a number of lint/docs/tool tweaks

.pre-commit-config.yaml

@@ -4,7 +4,7 @@ repos:
     hooks:
       - id: trailing-whitespace
       - id: end-of-file-fixer
-        exclude: (thirdparty/.*)|(.txt)$
+        exclude: (thirdparty/.*)|(SOPHUS_VERSION)|(.txt)$
       - id: check-yaml
         args: ["--unsafe"]
       - id: check-json
@@ -26,3 +26,20 @@ repos:
       - id: cmake-format
       # lint does not pass
       #- id: cmake-lint
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    # Ruff version.
+    rev: v0.4.8
+    hooks:
+      # Run the linter.
+      - id: ruff
+        args: [ --fix ]
+        exclude: (sophus_pybind-stubs/.*)
+      # Run the formatter.
+      - id: ruff-format
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.1.0
+    hooks:
+      - id: codespell
+        args:
+          - --ignore-words-list
+          - "te,tring,crate"

CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.24)
-project(Sophus VERSION 1.24.6)
+
+file(READ "SOPHUS_VERSION" SOPHUS_VERSION)
+project(Sophus VERSION ${SOPHUS_VERSION})
 
 include(CMakePackageConfigHelpers)
 include(GNUInstallDirs)

SOPHUS_VERSION

@@ -0,0 +1 @@
+1.24.6

examples/CMakeLists.txt

@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.24)
 
 project(SophusExample)
 
-find_package(Sophus 1.24.6 REQUIRED)
+file(READ "../SOPHUS_VERSION" SOPHUS_VERSION)
+find_package(Sophus ${SOPHUS_VERSION} REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 
 # Release by default Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug"

setup.py

@@ -1,6 +1,6 @@
 import os
 import re
-import shutil
+from pathlib import Path
 import subprocess
 import sys
 
@@ -17,6 +17,7 @@
     "win-arm64": "ARM64",
 }
 
+
 # A CMakeExtension needs a sourcedir instead of a file list.
 # The name must be the _single_ output extension from the CMake build.
 # If you need multiple extensions, see scikit-build.
@@ -69,7 +70,6 @@ def build_extension(self, ext):
                     pass
 
         else:
-
             # Single config generators are handled "normally"
             single_config = any(x in cmake_generator for x in {"NMake", "Ninja"})
 
@@ -108,30 +108,40 @@ def build_extension(self, ext):
             os.makedirs(self.build_temp)
 
         if not os.path.exists(self.build_lib):
-                os.makedirs(self.build_lib)
+            os.makedirs(self.build_lib)
 
-        subprocess.check_call(["cmake", ext.sourcedir] + cmake_args, cwd=self.build_temp)
+        subprocess.check_call(
+            ["cmake", ext.sourcedir] + cmake_args, cwd=self.build_temp
+        )
         subprocess.check_call(
             ["cmake", "--build", "."] + build_args, cwd=self.build_temp
         )
 
         # copy stubs files from sophus_pybind-stubs to lib folder to be installed
         subprocess.run(
-            f"cp sophus_pybind-stubs/*.pyi {self.build_lib}", shell=True, check=True,
+            f"cp sophus_pybind-stubs/*.pyi {self.build_lib}",
+            shell=True,
+            check=True,
         )
         subprocess.run(
-            f"cp sophus_pybind-stubs/*.typed {self.build_lib}",  shell=True, check=True,
+            f"cp sophus_pybind-stubs/*.typed {self.build_lib}",
+            shell=True,
+            check=True,
         )
         # copy .so file to lib
-        subprocess.run(f"cp {self.build_temp}/*.so {self.build_lib}/", shell=True, check=True,)
+        subprocess.run(
+            f"cp {self.build_temp}/*.so {self.build_lib}/",
+            shell=True,
+            check=True,
+        )
 
 
 def main():
     # The information here can also be placed in setup.cfg - better separation of
     # logic and declaration, and simpler if you include description/version in a file.
     setup(
         name="sophus_pybind",
-        version="1.24.6",
+        version=Path("SOPHUS_VERSION").read_text(),
         description="Sophus python API",
         long_description="Python API for sophus library",
         url="https://github.com/strasdat/sophus",

