autoformat code

config/make_tag/README.md

 # make_tag
 
-taken from [https://github.com/berndpfrommer/tagslam](https://github.com/berndpfrommer/tagslam/blob/master/src/make_tag.py) under Apache 2.0 license.
+taken
+from [https://github.com/berndpfrommer/tagslam](https://github.com/berndpfrommer/tagslam/blob/master/src/make_tag.py)
+under Apache 2.0 license.
 
 base tags (0-3):
+
 ```
 python make_tag.py --draw_box --nx 2 --ny 2 --no-symm_corners --tsize 0.08 --borderbits 1 --startid 0 --tspace 0.03 --tfam t36h11 tags.pdf
 ```
 
 large tags (4-27):
+
 ```
 python make_tag.py --draw_box --nx 3 --ny 4 --no-symm_corners --tsize 0.052 --borderbits 1 --startid 4 --tspace 0.03 --tfam t36h11 tags.pdf
 python make_tag.py --draw_box --nx 3 --ny 4 --no-symm_corners --tsize 0.052 --borderbits 1 --startid 16 --tspace 0.03 --tfam t36h11 tags.pdf
 ```
 
 small tags (28-75):
+
 ```
 python make_tag.py --draw_box --nx 6 --ny 8 --no-symm_corners --tsize 0.024 --borderbits 1 --startid 28 --tspace 0.06 --tfam t36h11 tags.pdf
 ```
\ No newline at end of file

config/make_tag/make_tag.py

@@ -2,13 +2,12 @@
 # Thomas Schneider, Sept 2013
 # Codes from AprilTags C++ Library (http://people.csail.mit.edu/kaess/apriltags/)
 
-from pyx import *
 import argparse
-import sys
-import importlib
-
 import math
 import numpy as np
+import sys
+from pyx import *
+
 
 class AprilTagCodes:
     t16h5=[0x231b, 0x2ea5, 0x346a, 0x45b9, 0x79a6, 0x7f6b, 0xb358, 0xe745, 0xfe59, 0x156d, 0x380b, 0xf0ab, 0x0d84, 0x4736, 0x8c72, 0xaf10, 0x093c, 0x93b4, 0xa503, 0x468f, 0xe137, 0x5795, 0xdf42, 0x1c1d, 0xe9dc, 0x73ad, 0xad5f, 0xd530, 0x07ca, 0xaf2e]
@@ -32,13 +31,16 @@ class AprilTagCodes:
             print("[ERROR]: Unknown tag familiy.")
             sys.exit(0)
 
+
 # borderBits must be consitent with the variable "blackBorder" in the detector code in file ethz_apriltag2/src/TagFamily.cc
-def generateAprilTag(canvas, position, metricSize, tagSpacing, tagID, tagFamililyData, rotation=2, symmCorners=True, borderBits=2, ccolor=color.rgb.black, drawBox=False):
+def generateAprilTag(canvas, position, metricSize, tagSpacing, tagID, tagFamililyData, rotation=2, symmCorners=True,
+                     borderBits=2, ccolor=color.rgb.black, drawBox=False):
     # get the tag code
     try:
         tagCode = tagFamililyData.tagCodes[tagID]
     except:
-        print("[ERROR]: Requested tag ID of {0} not available in the {1} TagFamiliy".format(tagID, tagFamililyData.chosenTagFamiliy))
+        print("[ERROR]: Requested tag ID of {0} not available in the {1} TagFamiliy".format(tagID,
+                                                                                            tagFamililyData.chosenTagFamiliy))
 
     # calculate the bit size of the tag
     sqrtBits = (math.sqrt(tagFamililyData.totalBits))
@@ -52,8 +54,10 @@ def generateAprilTag(canvas, position, metricSize, tagSpacing, tagID, tagFamilil
     borderSize = borderBits / 2 * bitSquareSize
 
     c.fill(path.rect(xPos + borderSize, yPos + borderSize, metricSize - 2 * borderSize, borderSize), [ccolor])  # bottom
-    c.fill(path.rect(xPos + borderSize, yPos+metricSize-2*borderSize, metricSize-2*borderSize, borderSize),[ccolor]) #top
-    c.fill(path.rect(xPos+metricSize-2*borderSize, yPos + borderSize, borderSize, metricSize-2*borderSize),[ccolor]) #left
+    c.fill(path.rect(xPos + borderSize, yPos + metricSize - 2 * borderSize, metricSize - 2 * borderSize, borderSize),
+           [ccolor])  # top
+    c.fill(path.rect(xPos + metricSize - 2 * borderSize, yPos + borderSize, borderSize, metricSize - 2 * borderSize),
+           [ccolor])  # left
     c.fill(path.rect(xPos + borderSize, yPos + borderSize, borderSize, metricSize - 2 * borderSize), [ccolor])  # right
 
