[formatting] format with python black

Author: madratman

.vscode/settings.json

@@ -0,0 +1,4 @@
+{
+    "editor.formatOnSave": true,
+    "python.formatting.provider": "black"
+}

baselines/baseline_racer.py

@@ -7,22 +7,33 @@
 import cv2
 from baseline_racer import BaselineRacer
 
+
 class BaselineRacerImageBenchmarker(BaselineRacer):
-    def __init__(self, 
-            img_benchmark_type = 'simGetImage', 
-            drone_name = "drone_1", 
-            viz_traj = False, 
-            viz_traj_color_rgba=[1.0, 1.0, 0.0, 1.0], 
-            viz_image_cv2 = False):
-        super().__init__(drone_name=drone_name, viz_traj=viz_traj, viz_image_cv2=viz_image_cv2)
+    def __init__(
+        self,
+        img_benchmark_type="simGetImage",
+        drone_name="drone_1",
+        viz_traj=False,
+        viz_traj_color_rgba=[1.0, 1.0, 0.0, 1.0],
+        viz_image_cv2=False,
+    ):
+        super().__init__(
+            drone_name=drone_name, viz_traj=viz_traj, viz_image_cv2=viz_image_cv2
+        )
 
         self.image_benchmark_num_images = 0
         self.image_benchmark_total_time = 0.0
         self.image_callback_thread = None
         if img_benchmark_type == "simGetImage":
-            self.image_callback_thread = threading.Thread(target=self.repeat_timer_img, args=(self.image_callback_benchmark_simGetImage, 0.05))
+            self.image_callback_thread = threading.Thread(
+                target=self.repeat_timer_img,
+                args=(self.image_callback_benchmark_simGetImage, 0.05),
+            )
         if img_benchmark_type == "simGetImages":
-            self.image_callback_thread = threading.Thread(target=self.repeat_timer_img, args=(self.image_callback_benchmark_simGetImages, 0.05))
+            self.image_callback_thread = threading.Thread(
+                target=self.repeat_timer_img,
+                args=(self.image_callback_benchmark_simGetImages, 0.05),
+            )
         self.is_image_thread_active = False
 
     def start_img_benchmark_thread(self):
@@ -43,45 +54,73 @@ def repeat_timer_img(self, task, period):
             time.sleep(period)
 
     def print_benchmark_results(self):
-        avg_fps = 1.0 / ((self.image_benchmark_total_time) / float(self.image_benchmark_num_images))
-        print(self.level_name + ": {} avg_fps for {} num of images".format(avg_fps, self.image_benchmark_num_images))
+        avg_fps = 1.0 / (
+            (self.image_benchmark_total_time) / float(self.image_benchmark_num_images)
+        )
+        print(
+            self.level_name
+            + ": {} avg_fps for {} num of images".format(
+                avg_fps, self.image_benchmark_num_images
+            )
+        )
 
     def image_callback_benchmark_simGetImage(self):
         self.image_benchmark_num_images += 1
         iter_start_time = time.time()
-        response = self.airsim_client_images.simGetImage("fpv_cam", airsim.ImageType.Scene)
-        img_rgb = cv2.imdecode(airsim.string_to_uint8_array(response), cv2.IMREAD_UNCHANGED)
+        response = self.airsim_client_images.simGetImage(
+            "fpv_cam", airsim.ImageType.Scene
+        )
+        img_rgb = cv2.imdecode(
+            airsim.string_to_uint8_array(response), cv2.IMREAD_UNCHANGED
+        )
         self.image_benchmark_total_time += time.time() - iter_start_time
-        avg_fps = 1.0 / ((self.image_benchmark_total_time) / float(self.image_benchmark_num_images))
-        print(self.level_name + ": {} avg_fps for {} num of images".format(avg_fps, self.image_benchmark_num_images))
+        avg_fps = 1.0 / (
+            (self.image_benchmark_total_time) / float(self.image_benchmark_num_images)
+        )
+        print(
+            self.level_name
+            + ": {} avg_fps for {} num of images".format(
+                avg_fps, self.image_benchmark_num_images
+            )
+        )
         # uncomment following lines to viz image
         # if self.viz_image_cv2:
-            # cv2.imshow("img_rgb", img_rgb_1d_new)
-            # cv2.waitKey(1)
+        # cv2.imshow("img_rgb", img_rgb_1d_new)
+        # cv2.waitKey(1)
 
     def image_callback_benchmark_simGetImages(self):
         self.image_benchmark_num_images += 1
         iter_start_time = time.time()
         request = [airsim.ImageRequest("fpv_cam", airsim.ImageType.Scene, False, False)]
         response = self.airsim_client_images.simGetImages(request)
-        img_rgb_1d = np.fromstring(response[0].image_data_uint8, dtype=np.uint8) 
+        img_rgb_1d = np.fromstring(response[0].image_data_uint8, dtype=np.uint8)
         img_rgb = img_rgb_1d.reshape(response[0].height, response[0].width, 3)
         self.image_benchmark_total_time += time.time() - iter_start_time
-        avg_fps = 1.0 / ((self.image_benchmark_total_time) / float(self.image_benchmark_num_images))
-        print(self.level_name + ": {} avg_fps for {} num of images".format(avg_fps, self.image_benchmark_num_images))
+        avg_fps = 1.0 / (
+            (self.image_benchmark_total_time) / float(self.image_benchmark_num_images)
+        )
+        print(
+            self.level_name
+            + ": {} avg_fps for {} num of images".format(
+                avg_fps, self.image_benchmark_num_images
+            )
+        )
         # uncomment following lines to viz image
         # if self.viz_image_cv2:
-            # cv2.imshow("img_rgb", img_rgb_1d_new)
-            # cv2.waitKey(1)
+        # cv2.imshow("img_rgb", img_rgb_1d_new)
+        # cv2.waitKey(1)
+
 
