Nacho/add isort

.pre-commit-config.yaml

@@ -19,3 +19,8 @@ repos:
     rev: 8e52fb6506f169dddfaa87f88600d765fca48386
     hooks:
     - id: cmake-format
+-   repo: https://github.com/pycqa/isort
+    rev: 5.12.0
+    hooks:
+     - id: isort
+       args: ["--settings-path=python/pyproject.toml"]

eval/kiss_icp_eval.py

@@ -20,16 +20,16 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 from dataclasses import dataclass
-from typing import Callable, Dict
-from typing import List
+from typing import Callable, Dict, List
 
-from IPython.display import display_markdown
+import matplotlib.pyplot as plt
+import numpy as np
 from evo.core.trajectory import PosePath3D
 from evo.tools import plot
 from evo.tools.settings import SETTINGS
+from IPython.display import display_markdown
+
 from kiss_icp.pipeline import OdometryPipeline
-import matplotlib.pyplot as plt
-import numpy as np
 
 
 @dataclass

python/kiss_icp/config/parser.py

@@ -22,9 +22,10 @@
 # SOFTWARE.
 # NOTE: This module was contributed by Markus Pielmeier on PR #63
 from __future__ import annotations
+
 import importlib
-from pathlib import Path
 import sys
+from pathlib import Path
 from typing import Any, Dict, Optional
 
 from pydantic import BaseSettings, PrivateAttr

python/kiss_icp/datasets/apollo.py

@@ -23,8 +23,8 @@
 import glob
 import importlib
 import os
-from pathlib import Path
 import sys
+from pathlib import Path
 
 import natsort
 import numpy as np

python/kiss_icp/datasets/generic.py

@@ -21,8 +21,8 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 import os
-from pathlib import Path
 import sys
+from pathlib import Path
 
 import natsort
 import numpy as np

python/kiss_icp/datasets/kitti_raw.py

@@ -20,14 +20,13 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
-from collections import namedtuple
 import glob
 import os
+from collections import namedtuple
 from pathlib import Path
 
 import numpy as np
 
-
 __raw_to_odometry_mapping__ = {
     0: "2011_10_03/2011_10_03_drive_0027_sync/",
     1: "2011_10_03/2011_10_03_drive_0042_sync/",

python/kiss_icp/datasets/mcap.py

@@ -29,8 +29,8 @@ def __init__(self, data_dir: str, topic: str, *_, **__):
         """Standalone .mcap dataloader withouth any ROS distribution."""
         # Conditional imports to avoid injecting dependencies for non mcap users
         try:
-            from mcap_ros2.reader import read_ros2_messages
             from mcap.reader import make_reader
+            from mcap_ros2.reader import read_ros2_messages
         except ImportError as e:
             print("mcap plugins not installed: 'pip install mcap-ros2-support'")
             exit(1)

python/kiss_icp/datasets/ncd.py

@@ -22,8 +22,8 @@
 # SOFTWARE.
 import importlib
 import os
-from pathlib import Path
 import re
+from pathlib import Path
 
 import numpy as np
 from pyquaternion import Quaternion

python/kiss_icp/datasets/nclt.py

@@ -21,8 +21,8 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 import os
-from pathlib import Path
 import sys
+from pathlib import Path
 
 import numpy as np
 

python/kiss_icp/datasets/nuscenes.py

@@ -22,8 +22,8 @@
 # SOFTWARE.
 import importlib
 import os
-from pathlib import Path
 import sys
+from pathlib import Path
 from typing import List
 
 import numpy as np

python/kiss_icp/datasets/ouster.py

@@ -22,11 +22,11 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
+import glob
 import os
 from typing import Optional
 
 import numpy as np
-import glob
 
 
 def find_metadata_json(pcap_file: str) -> str:
@@ -83,8 +83,8 @@ def __init__(
         """
 
         try:
-            from ouster import client
             import ouster.pcap as pcap
+            from ouster import client
         except ImportError:
             print(f'ouster-sdk is not installed on your system, run "pip install ouster-sdk"')
             exit(1)

python/kiss_icp/datasets/rosbag.py

@@ -21,8 +21,8 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 import os
-from pathlib import Path
 import sys
+from pathlib import Path
 from typing import Sequence
 
 import natsort

python/kiss_icp/datasets/tum.py

@@ -23,8 +23,9 @@
 import importlib
 import os
 from pathlib import Path
-from pyquaternion import Quaternion
+
 import numpy as np
+from pyquaternion import Quaternion
 
 
 class TUMDataset:

python/kiss_icp/kiss_icp.py

@@ -25,8 +25,8 @@
 from kiss_icp.config import KISSConfig
 from kiss_icp.deskew import get_motion_compensator
 from kiss_icp.mapping import get_voxel_hash_map
-from kiss_icp.registration import register_frame
 from kiss_icp.preprocess import get_preprocessor
+from kiss_icp.registration import register_frame
 from kiss_icp.threshold import get_threshold_estimator
 from kiss_icp.voxelization import voxel_down_sample
 

python/kiss_icp/mapping.py

@@ -20,9 +20,10 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
-import numpy as np
 from typing import Tuple
 
+import numpy as np
+
 from kiss_icp.config import KISSConfig
 from kiss_icp.pybind import kiss_icp_pybind
 

python/kiss_icp/pipeline.py

@@ -23,8 +23,8 @@
 import contextlib
 import datetime
 import os
-from pathlib import Path
 import time
+from pathlib import Path
 from typing import List, Optional
 
 import numpy as np

python/kiss_icp/registration.py

@@ -22,8 +22,8 @@
 # SOFTWARE.
 import numpy as np
 
-from kiss_icp.pybind import kiss_icp_pybind
 from kiss_icp.mapping import VoxelHashMap
+from kiss_icp.pybind import kiss_icp_pybind
 
 
 def register_frame(

python/kiss_icp/tools/point_cloud2.py

@@ -37,8 +37,8 @@
 import numpy as np
 
 try:
-    from rosbags.typesys.types import sensor_msgs__msg__PointField as PointField
     from rosbags.typesys.types import sensor_msgs__msg__PointCloud2 as PointCloud2
+    from rosbags.typesys.types import sensor_msgs__msg__PointField as PointField
 except ImportError as e:
     raise ImportError('rosbags library not installed, run "pip install -U rosbags"') from e
 

python/kiss_icp/tools/visualizer.py

@@ -20,11 +20,11 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
-from abc import ABC
 import copy
-from functools import partial
 import importlib
 import os
+from abc import ABC
+from functools import partial
 from typing import Callable, List
 
 import numpy as np