     # draw name
@@ -77,7 +81,9 @@ def generateAprilTag(canvas, position, metricSize, tagSpacing, tagID, tagFamilil
     for i in range(0, int(sqrtBits)):
         for j in range(0, int(sqrtBits)):
             if codeMatrix[i, j]:
-                c.fill(path.rect(xPos+(j+borderBits)*bitSquareSize, yPos+((borderBits-1)+sqrtBits-i)*bitSquareSize, bitSquareSize, bitSquareSize),[ccolor])
+                c.fill(path.rect(xPos + (j + borderBits) * bitSquareSize,
+                                 yPos + ((borderBits - 1) + sqrtBits - i) * bitSquareSize, bitSquareSize,
+                                 bitSquareSize), [ccolor])
 
     # add squares to make corners symmetric (decreases the effect of motion blur in the subpix refinement...)
     if symmCorners:
@@ -93,6 +99,7 @@ def generateAprilTag(canvas, position, metricSize, tagSpacing, tagID, tagFamilil
         for point in corners:
             c.fill(path.rect(point[0], point[1], metricSquareSize, metricSquareSize), [ccolor])
 
+
 # tagSpaceing in % of tagSize
 def generateAprilBoard(canvas, n_cols, n_rows, margx, margy, tagSize, tagSpacing=0.25, tagFamily="t36h11",
                        acolor="Black", startid=0, borderBits=2, symmCorners=False, drawBox=False):
@@ -131,7 +138,8 @@ def generateAprilBoard(canvas, n_cols, n_rows, margx, margy, tagSize, tagSpacing
             y_off = x_off
             pos = (margx * 100 + x * (1 + tagSpacing) * tagSize + x_off,
                    margy * 100 + y * (1 + tagSpacing) * tagSize + y_off)
-            generateAprilTag(canvas, pos, tagSize, tagSpacing, id, tagFamilyData, rotation=2, borderBits=borderBits*2, ccolor=ccolor, symmCorners=symmCorners, drawBox=drawBox)
+            generateAprilTag(canvas, pos, tagSize, tagSpacing, id, tagFamilyData, rotation=2, borderBits=borderBits * 2,
+                             ccolor=ccolor, symmCorners=symmCorners, drawBox=drawBox)
             # c.text(pos[0]+0.45*tagSize, pos[1]-0.7*tagSize*tagSpacing, "{0}".format(id))
 
     # draw axis
@@ -157,26 +165,39 @@ if __name__ == "__main__":
     outputOptions.add_argument('output', nargs="?", default="target", help='Output filename')
 
     genericOptions = parser.add_argument_group('Generic grid options')
-    genericOptions.add_argument('--nx', type=int, default=6, dest='n_cols', help='The number of tags in x direction (default: %(default)s)\n')
-    genericOptions.add_argument('--ny', type=int, default=7, dest='n_rows', help='The number of tags in y direction (default: %(default)s)')
-    genericOptions.add_argument('--marginx', type=float, default=0, dest='marginx', help='Margin [m] in x direction (default: %(default)s)')
-    genericOptions.add_argument('--marginy', type=float, default=0, dest='marginy', help='Margin [m] in y direction (default: %(default)s)')
-    genericOptions.add_argument('--color', default="Black", dest='color', help='Color in cmyk space (default: %(default)s)')
+    genericOptions.add_argument('--nx', type=int, default=6, dest='n_cols',
+                                help='The number of tags in x direction (default: %(default)s)\n')
+    genericOptions.add_argument('--ny', type=int, default=7, dest='n_rows',
+                                help='The number of tags in y direction (default: %(default)s)')
+    genericOptions.add_argument('--marginx', type=float, default=0, dest='marginx',
+                                help='Margin [m] in x direction (default: %(default)s)')
+    genericOptions.add_argument('--marginy', type=float, default=0, dest='marginy',
+                                help='Margin [m] in y direction (default: %(default)s)')
+    genericOptions.add_argument('--color', default="Black", dest='color',
+                                help='Color in cmyk space (default: %(default)s)')
 