 def main(args):
     # ensure you have generated the neurips planning settings file by running python generate_settings_file.py
-    baseline_racer = BaselineRacerImageBenchmarker(img_benchmark_type=args.img_benchmark_type, \
-        drone_name="drone_1", \
-        viz_traj=args.viz_traj, \
-        viz_traj_color_rgba=[1.0, 1.0, 0.0, 1.0], \
-        viz_image_cv2=args.viz_image_cv2)
- 
+    baseline_racer = BaselineRacerImageBenchmarker(
+        img_benchmark_type=args.img_benchmark_type,
+        drone_name="drone_1",
+        viz_traj=args.viz_traj,
+        viz_traj_color_rgba=[1.0, 1.0, 0.0, 1.0],
+        viz_image_cv2=args.viz_image_cv2,
+    )
+
     baseline_racer.load_level(args.level_name)
     if args.level_name == "Qualifier_Tier_1":
         args.race_tier = 1
@@ -99,14 +138,39 @@ def main(args):
     baseline_racer.stop_img_benchmark_thread()
     baseline_racer.print_benchmark_results()
 
+
 if __name__ == "__main__":
     parser = ArgumentParser()
-    parser.add_argument('--level_name', type=str, choices=["Soccer_Field_Easy", "Soccer_Field_Medium", "ZhangJiaJie_Medium", "Building99_Hard", 
-        "Qualifier_Tier_1", "Qualifier_Tier_2", "Qualifier_Tier_3"], default="ZhangJiaJie_Medium")
-    parser.add_argument('--enable_viz_traj', dest='viz_traj', action='store_true', default=False)
-    parser.add_argument('--img_benchmark_type', type=str, choices=["simGetImage", "simGetImages"], default="simGetImages")
-    parser.add_argument('--enable_viz_image_cv2', dest='viz_image_cv2', action='store_true', default=False)
-    parser.add_argument('--race_tier', type=int, choices=[1,2,3], default=1)
+    parser.add_argument(
+        "--level_name",
+        type=str,
+        choices=[
+            "Soccer_Field_Easy",
+            "Soccer_Field_Medium",
+            "ZhangJiaJie_Medium",
+            "Building99_Hard",
+            "Qualifier_Tier_1",
+            "Qualifier_Tier_2",
+            "Qualifier_Tier_3",
+        ],
+        default="ZhangJiaJie_Medium",
+    )
+    parser.add_argument(
+        "--enable_viz_traj", dest="viz_traj", action="store_true", default=False
+    )
+    parser.add_argument(
+        "--img_benchmark_type",
+        type=str,
+        choices=["simGetImage", "simGetImages"],
+        default="simGetImages",
+    )
+    parser.add_argument(
+        "--enable_viz_image_cv2",
+        dest="viz_image_cv2",
+        action="store_true",
+        default=False,
+    )
+    parser.add_argument("--race_tier", type=int, choices=[1, 2, 3], default=1)
 
     args = parser.parse_args()
-    main(args)
+    main(args)

baselines/baseline_racer_image_benchmarker.py

@@ -1,3 +1,3 @@
 from utils import AirSimSettingsCreator
 
-AirSimSettingsCreator().write_airsim_neurips_baseline_settings_file()
+AirSimSettingsCreator().write_airsim_neurips_baseline_settings_file()

baselines/generate_settings_file.py

@@ -3,39 +3,49 @@
 import numpy as np
 import os
 
+
 def to_airsim_vector(np_arr):
     assert np.size(np_arr) == 3
-    return airsim.Vector3r(np.float(np_arr[0]), np.float(np_arr[1]), np.float(np_arr[2]))
+    return airsim.Vector3r(
+        np.float(np_arr[0]), np.float(np_arr[1]), np.float(np_arr[2])
+    )
+
 
 def to_airsim_vectors(np_arr):
     return [to_airsim_vector(np_arr[i, :]) for i in range(np.size(np_arr, 0))]
 
+
 # these clases are only meant to be settings generator.
 # for everything else, there's airsimdroneracinglab.Pose()
-class Position():
-    def __init__(self, x = 0.0, y = 0.0, z = 0.0):
+class Position:
+    def __init__(self, x=0.0, y=0.0, z=0.0):
         self.x = x
         self.y = y
         self.z = z
 
