feat: add data-classes to represent objects (#10)

* feat: add dataclasses Signed-off-by: ktro2828 <[email protected]> * docs: update API documentation Signed-off-by: ktro2828 <[email protected]> * feat: apply `dataclass.Box*` Signed-off-by: ktro2828 <[email protected]> * feat: update `Label` enum and its test Signed-off-by: ktro2828 <[email protected]> * feat: rename `Label` to `LabelID` Signed-off-by: ktro2828 <[email protected]> * test: add unit testing for boxes Signed-off-by: ktro2828 <[email protected]> * feat: rename `Label` to `LabelID` Signed-off-by: ktro2828 <[email protected]> * test: add unit testing for boxes Signed-off-by: ktro2828 <[email protected]> * TODO: add dataclasses of pointcloud Signed-off-by: ktro2828 <[email protected]> * chore: move `transform.py` into `common` Signed-off-by: ktro2828 <[email protected]> * chore: move `transform.py` into `common` Signed-off-by: ktro2828 <[email protected]> * docs: update documents Signed-off-by: ktro2828 <[email protected]> * feat: update dataclasses Signed-off-by: ktro2828 <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: ktro2828 <[email protected]> Co-authored-by: ktro2828 <[email protected]>
tier4 · Oct 17, 2024 · 0d7736e · 0d7736e
1 parent cc41b9d
commit 0d7736e
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Showing 29 changed files with 1,754 additions and 180 deletions.
diff --git a/.gitignore b/.gitignore
@@ -161,4 +161,5 @@ cython_debug/
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
 
+# Editor configurations
 .vscode
diff --git a/docs/apis/common.md b/docs/apis/common.md
@@ -1,15 +1,13 @@
 # `common`
 
 <!-- prettier-ignore-start -->
-::: t4_devkit.common.box
-    options:
-        show_bases: false
-
 ::: t4_devkit.common.color
 
 ::: t4_devkit.common.geometry
 
 ::: t4_devkit.common.io
 
 ::: t4_devkit.common.timestamp
+
+::: t4_devkit.common.transform
 <!-- prettier-ignore-end -->
diff --git a/docs/apis/dataclass.md b/docs/apis/dataclass.md
@@ -0,0 +1,23 @@
+# `dataclass`
+
+<!-- prettier-ignore-start -->
+::: t4_devkit.dataclass.box
+    options:
+        filters: ["!BaseBox"]
+        show_bases: false
+
+::: t4_devkit.dataclass.label
+    options:
+        show_bases: false
+
+::: t4_devkit.dataclass.pointcloud
+    options:
+        show_bases: false
+
+::: t4_devkit.dataclass.roi
+
+::: t4_devkit.dataclass.shape
+
+::: t4_devkit.dataclass.trajectory
+
+<!-- prettier-ignore-end -->
diff --git a/mkdocs.yaml b/mkdocs.yaml
@@ -9,6 +9,7 @@ nav:
   - API:
       - TIER IV: apis/tier4.md
       - Schema: apis/schema.md
+      - DataClass: apis/dataclass.md
       - Common: apis/common.md
 
 theme:

diff --git a/pyproject.toml b/pyproject.toml
@@ -9,7 +9,9 @@ packages = [{ include = "t4_devkit" }]
 [tool.poetry.dependencies]
 python = ">=3.10,<3.13"
 rerun-sdk = "0.17.0"
-nuscenes-devkit = "^1.1.11"
+pyquaternion = "^0.9.9"
+matplotlib = "^3.9.2"
+shapely = "<2.0.0"
 
 [tool.poetry.group.dev.dependencies]
 pytest = "^8.2.2"
@@ -24,3 +26,6 @@ ruff = "^0.6.8"
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
+
+[tool.ruff]
+line-length = 100
diff --git a/t4_devkit/common/box.py b/t4_devkit/common/box.py
diff --git a/t4_devkit/common/color.py b/t4_devkit/common/color.py
@@ -28,8 +28,6 @@ def distance_color(
         Color map in the shape of (N,). If input type is any number, returns a color as
             `tuple[float, float, float]`. Otherwise, returns colors as `NDArrayF64`.
     """
-    color_map = (
-        matplotlib.colormaps["turbo_r"] if cmap is None else matplotlib.colormaps[cmap]
-    )
+    color_map = matplotlib.colormaps["turbo_r"] if cmap is None else matplotlib.colormaps[cmap]
     norm = matplotlib.colors.Normalize(v_min, v_max)
     return color_map(norm(distances))
diff --git a/t4_devkit/common/geometry.py b/t4_devkit/common/geometry.py
@@ -3,13 +3,13 @@
 from typing import TYPE_CHECKING
 
 import numpy as np
+
 from t4_devkit.schema import VisibilityLevel
 
 if TYPE_CHECKING:
+    from t4_devkit.dataclass import Box3D
     from t4_devkit.typing import NDArrayF64
 
-    from .box import Box3D
-
 
 __all__ = ("view_points", "is_box_in_image")
 
@@ -56,9 +56,7 @@ def view_points(
         x_ = points[0]
         y_ = points[1]
         r2 = x_**2 + y_**2
-        f1 = (1 + k1 * r2 + k2 * r2**2 + k3 * r2**3) / (
-            1 + k4 * r2 + k5 * r2**2 + k6 * r2**3
-        )
+        f1 = (1 + k1 * r2 + k2 * r2**2 + k3 * r2**3) / (1 + k4 * r2 + k5 * r2**2 + k6 * r2**3)
         f2 = x_ * y_
         x__ = x_ * f1 + 2 * p1 * f2 + p2 * (r2 + 2 * x_**2) + s1 * r2 + s2 * r2**2
         y__ = y_ * f1 + p1 * (r2 + 2 * y_**2) + 2 * p2 * f2 + s3 * r2 + s4 * r2**2
@@ -101,9 +99,7 @@ def is_box_in_image(
     is_visible = np.logical_and(is_visible, corners_on_img[1, :] > 0)
     is_visible = np.logical_and(is_visible, corners_on_img[2, :] > 1)
 
-    in_front = (
-        corners_3d[2, :] > 0.1
-    )  # True if a corner is at least 0.1 meter in front of camera.
+    in_front = corners_3d[2, :] > 0.1  # True if a corner is at least 0.1 meter in front of camera.
 
     if visibility == VisibilityLevel.FULL:
         return all(is_visible) and all(in_front)
-Original file line number
+Diff line change
@@ Expand Up / @@ -161,4 +161,5 @@ cython_debug/ @@
     #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
     #.idea/
+    # Editor configurations
     .vscode