style: fix linting

Author: juelg

extensions/rcs_realsense/src/rcs_realsense/__main__.py

@@ -45,7 +45,8 @@ def rgb_view(
     if serial is None:
         devices = RealSenseCameraSet.enumerate_connected_devices(rs.context())
         if len(devices) == 0:
-            raise typer.BadParameter("No RealSense devices connected.")
+            msg = "No RealSense devices connected."
+            raise typer.BadParameter(msg)
         serial = next(iter(devices))
 
     camera = RealSenseCameraSet(
@@ -64,7 +65,8 @@ def rgb_view(
     try:
         camera.open()
     except Exception as exc:
-        raise typer.BadParameter(f"Could not start RealSense camera {serial}: {exc}") from exc
+        msg = f"Could not start RealSense camera {serial}: {exc}"
+        raise typer.BadParameter(msg) from exc
 
     logger.info("Streaming RGB from RealSense %s. Press 'q' to quit.", serial)
     try:

extensions/rcs_usb_cam/src/rcs_usb_cam/__main__.py

@@ -40,7 +40,8 @@ def rgb_view(
     try:
         camera.open()
     except Exception as exc:
-        raise typer.BadParameter(f"Could not open USB camera {identifier}: {exc}") from exc
+        msg = f"Could not open USB camera {identifier}: {exc}"
+        raise typer.BadParameter(msg) from exc
 
     logger.info("Streaming RGB from %s. Press 'q' to quit.", identifier)
     try:

extensions/rcs_zed/src/rcs_zed/__main__.py

@@ -43,9 +43,11 @@ def rgb_view(
         try:
             devices = ZEDCameraSet.enumerate_connected_devices()
         except RuntimeError as exc:
-            raise typer.BadParameter(str(exc)) from exc
+            msg = str(exc)
+            raise typer.BadParameter(msg) from exc
         if len(devices) == 0:
-            raise typer.BadParameter("No ZED devices connected.")
+            msg = "No ZED devices connected."
+            raise typer.BadParameter(msg)
         serial = next(iter(devices))
 
     camera = ZEDCameraSet(
@@ -64,7 +66,8 @@ def rgb_view(
     try:
         camera.open()
     except Exception as exc:
-        raise typer.BadParameter(f"Could not start ZED camera {serial}: {exc}") from exc
+        msg = f"Could not start ZED camera {serial}: {exc}"
+        raise typer.BadParameter(msg) from exc
 
     logger.info("Streaming RGB from ZED %s. Press 'q' to quit.", serial)
     try:

extensions/rcs_zed/src/rcs_zed/camera.py

@@ -12,7 +12,7 @@
 from rcs import common
 
 try:
-    import pyzed.sl as sl
+    from pyzed import sl
 except ImportError:  # pragma: no cover - exercised via fake backend tests
     sl = None  # type: ignore[assignment]
 
@@ -72,16 +72,15 @@ def _timestamp_seconds(self) -> float:
     def grab_frame(self) -> ZEDFrameBundle:
         err = self.camera.grab(self.runtime_parameters)
         if err != sl.ERROR_CODE.SUCCESS:  # type: ignore[union-attr]
-            raise RuntimeError(f"Failed to grab ZED frame: {err}")
+            msg = f"Failed to grab ZED frame: {err}"
+            raise RuntimeError(msg)
 
         self.camera.retrieve_image(self.image_mat, sl.VIEW.LEFT)  # type: ignore[union-attr]
         color_raw = np.array(self.image_mat.get_data(), copy=True)
         if color_raw.ndim != 3:
-            raise RuntimeError(f"Unexpected ZED image shape {color_raw.shape}")
-        if color_raw.shape[2] == 4:
-            color_rgb = color_raw[:, :, :3][:, :, ::-1]
-        else:
-            color_rgb = color_raw[:, :, ::-1]
+            msg = f"Unexpected ZED image shape {color_raw.shape}"
+            raise RuntimeError(msg)
+        color_rgb = color_raw[:, :, :3][:, :, ::-1] if color_raw.shape[2] == 4 else color_raw[:, :, ::-1]
 
         depth = None
         if self.device_info.has_depth:
@@ -201,7 +200,8 @@ def open_camera(
         camera = sl.Camera()
         err = camera.open(init)
         if err != sl.ERROR_CODE.SUCCESS:
-            raise RuntimeError(f"Could not open ZED camera {config.identifier}: {err}")
+            msg = f"Could not open ZED camera {config.identifier}: {err}"
+            raise RuntimeError(msg)
 
         information = camera.get_camera_information()
         calibration = information.camera_configuration.calibration_parameters

extensions/rcs_zed/tests/test_zed_extension.py

@@ -1,4 +1,5 @@
 import sys
+from typing import TypedDict
 from pathlib import Path
 
 import numpy as np
@@ -8,9 +9,9 @@
 sys.path.insert(0, str(REPO_ROOT / "python"))
 sys.path.insert(0, str(REPO_ROOT / "extensions/rcs_zed/src"))
 
-from rcs_zed.camera import ZEDCameraSet, ZEDDeviceInfo, ZEDFrameBundle
+from rcs_zed.camera import ZEDCameraSet, ZEDDeviceInfo, ZEDFrameBundle  # noqa: E402
 
-from rcs import common
+from rcs import common  # noqa: E402
 
 
 class FakeOpenedZEDCamera:
@@ -27,14 +28,20 @@ def close(self):
         self.closed = True
 
 
+class PatchZedState(TypedDict):
+    devices: dict[str, ZEDDeviceInfo]
+    opened: dict[str, FakeOpenedZEDCamera]
+    open_calls: list[tuple[str, bool, bool]]
+
+
 @pytest.fixture()
-def patch_zed(monkeypatch):
-    state: dict[str, object] = {"devices": {}, "opened": {}, "open_calls": []}
+def patch_zed(monkeypatch) -> PatchZedState:
+    state: PatchZedState = {"devices": {}, "opened": {}, "open_calls": []}
 
-    def fake_enumerate(cls):
+    def fake_enumerate(_cls):
         return state["devices"]
 
-    def fake_open(cls, config: common.BaseCameraConfig, *, enable_depth: bool, enable_imu: bool):
+    def fake_open(_cls, config: common.BaseCameraConfig, *, enable_depth: bool, enable_imu: bool):
         state["open_calls"].append((config.identifier, enable_depth, enable_imu))
         return state["opened"][config.identifier]
 
@@ -69,6 +76,7 @@ def test_zed_frame_mapping_depth_scaling_and_imu_downgrade(patch_zed):
     )
     camera_set.open()
     frame = camera_set.poll_frame("wrist")
+    assert frame.camera.color.intrinsics is not None
 
     assert patch_zed["open_calls"] == [("123", True, False)]
     assert np.array_equal(frame.camera.color.data, color)