     aprilOptions = parser.add_argument_group('Apriltag arguments')
-    aprilOptions.add_argument('--tsize', type=float, default=0.08, dest='tsize', help='The size of one tag [m] (default: %(default)s)')
-    aprilOptions.add_argument('--tspace', type=float, default=0.3, dest='tagspacing', help='The space between the tags in fraction of the edge size [0..1] (default: %(default)s)')
-    aprilOptions.add_argument('--tfam', default='t36h11', dest='tagfamiliy', help='Familiy of April tags {0} (default: %(default)s)'.format(AprilTagCodes.TagFamilies.keys()))
-    aprilOptions.add_argument('--startid', default=0, type=int, dest='startid', help='Start number for apriltag (default: %(default)s)')
-    aprilOptions.add_argument('--borderbits', default=2, type=int, dest='borderBits', help='number of bits used for black border (default: %(default)s)')
-    aprilOptions.add_argument('--symm_corners', dest='symmCorners', action='store_true', help='add black corner squares')
-    aprilOptions.add_argument('--no-symm_corners', dest='symmCorners', action='store_false', help='do not add black corner squares (default)')
+    aprilOptions.add_argument('--tsize', type=float, default=0.08, dest='tsize',
+                              help='The size of one tag [m] (default: %(default)s)')
+    aprilOptions.add_argument('--tspace', type=float, default=0.3, dest='tagspacing',
+                              help='The space between the tags in fraction of the edge size [0..1] (default: %(default)s)')
+    aprilOptions.add_argument('--tfam', default='t36h11', dest='tagfamiliy',
+                              help='Familiy of April tags {0} (default: %(default)s)'.format(
+                                  AprilTagCodes.TagFamilies.keys()))
+    aprilOptions.add_argument('--startid', default=0, type=int, dest='startid',
+                              help='Start number for apriltag (default: %(default)s)')
+    aprilOptions.add_argument('--borderbits', default=2, type=int, dest='borderBits',
+                              help='number of bits used for black border (default: %(default)s)')
+    aprilOptions.add_argument('--symm_corners', dest='symmCorners', action='store_true',
+                              help='add black corner squares')
+    aprilOptions.add_argument('--no-symm_corners', dest='symmCorners', action='store_false',
+                              help='do not add black corner squares (default)')
     aprilOptions.add_argument('--draw_box', dest='drawBox', action='store_true', help='draw thin black bounding box')
-    aprilOptions.add_argument('--no-draw_box', dest='drawBox', action='store_false', help='do not draw thin black bounding box (default)')
+    aprilOptions.add_argument('--no-draw_box', dest='drawBox', action='store_false',
+                              help='do not draw thin black bounding box (default)')
     aprilOptions.set_defaults(symmCorners=False)
     aprilOptions.set_defaults(drawBox=False)
 
-    
     if len(sys.argv) == 1:
         parser.print_help()
         sys.exit(0)
@@ -190,7 +211,9 @@ if __name__ == "__main__":
     # open a new canvas
     c = canvas.canvas()
 
-    generateAprilBoard(canvas, parsed.n_cols, parsed.n_rows, parsed.marginx, parsed.marginy, parsed.tsize, parsed.tagspacing, parsed.tagfamiliy, parsed.color, parsed.startid, borderBits=parsed.borderBits, symmCorners=parsed.symmCorners, drawBox=parsed.drawBox)
+    generateAprilBoard(canvas, parsed.n_cols, parsed.n_rows, parsed.marginx, parsed.marginy, parsed.tsize,
+                       parsed.tagspacing, parsed.tagfamiliy, parsed.color, parsed.startid, borderBits=parsed.borderBits,
+                       symmCorners=parsed.symmCorners, drawBox=parsed.drawBox)
 
     # write to file
     c.writePDFfile(parsed.output)

launch/cell-controllers/dummy-cell_ceti-table-1-placeworld.launch

 <launch>
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="address of the mqtt server for the connection to the controller"/>
+    <arg name="mqtt_server" default="tcp://127.0.0.1:1883"
+         doc="address of the mqtt server for the connection to the controller"/>
 
     <arg name="connection_address" default="tcp://*:6576"/>
 
@@ -10,7 +11,8 @@
         <param name="arm" type="string" value="arm1"/>
         <param name="other_cell" type="string" value="/ceti_cell_2_placeworld/scene/update"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
+        <param name="scene" type="string"
+               value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
     </node>
 
