Lint fix

Signed-off-by: Wendell Hom <whom@nvidia.com>

applications/stereo_vision/README.md

@@ -40,7 +40,7 @@ using. This can be found using `v4l2-ctl --list-devices`.
 
 ## Models
 
-This demo requires the ESS DNN Stereo Disparity availible from the NGC catalog for disparity and the
+This demo requires the ESS DNN Stereo Disparity available from the NGC catalog for disparity and the
 YOLOv8 onnx model for object detection. Both models are downloaded when you build the application.
 
 ### ESS DNN

applications/stereo_vision/cpp/crop.cpp

@@ -53,14 +53,14 @@ void CropOp::compute(InputContext& op_input, OutputContext& op_output, Execution
   int element_size = nvidia::gxf::PrimitiveTypeSize(data_type);
 
   if (x_ < 0 || y_ < 0 || width_ <= 0 || height_ <= 0) {
-    throw std::runtime_error("Invalide crop dimensions");
+    throw std::runtime_error("Invalid crop dimensions");
   }
 
   if ((x_ + width_) > orig_width || (y_ + height_) > orig_height) {
     std::cout << "orig_width " << orig_width << std::endl;
     std::cout << "orig_height " << orig_height << std::endl;
     std::cout << "nChannels " << nChannels << std::endl;
-    throw std::runtime_error("Crop exceeds image boundries");
+    throw std::runtime_error("Crop exceeds image boundaries");
   }
 
   auto pointer = std::shared_ptr<void*>(new void*, [](void** pointer) {

applications/stereo_vision/cpp/crop.h

@@ -24,18 +24,18 @@
 
 namespace holoscan::ops {
 
-  class CropOp : public Operator{
-  public:
-      HOLOSCAN_OPERATOR_FORWARD_ARGS(CropOp);
-      CropOp() = default;
-      void setup(OperatorSpec& spec) override;
-      void compute(InputContext&, OutputContext& op_output, ExecutionContext&) override;
-  private:
-      Parameter<int> x_;
-      Parameter<int> y_;
-      Parameter<int> width_;
-      Parameter<int> height_;
-  };
+class CropOp : public Operator{
+ public:
+  HOLOSCAN_OPERATOR_FORWARD_ARGS(CropOp);
+  CropOp() = default;
+  void setup(OperatorSpec& spec) override;
+  void compute(InputContext&, OutputContext& op_output, ExecutionContext&) override;
+ private:
+  Parameter<int> x_;
+  Parameter<int> y_;
+  Parameter<int> width_;
+  Parameter<int> height_;
+};
 
-}
+}  // namespace holoscan::ops
 #endif

applications/stereo_vision/cpp/main.cpp

@@ -42,7 +42,7 @@ class StereoDepthApp : public holoscan::Application {
   std::string stereo_calibration_;
 
  public:
-  StereoDepthApp(std::string file) : stereo_calibration_(file) {};
+  explicit StereoDepthApp(std::string file) : stereo_calibration_(file) {}
   void compose() override {
     using namespace holoscan;
     YAML::Node calibration = YAML::LoadFile(stereo_calibration_);

applications/stereo_vision/cpp/split_video.cpp

@@ -34,7 +34,7 @@ void SplitVideoOp::setup(OperatorSpec& spec) {
   spec.param(stereo_video_layout_,
              "stereo_video_layout",
              "Stereo Video Layout",
-             "Horizontal or Vertical Concatination of Stereo Video Frames",
+             "Horizontal or Vertical Concatenation of Stereo Video Frames",
              STEREO_VIDEO_HORIZONTAL);
 }
 
@@ -142,7 +142,7 @@ void MergeVideoOp::setup(OperatorSpec& spec) {
   spec.param(stereo_video_layout_,
              "stereo_video_layout",
              "Stereo Video Layout",
-             "Horizontal or Vertical Concatination of Stereo Video Frames",
+             "Horizontal or Vertical Concatenation of Stereo Video Frames",
              STEREO_VIDEO_HORIZONTAL);
 }
 

applications/stereo_vision/cpp/tracking_postprocessor.cpp

@@ -55,7 +55,7 @@ void TrackingPostprocessor::compute(InputContext& op_input, OutputContext& op_ou
   int scores_N = detection_boxes->shape()[1];
 
   if (!(boxes_batch == 1 && scores_batch == 1 && boxes_N == scores_N && boxes_coord == 4)) {
-    throw std::runtime_error("Wrong input dimentions for yolo input");
+    throw std::runtime_error("Wrong input dimensions for yolo input");
   }
 
   auto maybe_tensormap = op_input.receive<holoscan::TensorMap>("image");

applications/stereo_vision/cpp/tracking_postprocessor.h

@@ -30,7 +30,7 @@ class TrackingPostprocessor : public Operator {
   void setup(OperatorSpec& spec) override;
   void compute(InputContext&, OutputContext& op_output, ExecutionContext&) override;
 