sophus_pybind-stubs/sophus_pybind.pyi

@@ -1,73 +1,78 @@
 from __future__ import annotations
 import numpy
 import typing
-__all__ = ['SE3', 'SO3', 'interpolate', 'iterativeMean']
+
+__all__ = ["SE3", "SO3", "interpolate", "iterativeMean"]
+
 class SE3:
     @staticmethod
     @typing.overload
-    def exp(arg0: numpy.ndarray[numpy.float64[3, 1]], arg1: numpy.ndarray[numpy.float64[3, 1]]) -> SE3:
+    def exp(
+        arg0: numpy.ndarray[numpy.float64[3, 1]],
+        arg1: numpy.ndarray[numpy.float64[3, 1]],
+    ) -> SE3:
         """
         Create SE3 from a translational_part (3x1) and a rotation vector (3x1) of magnitude in rad. NOTE: translational_part is not translation vector in SE3
         """
     @staticmethod
     @typing.overload
-    def exp(arg0: numpy.ndarray[numpy.float64[m, 3]], arg1: numpy.ndarray[numpy.float64[m, 3]]) -> SE3:
+    def exp(
+        arg0: numpy.ndarray[numpy.float64[m, 3]],
+        arg1: numpy.ndarray[numpy.float64[m, 3]],
+    ) -> SE3:
         """
         Create a set of SE3 from translational_parts (Nx3) and rotation vectors (Nx3) of magnitude in rad. NOTE: translational_part is not translation vector in SE3
         """
     @staticmethod
     @typing.overload
-    def from_matrix(arg0: numpy.ndarray[numpy.float64[4, 4]]) -> SE3:
-        ...
+    def from_matrix(arg0: numpy.ndarray[numpy.float64[4, 4]]) -> SE3: ...
     @staticmethod
     @typing.overload
-    def from_matrix(arg0: numpy.ndarray[numpy.float64]) -> SE3:
-        ...
+    def from_matrix(arg0: numpy.ndarray[numpy.float64]) -> SE3: ...
     @staticmethod
     @typing.overload
-    def from_matrix3x4(arg0: numpy.ndarray[numpy.float64[3, 4]]) -> SE3:
-        ...
+    def from_matrix3x4(arg0: numpy.ndarray[numpy.float64[3, 4]]) -> SE3: ...
     @staticmethod
     @typing.overload
-    def from_matrix3x4(arg0: numpy.ndarray[numpy.float64]) -> SE3:
-        ...
-    def __copy__(self) -> SE3:
-        ...
-    def __getitem__(self, arg0: typing.Any) -> SE3:
-        ...
-    def __imatmul__(self, arg0: SE3) -> SE3:
-        ...
+    def from_matrix3x4(arg0: numpy.ndarray[numpy.float64]) -> SE3: ...
+    def __copy__(self) -> SE3: ...
+    def __getitem__(self, arg0: typing.Any) -> SE3: ...
+    def __imatmul__(self, arg0: SE3) -> SE3: ...
     @typing.overload
     def __init__(self) -> None:
         """
-         Default Constructor initializing a group containing 1 identity element
+        Default Constructor initializing a group containing 1 identity element
         """
     @typing.overload
     def __init__(self, arg0: SE3) -> None:
         """
         Copy constructor from single element
         """
-    def __len__(self) -> int:
-        ...
+    def __len__(self) -> int: ...
     @typing.overload
-    def __matmul__(self, arg0: SE3) -> SE3:
-        ...
+    def __matmul__(self, arg0: SE3) -> SE3: ...
     @typing.overload
-    def __matmul__(self, arg0: numpy.ndarray[numpy.float64[3, n]]) -> numpy.ndarray[numpy.float64[3, n]]:
-        ...
-    def __repr__(self) -> str:
-        ...
-    def __setitem__(self, arg0: typing.Any, arg1: SE3) -> None:
-        ...
-    def __str__(self) -> str:
-        ...
+    def __matmul__(
+        self, arg0: numpy.ndarray[numpy.float64[3, n]]
+    ) -> numpy.ndarray[numpy.float64[3, n]]: ...
+    def __repr__(self) -> str: ...
+    def __setitem__(self, arg0: typing.Any, arg1: SE3) -> None: ...
+    def __str__(self) -> str: ...
     @typing.overload
-    def from_quat_and_translation(self, arg0: numpy.ndarray[numpy.float64[3, 1]], arg1: numpy.ndarray[numpy.float64[3, 1]]) -> SE3:
+    def from_quat_and_translation(
+        self,
+        arg0: numpy.ndarray[numpy.float64[3, 1]],
+        arg1: numpy.ndarray[numpy.float64[3, 1]],
+    ) -> SE3:
         """
         Create SE3 from a quaternion as w, [x, y, z], and translation vector
         """
     @typing.overload
-    def from_quat_and_translation(self, arg0: numpy.ndarray[numpy.float64[m, 3]], arg1: numpy.ndarray[numpy.float64[m, 3]]) -> SE3:
+    def from_quat_and_translation(
+        self,
+        arg0: numpy.ndarray[numpy.float64[m, 3]],
+        arg1: numpy.ndarray[numpy.float64[m, 3]],
+    ) -> SE3:
         """
         Create SE3 from a list of quaternion as w_vec: Nx1, xyz_vec: Nx3, and a list of translation vectors: Nx3
         """
@@ -99,6 +104,7 @@ class SE3:
         """
         Get the translation component of the transformation.
         """
+
 class SO3:
     @staticmethod
     def exp(arg0: numpy.ndarray[numpy.float64[m, 3]]) -> SO3:
@@ -107,12 +113,10 @@ class SO3:
         """
     @staticmethod
     @typing.overload
-    def from_matrix(arg0: numpy.ndarray[numpy.float64[3, 3]]) -> SO3:
-        ...
+    def from_matrix(arg0: numpy.ndarray[numpy.float64[3, 3]]) -> SO3: ...
     @staticmethod
     @typing.overload
-    def from_matrix(arg0: numpy.ndarray[numpy.float64]) -> SO3:
-        ...
+    def from_matrix(arg0: numpy.ndarray[numpy.float64]) -> SO3: ...
     @staticmethod
     @typing.overload
     def from_quat(arg0: float, arg1: numpy.ndarray[numpy.float64[3, 1]]) -> SO3:
@@ -125,36 +129,29 @@ class SO3:
         """
         Create rotations from a list of quaternions as w_vec: Nx1, xyz_vec: Nx3
         """
-    def __copy__(self) -> SO3:
-        ...
-    def __getitem__(self, arg0: typing.Any) -> SO3:
-        ...
-    def __imatmul__(self, arg0: SO3) -> SO3:
-        ...
+    def __copy__(self) -> SO3: ...
+    def __getitem__(self, arg0: typing.Any) -> SO3: ...
+    def __imatmul__(self, arg0: SO3) -> SO3: ...
     @typing.overload
     def __init__(self) -> None:
         """
-         Default Constructor initializing a group containing 1 identity element
+        Default Constructor initializing a group containing 1 identity element
         """
     @typing.overload
     def __init__(self, arg0: SO3) -> None:
         """
         Copy constructor from single element
         """
-    def __len__(self) -> int:
-        ...
+    def __len__(self) -> int: ...
     @typing.overload
-    def __matmul__(self, arg0: SO3) -> SO3:
-        ...
+    def __matmul__(self, arg0: SO3) -> SO3: ...
     @typing.overload
-    def __matmul__(self, arg0: numpy.ndarray[numpy.float64[3, n]]) -> numpy.ndarray[numpy.float64[3, n]]:
-        ...
-    def __repr__(self) -> str:
-        ...
-    def __setitem__(self, arg0: typing.Any, arg1: SO3) -> None:
-        ...
-    def __str__(self) -> str:
-        ...
+    def __matmul__(
+        self, arg0: numpy.ndarray[numpy.float64[3, n]]
+    ) -> numpy.ndarray[numpy.float64[3, n]]: ...
+    def __repr__(self) -> str: ...
+    def __setitem__(self, arg0: typing.Any, arg1: SO3) -> None: ...
+    def __str__(self) -> str: ...
     def inverse(self) -> SO3:
         """
         Compute the inverse of the rotations.
@@ -171,10 +168,12 @@ class SO3:
         """
         Return quaternion as Nx4 vectors with the order [w x y z].
         """
+
 def interpolate(arg0: SE3, arg1: SE3, arg2: float) -> SE3:
     """
     Interpolate two SE3s of size 1.
     """
+
 def iterativeMean(arg0: SE3) -> SE3:
     """
     Compute the iterative mean of a sequence.