Refactor keypoint script and remove unused code

syclops/blender/sensor_outputs/keypoints.py

@@ -31,16 +31,10 @@ def generate_output(self, parent_class: object):
             depsgraph = bpy.context.view_layer.depsgraph
             scene = bpy.context.scene
             camera = scene.camera
-            # Camera matrices
-            modelview_matrix = camera.matrix_world.inverted()
-            projection_matrix = camera.calc_matrix_camera(
-                bpy.context.evaluated_depsgraph_get(), x=bpy.context.scene.render.resolution_x, y=bpy.context.scene.render.resolution_y
-            )
             render_scale = scene.render.resolution_percentage / 100
             width = int(scene.render.resolution_x * render_scale)
             height = int(scene.render.resolution_y * render_scale)
 
-
             for object_instance in depsgraph.object_instances:
                 if object_instance.object.type == "MESH":
                     parent = object_instance.parent
@@ -101,7 +95,6 @@ def _prepare_output_folder(self, sensor_name):
         utility.create_folder(output_folder)
         return output_folder
 
-
     def write_meta_output_file(self, file: Path, sensor_name: str):
         """Write the metadata output to a YAML file."""
         output_path = file.parent

syclops/utility/keypoint_script.py

@@ -5,36 +5,45 @@
 import bpy
 import mathutils
 
+
 # Function to get relative position
 def get_relative_position(obj, target):
     return target.matrix_world.inverted() @ obj.matrix_world.translation
 
+
 # Function to create empties at keypoint positions relative to the mesh object
 def create_empties_from_keypoints(mesh_object):
     keypoints = mesh_object["keypoints"]
     for key, pos in keypoints.items():
         # Calculate the world position from the relative position
-        world_position = mesh_object.matrix_world @ mathutils.Vector((pos['x'], pos['y'], pos['z']))
+        world_position = mesh_object.matrix_world @ mathutils.Vector(
+            (pos["x"], pos["y"], pos["z"])
+        )
         # Create an empty and set its world position
         bpy.ops.object.empty_add(location=world_position)
         empty = bpy.context.active_object
         empty.name = f"Keypoint_{key}"
 
+
 # Main script
 selected_objects = bpy.context.selected_objects
 active_object = bpy.context.active_object
 
 # Case 1: Multiple objects selected, last is a mesh
-if len(selected_objects) > 1 and active_object.type == 'MESH':
+if len(selected_objects) > 1 and active_object.type == "MESH":
     selected_objects.remove(active_object)
     selected_objects.sort(key=lambda x: x.name)
 
     keypoints = {}
 
     for index, obj in enumerate(selected_objects):
-        if obj.type == 'EMPTY':
+        if obj.type == "EMPTY":
             relative_pos = get_relative_position(obj, active_object)
-            keypoints[str(index)] = {'x': relative_pos.x, 'y': relative_pos.y, 'z': relative_pos.z}
+            keypoints[str(index)] = {
+                "x": relative_pos.x,
+                "y": relative_pos.y,
+                "z": relative_pos.z,
+            }
 
     if "keypoints" in active_object:
         del active_object["keypoints"]
@@ -43,7 +52,7 @@ def create_empties_from_keypoints(mesh_object):
     print("Key points added to", active_object.name)
 
 # Case 2: Single mesh object with keypoints attribute
-elif len(selected_objects) == 1 and selected_objects[0].type == 'MESH':
+elif len(selected_objects) == 1 and selected_objects[0].type == "MESH":
     active_object = selected_objects[0]
     if "keypoints" in active_object:
         create_empties_from_keypoints(active_object)
@@ -52,4 +61,6 @@ def create_empties_from_keypoints(mesh_object):
         print("No keypoints attribute found in", active_object.name)
 
 else:
-    print("Please select either multiple objects with a mesh as the active object, or a single mesh with a keypoints attribute.")
+    print(
+        "Please select either multiple objects with a mesh as the active object, or a single mesh with a keypoints attribute."
+    )