 </launch>

launch/cell-controllers/dummy-cell_ceti-table-2-placeworld.launch

 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+    <arg name="mqtt_server" default="tcp://192.168.0.122:1883"
+         doc="address of the mqtt server for the connection to the controller"/>
 
     <arg name="connection_address" default="tcp://*:6576"/>
 
@@ -11,7 +12,8 @@
         <param name="arm" type="string" value="arm2"/>
         <param name="other_cell" type="string" value="/ceti_cell_placeworld/scene/update"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
+        <param name="scene" type="string"
+               value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
     </node>
 
 </launch>

launch/cell-controllers/gazebo-cell_ceti-table-1-placeworld.launch

 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
+    <arg name="mqtt_server" default="tcp://localhost:1883"
+         doc="address of the mqtt server for the connection to the controller"/>
 
     <include file="$(find ccf)/launch/simulation_setup.launch"/>
 
@@ -9,7 +10,8 @@
         <param name="arm" type="string" value="arm1"/>
         <param name="other_cell" type="string" value="/ceti_cell_2_placeworld/scene/update"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
+        <param name="scene" type="string"
+               value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
     </node>
 
 </launch>

launch/cell-controllers/gazebo-cell_ceti-table-2-placeworld.launch

 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+    <arg name="mqtt_server" default="tcp://192.168.0.122:1883"
+         doc="address of the mqtt server for the connection to the controller"/>
 
     <!-- robot IP used by the robot controller -->
     <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
@@ -14,7 +15,8 @@
         <param name="arm" type="string" value="arm2"/>
         <param name="other_cell" type="string" value="/ceti_cell_placeworld/scene/update"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
+        <param name="scene" type="string"
+               value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
     </node>
 
 </launch>

launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-coloured.launch

 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
+    <arg name="mqtt_server" default="tcp://localhost:1883"
+         doc="address of the mqtt server for the connection to the controller"/>
 
     <include file="$(find ccf)/launch/noop-sim_setup.launch"/>
 
@@ -11,7 +12,8 @@
         <param name="arm" type="string" value="arm"/>
         <param name="scene_observer" type="string" value="object_locator/scene/update"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-coloured.json"/>
+        <param name="scene" type="string"
+               value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-coloured.json"/>
     </node>
 
 </launch>

launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-grey.launch

 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
+    <arg name="mqtt_server" default="tcp://localhost:1883"
+         doc="address of the mqtt server for the connection to the controller"/>
 
     <include file="$(find ccf)/launch/noop-sim_setup.launch"/>
 
@@ -11,7 +12,8 @@
         <param name="arm" type="string" value="arm"/>
         <param name="scene_observer" type="string" value="object_locator/scene/update"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-grey.json"/>
+        <param name="scene" type="string"
+               value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-grey.json"/>
     </node>
 
 </launch>

launch/cell-controllers/noop-sim-cell_ceti-table-1-placeworld.launch

 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
+    <arg name="mqtt_server" default="tcp://localhost:1883"
+         doc="address of the mqtt server for the connection to the controller"/>
 
     <!-- Use rviz -->
     <arg name="use_rviz" default="true" doc="use rviz"/>
@@ -16,7 +17,8 @@
         <param name="arm" type="string" value="arm1"/>
         <param name="other_cell" type="string" value="/ceti_cell_2_placeworld/scene/delta-update"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
+        <param name="scene" type="string"
+               value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
     </node>
 
 </launch>

launch/cell-controllers/noop-sim-cell_ceti-table-2-placeworld.launch

 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+    <arg name="mqtt_server" default="tcp://192.168.0.122:1883"
+         doc="address of the mqtt server for the connection to the controller"/>
 
     <include file="$(find ccf)/launch/noop-sim_setup.launch"/>
 
@@ -11,7 +12,8 @@
         <param name="arm" type="string" value="arm2"/>
         <param name="other_cell" type="string" value="/ceti_cell_placeworld/scene/delta-update"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
+        <param name="scene" type="string"
+               value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
     </node>
 
 </launch>

launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch

 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
+    <arg name="mqtt_server" default="tcp://localhost:1883"
+         doc="address of the mqtt server for the connection to the controller"/>
 
     <!-- robot IP used by the robot controller -->
     <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
@@ -17,7 +18,8 @@
         <param name="arm" type="string" value="arm"/>
         <param name="scene_observer" type="string" value="object_locator/scene/update"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-coloured.json"/>
+        <param name="scene" type="string"
+               value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-coloured.json"/>
     </node>
 
 </launch>