format

metadrive/component/sensors/base_camera.py

@@ -30,7 +30,7 @@ class BaseCamera(ImageBuffer, BaseSensor):
     CAM_MASK = None
     attached_object = None
 
-    num_channels=3
+    num_channels = 3
 
     def __init__(self, engine, need_cuda=False, frame_buffer_property=None):
         self._enable_cuda = need_cuda
@@ -111,7 +111,7 @@ def perceive(self, base_object, clip=True) -> np.ndarray:
         self.track(base_object)
         if self.enable_cuda:
             assert self.cuda_rendered_result is not None
-            ret = self.cuda_rendered_result[..., :-1][..., ::-1][::-1][...,:self.num_channels]
+            ret = self.cuda_rendered_result[..., :-1][..., ::-1][::-1][..., :self.num_channels]
         else:
             ret = self.get_rgb_array_cpu()
         if self.engine.global_config["rgb_to_grayscale"]:

metadrive/engine/core/image_buffer.py

@@ -29,14 +29,14 @@ class ImageBuffer:
     num_channels = 3
 
     def __init__(
-            self,
-            width: float,
-            height: float,
-            pos: Vec3,
-            bkg_color: Union[Vec4, Vec3],
-            parent_node: NodePath = None,
-            frame_buffer_property=None,
-            engine=None
+        self,
+        width: float,
+        height: float,
+        pos: Vec3,
+        bkg_color: Union[Vec4, Vec3],
+        parent_node: NodePath = None,
+        frame_buffer_property=None,
+        engine=None
     ):
         self.logger = get_logger()
         self._node_path_list = []

metadrive/engine/core/main_camera.py

@@ -41,7 +41,7 @@ class MainCamera(BaseSensor):
     MOUSE_MOVE_INTO_LATENCY = 2
     MOUSE_SPEED_MULTIPLIER = 1
 
-    num_channels=3
+    num_channels = 3
 
     def __init__(self, engine, camera_height: float, camera_dist: float):
         self._origin_height = camera_height

metadrive/obs/image_obs.py

@@ -63,7 +63,7 @@ def observation_space(self):
         assert sensor_cls == "MainCamera" or issubclass(sensor_cls, BaseCamera), "Sensor should be BaseCamera"
         channel = sensor_cls.num_channels if sensor_cls != "MainCamera" else 3
         shape = (self.config["sensors"][self.image_source][2], self.config["sensors"][self.image_source][1]
-                 ) + ((self.STACK_SIZE,) if self.config["rgb_to_grayscale"] else (channel, self.STACK_SIZE))
+                 ) + ((self.STACK_SIZE, ) if self.config["rgb_to_grayscale"] else (channel, self.STACK_SIZE))
         if self.rgb_clip:
             return gym.spaces.Box(-0.0, 1.0, shape=shape, dtype=np.float32)
         else:

metadrive/tests/test_sensors/test_depth_cam.py

@@ -48,14 +48,13 @@ def test_depth_cam(config, render=False):
             o, r, tm, tc, info = env.step([0, 1])
             assert env.observation_space.contains(o)
             # Reverse
-            assert o["image"].shape == (config["height"],
-                                        config["width"],
-                                        DepthCamera.num_channels,
-                                        config["stack_size"])
+            assert o["image"].shape == (
+                config["height"], config["width"], DepthCamera.num_channels, config["stack_size"]
+            )
             if render:
                 cv2.imshow('img', o["image"][..., -1])
                 cv2.waitKey(1)
-        print("FPS:", 10/(time.time() - start))
+        print("FPS:", 10 / (time.time() - start))
     finally:
         env.close()
 

metadrive/tests/test_sensors/test_semantic_cam.py

@@ -48,8 +48,9 @@ def test_semantic_cam(config, render=False):
             o, r, tm, tc, info = env.step([0, 1])
             assert env.observation_space.contains(o)
             # Reverse
-            assert o["image"].shape == (config["height"], config["width"],
-                                        SemanticCamera.num_channels, config["stack_size"])
+            assert o["image"].shape == (
+                config["height"], config["width"], SemanticCamera.num_channels, config["stack_size"]
+            )
             if render:
                 cv2.imshow('img', o["image"][..., -1])
                 cv2.waitKey(1)

metadrive/tests/vis_functionality/vis_depth_cam.py

@@ -26,7 +26,6 @@
     )
     env.reset()
 
-
     def get_image(env):
         depth_cam = env.vehicle.get_camera(env.vehicle.config["image_source"])
         rgb_cam = env.vehicle.get_camera("rgb_camera")
@@ -38,7 +37,6 @@ def get_image(env):
             rgb_cam.save_image(env.vehicle, "rgb_{}.jpg".format(h))
         env.engine.screenshot()
 
-
     env.engine.accept("m", get_image, extraArgs=[env])
     import cv2
 

metadrive/tests/vis_functionality/vis_semantic_cam.py

@@ -41,9 +41,9 @@ def get_image(env):
         cv2.waitKey(1)
 
         # if env.config["use_render"]:
-            # for i in range(ImageObservation.STACK_SIZE):
-            #     ObservationType.show_gray_scale_array(o["image"][:, :, i])
-            # env.render()
+        # for i in range(ImageObservation.STACK_SIZE):
+        #     ObservationType.show_gray_scale_array(o["image"][:, :, i])
+        # env.render()
         # if tm or tc:
         #     # print("Reset")
         #     env.reset()