-  private:
+ private:
   Parameter<float> score_threshold_;
   Parameter<int> bb_width_;
   Parameter<int> bb_height_;

applications/stereo_vision/cpp/undistort_rectify.h

@@ -33,7 +33,7 @@ class UndistortRectifyOp : public Operator {
  public:
   class RectificationMap {
    public:
-    RectificationMap() {};
+    RectificationMap() {}
     RectificationMap(float* M, float* d, float* R, float* P, int width, int height);
     ~RectificationMap();
     void setParameters(float* M, float* d, float* R, float* P, int width, int height);
@@ -55,7 +55,7 @@ class UndistortRectifyOp : public Operator {
   void compute(InputContext&, OutputContext& op_output, ExecutionContext&) override;
   void setRectificationMap(std::shared_ptr<RectificationMap> rectification_map) {
     rectification_map_ = rectification_map;
-  };
+  }
 
  private:
   std::shared_ptr<RectificationMap> rectification_map_;

applications/stereo_vision/scripts/get_zed_calibration.py

@@ -13,105 +13,114 @@
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
-""" 
+"""
 
-import os
 import argparse
 import configparser
+import os
+
 import numpy as np
-from scipy.spatial.transform import Rotation
 import yaml
+from scipy.spatial.transform import Rotation
 
 rez = "FHD"
 calibration_file = "calibration.yaml"
 
-parser = argparse.ArgumentParser(description='Get factory ZED calibration')
-required = parser.add_argument_group('required arguments')
-required.add_argument('-s','--serial_number', help='serial number of the ZED camera', required=True)
-required.add_argument('-o','--output', help='output calibration file (default: stereo_calibration.yaml)', default="stereo_calibration.yaml")
-required.add_argument('-r','--resoution', help='resolution setting (default: FHD)', default="FHD")
+parser = argparse.ArgumentParser(description="Get factory ZED calibration")
+required = parser.add_argument_group("required arguments")
+required.add_argument(
+    "-s", "--serial_number", help="serial number of the ZED camera", required=True
+)
+required.add_argument(
+    "-o",
+    "--output",
+    help="output calibration file (default: stereo_calibration.yaml)",
+    default="stereo_calibration.yaml",
+)
+required.add_argument("-r", "--resolution", help="resolution setting (default: FHD)", default="FHD")
 args = parser.parse_args()
 
-serial_number=args.serial_number
-rez = args.resoution
+serial_number = args.serial_number
+rez = args.resolution
 calibration_file = args.output
 if rez == "2K":
-  width = 2208
-  height = 1242
+    width = 2208
+    height = 1242
 elif rez == "FHD":
-  width = 1920
-  height = 1080
+    width = 1920
+    height = 1080
 elif rez == "HD":
-  width = 1280
-  height = 720
+    width = 1280
+    height = 720
 elif rez == "VGA":
-  width = 672
-  height = 376
+    width = 672
+    height = 376
 else:
-  raise NameError("resolution not supported")
+    raise NameError("resolution not supported")
 
 
-tmp_file = str(serial_number)+".tmp"
-url = "http://calib.stereolabs.com/?SN="+str(serial_number)
-os.system("wget -O"+ tmp_file +" "+url)
+tmp_file = str(serial_number) + ".tmp"
+url = "http://calib.stereolabs.com/?SN=" + str(serial_number)
+os.system("wget -O" + tmp_file + " " + url)
 
 calib = configparser.ConfigParser()
 calib.read(tmp_file)
-M1 = np.zeros([3,3])
-M1[0,0]=calib['LEFT_CAM_'+rez]['fx']
-M1[0,2]=calib['LEFT_CAM_'+rez]['cx']
-M1[1,1]=calib['LEFT_CAM_'+rez]['fy']
-M1[1,2]=calib['LEFT_CAM_'+rez]['cy']
-M1[2,2] = 1.0
+M1 = np.zeros([3, 3])
+M1[0, 0] = calib["LEFT_CAM_" + rez]["fx"]
+M1[0, 2] = calib["LEFT_CAM_" + rez]["cx"]
+M1[1, 1] = calib["LEFT_CAM_" + rez]["fy"]
+M1[1, 2] = calib["LEFT_CAM_" + rez]["cy"]
+M1[2, 2] = 1.0
 
