.vlc_db.vlc_lc_table import *
-from ouroboros.vlc_db.vlc_session_table import *
 from ouroboros.vlc_db.vlc_pose import *
+from ouroboros.vlc_db.vlc_session_table import *

src/ouroboros/vlc_db/spark_loop_closure.py

@@ -1,4 +1,5 @@
 from dataclasses import dataclass
+
 import numpy as np
 
 

src/ouroboros/vlc_db/vlc_db.py

@@ -1,16 +1,16 @@
 from datetime import datetime
-from typing import Union, Callable, TypeVar, Tuple, List, Optional
+from typing import Callable, List, Optional, Tuple, TypeVar, Union
+
 import numpy as np
 
 from ouroboros.vlc_db.spark_image import SparkImage
+from ouroboros.vlc_db.spark_loop_closure import SparkLoopClosure
+from ouroboros.vlc_db.utils import epoch_ns_from_datetime
 from ouroboros.vlc_db.vlc_image import VlcImage
-
 from ouroboros.vlc_db.vlc_image_table import VlcImageTable
 from ouroboros.vlc_db.vlc_lc_table import LcTable
-from ouroboros.vlc_db.vlc_session_table import SessionTable
-from ouroboros.vlc_db.spark_loop_closure import SparkLoopClosure
-from ouroboros.vlc_db.utils import epoch_ns_from_datetime
 from ouroboros.vlc_db.vlc_pose import VlcPose
+from ouroboros.vlc_db.vlc_session_table import SessionTable
 
 
 class KeypointSizeException(BaseException):
@@ -137,9 +137,9 @@ def batch_query_embeddings(
         Returns the top k closest matches and the match distances
         """
 
-        assert (
-            embeddings.ndim == 2
-        ), f"Batch query requires an NxD array of query embeddings, not {embeddings.shape}"
+        assert embeddings.ndim == 2, (
+            f"Batch query requires an NxD array of query embeddings, not {embeddings.shape}"
+        )
 
         return self._image_table.query_embeddings(embeddings, k, similarity_metric)
 

src/ouroboros/vlc_db/vlc_image_table.py

@@ -1,13 +1,14 @@
+import uuid
 from datetime import datetime
 from typing import Union
-import uuid
+
 import numpy as np
 
+from ouroboros.vlc_db.invertible_vector_store import InvertibleVectorStore
 from ouroboros.vlc_db.spark_image import SparkImage
+from ouroboros.vlc_db.utils import epoch_ns_from_datetime
 from ouroboros.vlc_db.vlc_image import VlcImage, VlcImageMetadata
 from ouroboros.vlc_db.vlc_pose import VlcPose
-from ouroboros.vlc_db.invertible_vector_store import InvertibleVectorStore
-from ouroboros.vlc_db.utils import epoch_ns_from_datetime
 
 
 class VlcImageTable:

src/ouroboros/vlc_db/vlc_pose.py

@@ -1,4 +1,5 @@
 from dataclasses import dataclass
+
 import numpy as np
 from scipy.spatial.transform import Rotation as R
 

src/ouroboros/vlc_server/vlc_server.py

@@ -1,12 +1,12 @@
 # TODO: move this to ouroboros, not ouroboros_ros
-from typing import Tuple, List, Optional
-from ouroboros.utils.plotting_utils import display_image_pair
-import ouroboros as ob
 from datetime import datetime
+from typing import List, Optional, Tuple
+
+import ouroboros as ob
+from ouroboros.utils.plotting_utils import display_image_pair
 
 
 class VlcServer:
-
     def __init__(
         self,
         place_method,
@@ -71,7 +71,6 @@ def __init__(
     def add_and_query_frame(
         self, image: ob.SparkImage, time_ns: int, pose_hint: ob.VlcPose = None
     ) -> Tuple[str, Optional[List[ob.SparkLoopClosure]]]:
-
         embedding = self.place_model.infer(image, pose_hint)
 
         image_matches, similarities = self.vlc_db.query_embeddings_max_time(
@@ -111,7 +110,6 @@ def add_and_query_frame(
 