-class Rotation():
-    def __init__(self, yaw = 0.0, pitch = 0.0, roll = 0.0):
+
+class Rotation:
+    def __init__(self, yaw=0.0, pitch=0.0, roll=0.0):
         self.yaw = yaw
         self.pitch = pitch
         self.roll = roll
 
-class Pose():
+
+class Pose:
     def __init__(self, position, rotation):
         self.position = position
         self.rotation = rotation
 
+
 class AirSimSettingsCreator(object):
-    def __init__(self, sim_mode = "Multirotor"):
+    def __init__(self, sim_mode="Multirotor"):
         self.sim_mode = sim_mode
         self.settings_dict = {}
 
     def add_minimal(self):
-        self.settings_dict["SeeDocsAt"] = "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md"
+        self.settings_dict[
+            "SeeDocsAt"
+        ] = "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md"
         self.settings_dict["SettingsVersion"] = 1.2
         self.settings_dict["SimMode"] = self.sim_mode
         self.settings_dict["ClockSpeed"] = 1
@@ -50,28 +60,37 @@ def set_pose(self, setting_key, pose):
         setting_key["Yaw"] = pose.rotation.yaw
 
     def add_multirotor(self, vehicle_name, pose):
-        assert(self.settings_dict["SimMode"] == "Multirotor")
+        assert self.settings_dict["SimMode"] == "Multirotor"
         if "Vehicles" not in self.settings_dict.keys():
-            self.settings_dict['Vehicles'] = {}
+            self.settings_dict["Vehicles"] = {}
 
-        self.settings_dict['Vehicles'][vehicle_name] = {}
-        self.settings_dict['Vehicles'][vehicle_name]["VehicleType"] = "SimpleFlight"
-        self.set_pose(self.settings_dict['Vehicles'][vehicle_name], pose)
+        self.settings_dict["Vehicles"][vehicle_name] = {}
+        self.settings_dict["Vehicles"][vehicle_name]["VehicleType"] = "SimpleFlight"
+        self.set_pose(self.settings_dict["Vehicles"][vehicle_name], pose)
 
-    def add_camera(self, vehicle_name, camera_name, relative_pose, image_type, image_width, image_height, fov_horizontal_degrees):
+    def add_camera(
+        self,
+        vehicle_name,
+        camera_name,
+        relative_pose,
+        image_type,
+        image_width,
+        image_height,
+        fov_horizontal_degrees,
+    ):
         # fetch vehicle setting dict
-        vehicle_setting = self.settings_dict['Vehicles'][vehicle_name]
-        # initialize vehicle's camera setting dict to empty 
-        vehicle_setting['Cameras'] = {}
-        vehicle_setting['Cameras'][camera_name] = {}
-        camera_setting = vehicle_setting['Cameras'][camera_name]
+        vehicle_setting = self.settings_dict["Vehicles"][vehicle_name]
+        # initialize vehicle's camera setting dict to empty
+        vehicle_setting["Cameras"] = {}
+        vehicle_setting["Cameras"][camera_name] = {}
+        camera_setting = vehicle_setting["Cameras"][camera_name]
         self.set_pose(camera_setting, relative_pose)
         capture_setting = {}
-        capture_setting['Width'] = image_width
-        capture_setting['Height'] = image_height
-        capture_setting['ImageType'] = image_type
-        capture_setting['FOV_Degrees'] = fov_horizontal_degrees
-        camera_setting['CaptureSettings'] = [capture_setting]
+        capture_setting["Width"] = image_width
+        capture_setting["Height"] = image_height
+        capture_setting["ImageType"] = image_type
+        capture_setting["FOV_Degrees"] = fov_horizontal_degrees
+        camera_setting["CaptureSettings"] = [capture_setting]
 
     # default linux: /home/$USER/Documents/AirSim/settings.json
     # default windows: C:\\Users\\%USERNAME%\\Documents\\AirSim\\settings.json
@@ -88,8 +107,19 @@ def write_airsim_settings_file(self, base_filename="settings.json"):
     def write_airsim_neurips_baseline_settings_file(self):
         instance = self.__class__()
         instance.add_minimal()
-        instance.add_multirotor(vehicle_name = "drone_1", pose = Pose(Position(), Rotation()))
-        instance.add_camera(vehicle_name = "drone_1", camera_name = 'fpv_cam', relative_pose=Pose(Position(0.25, 0.0, 0.0), Rotation()), 
-                image_type = 0, image_width = 320, image_height = 240, fov_horizontal_degrees = 90)
-        instance.add_multirotor(vehicle_name = "drone_2", pose = Pose(Position(), Rotation()))
-        instance.write_airsim_settings_file()
+        instance.add_multirotor(
+            vehicle_name="drone_1", pose=Pose(Position(), Rotation())
+        )
+        instance.add_camera(
+            vehicle_name="drone_1",
+            camera_name="fpv_cam",
+            relative_pose=Pose(Position(0.25, 0.0, 0.0), Rotation()),
+            image_type=0,
+            image_width=320,
+            image_height=240,
+            fov_horizontal_degrees=90,
+        )
+        instance.add_multirotor(
+            vehicle_name="drone_2", pose=Pose(Position(), Rotation())
+        )
+        instance.write_airsim_settings_file()