 d1 = np.zeros(5)
-d1[0] = calib['LEFT_CAM_'+rez]['k1']
-d1[1] = calib['LEFT_CAM_'+rez]['k2']
-d1[2] = calib['LEFT_CAM_'+rez]['p1']
-d1[3] = calib['LEFT_CAM_'+rez]['p2']
-d1[4] = calib['LEFT_CAM_'+rez]['k3']
-
-M2 = np.zeros([3,3])
-M2[0,0]=calib['RIGHT_CAM_'+rez]['fx']
-M2[0,2]=calib['RIGHT_CAM_'+rez]['cx']
-M2[1,1]=calib['RIGHT_CAM_'+rez]['fy']
-M2[1,2]=calib['RIGHT_CAM_'+rez]['cy']
-M2[2,2]=1.0
+d1[0] = calib["LEFT_CAM_" + rez]["k1"]
+d1[1] = calib["LEFT_CAM_" + rez]["k2"]
+d1[2] = calib["LEFT_CAM_" + rez]["p1"]
+d1[3] = calib["LEFT_CAM_" + rez]["p2"]
+d1[4] = calib["LEFT_CAM_" + rez]["k3"]
+
+M2 = np.zeros([3, 3])
+M2[0, 0] = calib["RIGHT_CAM_" + rez]["fx"]
+M2[0, 2] = calib["RIGHT_CAM_" + rez]["cx"]
+M2[1, 1] = calib["RIGHT_CAM_" + rez]["fy"]
+M2[1, 2] = calib["RIGHT_CAM_" + rez]["cy"]
+M2[2, 2] = 1.0
 
 d2 = np.zeros(5)
-d2[0] = calib['RIGHT_CAM_'+rez]['k1']
-d2[1] = calib['RIGHT_CAM_'+rez]['k2']
-d2[2] = calib['RIGHT_CAM_'+rez]['p1']
-d2[3] = calib['RIGHT_CAM_'+rez]['p2']
-d2[4] = calib['RIGHT_CAM_'+rez]['k3']
+d2[0] = calib["RIGHT_CAM_" + rez]["k1"]
+d2[1] = calib["RIGHT_CAM_" + rez]["k2"]
+d2[2] = calib["RIGHT_CAM_" + rez]["p1"]
+d2[3] = calib["RIGHT_CAM_" + rez]["p2"]
+d2[4] = calib["RIGHT_CAM_" + rez]["k3"]
 
 t = np.zeros(3)
-t[0] = -float(calib['STEREO']['Baseline'])
-t[1] = calib['STEREO']['TY']
-t[2] = calib['STEREO']['TZ']
+t[0] = -float(calib["STEREO"]["Baseline"])
+t[1] = calib["STEREO"]["TY"]
+t[2] = calib["STEREO"]["TZ"]
 
 r = np.zeros(3)
-r[0] = calib['STEREO']["RX_"+rez]
-r[1] = calib['STEREO']["CV_"+rez]
-r[2] = calib['STEREO']["RZ_"+rez]
+r[0] = calib["STEREO"]["RX_" + rez]
+r[1] = calib["STEREO"]["CV_" + rez]
+r[2] = calib["STEREO"]["RZ_" + rez]
 R = Rotation.from_rotvec(r).as_matrix()
 
-calibration = dict( 
-SN = serial_number,
-M1 = str(M1.flatten().tolist()),
-d1 = str(d1.tolist()),
-M2 = str(M2.flatten().tolist()),
-d2 = str(d2.tolist()),
-t = str(t.tolist()),
-R = str(R.flatten().tolist()),
-width = width,
-height = height
+calibration = dict(
+    SN=serial_number,
+    M1=str(M1.flatten().tolist()),
+    d1=str(d1.tolist()),
+    M2=str(M2.flatten().tolist()),
+    d2=str(d2.tolist()),
+    t=str(t.tolist()),
+    R=str(R.flatten().tolist()),
+    width=width,
+    height=height,
 )
 
-output_yaml = yaml.dump(calibration, default_style=None, default_flow_style=False, sort_keys=False).replace("'","")
+output_yaml = yaml.dump(
+    calibration, default_style=None, default_flow_style=False, sort_keys=False
+).replace("'", "")
 print("Writing calibration to: " + calibration_file)
-with open(calibration_file,'w') as f:
-  f.write(output_yaml)
-
-os.system("rm "+tmp_file)
+with open(calibration_file, "w") as f:
+    f.write(output_yaml)
 
+os.system("rm " + tmp_file)