         # TODO: support multiple possible place descriptor matches
         if image_match is not None:
-
             if not self.strict_keypoint_evaluation:
                 # Since we just added the current image, we know that no keypoints
                 # or descriptors have been generated for it

src/ouroboros_gt/gt_descriptors.py

@@ -8,7 +8,6 @@ def get_gt_descriptor_model():
 
 
 class GtDescriptorModel:
-
     def __init__(self):
         pass
 

src/ouroboros_gt/gt_keypoint_detection.py

@@ -8,7 +8,6 @@ def get_gt_keypoint_model():
 
 
 class GtKeypointModel:
-
     def __init__(self):
         pass
 

src/ouroboros_gt/gt_place_recognition.py

@@ -8,9 +8,7 @@ def get_gt_place_model():
 
 
 class GtPlaceModel:
-
     def __init__(self):
-
         self.embedding_size = 8
         self.lc_recent_lockout_ns = 20 * 1e9
         self.lc_distance_threshold = 5

src/ouroboros_gt/gt_pose_recovery.py

@@ -1,5 +1,5 @@
-from ouroboros.vlc_db.vlc_pose import pose_from_quat_trans, invert_pose, VlcPose
 import ouroboros as ob
+from ouroboros.vlc_db.vlc_pose import VlcPose, invert_pose, pose_from_quat_trans
 
 
 def recover_pose(query_descriptors, match_descriptors):
@@ -22,7 +22,6 @@ def get_gt_pose_model():
 
 
 class GtPoseModel:
-
     def __init__(self):
         pass
 

src/ouroboros_salad/salad_model.py

@@ -1,15 +1,14 @@
 import numpy as np
 import torch
 import torchvision.transforms as T
+
 import ouroboros as ob
 
 torch.backends.cudnn.benchmark = True
 
 
 class SaladModel:
-
     def __init__(self, model):
-
         self.embedding_size = 8448
         self.similarity_metric = "ip"
         self.model = model

tests/test_vlc_db.py

@@ -81,16 +81,16 @@ def test_query_embedding():
 
     imgs, sims = vlc_db.query_embeddings(np.array([0, 0.2, 0.8]), 2)
     assert len(imgs) == 2, "query_embeddings returned wrong number of matches"
-    assert set((a_id, d_id)) == set(
-        [img.metadata.image_uuid for img in imgs]
-    ), "Query did not match k closest"
+    assert set((a_id, d_id)) == set([img.metadata.image_uuid for img in imgs]), (
+        "Query did not match k closest"
+    )
 
     imgs, sims = vlc_db.query_embeddings(np.array([0, 0.2, 0.8]), 3)
     assert len(imgs) == 3, "query_embeddings returned wrong number of matches"
 
-    assert set((a_id, c_id, d_id)) == set(
-        [img.metadata.image_uuid for img in imgs]
-    ), "Query did not match k closest"
+    assert set((a_id, c_id, d_id)) == set([img.metadata.image_uuid for img in imgs]), (
+        "Query did not match k closest"
+    )
 
 
 def test_query_embedding_custom_similarity():
@@ -162,12 +162,12 @@ def test_batch_query_embeddings():
     imgs, sims = vlc_db.batch_query_embeddings(np.array([[0, 1, 0], [0, 0.2, 0.2]]), 1)
     assert len(imgs) == 2, "number of results different from number of query vectors"
     assert len(imgs[0]) == 1, "returned wrong number of matches for vector"
-    assert (
-        imgs[0][0].metadata.image_uuid == b_id
-    ), "Did not match correct image embedding"
-    assert (
-        imgs[1][0].metadata.image_uuid == c_id
-    ), "Did not match correct image embedding"
+    assert imgs[0][0].metadata.image_uuid == b_id, (
+        "Did not match correct image embedding"
+    )
+    assert imgs[1][0].metadata.image_uuid == c_id, (
+        "Did not match correct image embedding"
+    )
 
 
 def test_batch_query_embeddings_uuid_filter():