Misc Reorg (#68)

* reorganize geometry code

* add shortcuts to common classes

* move quaternion yaw back

Author: Alex-nutonomy

python-sdk/nuscenes/__init__.py

@@ -0,0 +1 @@
+from .nuscenes import NuScenes, NuScenesExplorer

python-sdk/nuscenes/eval/detection/__init__.py

@@ -0,0 +1 @@
+from .main import NuScenesEval

python-sdk/nuscenes/eval/detection/main.py

@@ -9,7 +9,7 @@
 
 import numpy as np
 
-from nuscenes.nuscenes import NuScenes
+from nuscenes import NuScenes
 from nuscenes.eval.detection.utils import dist_fcn_map
 from nuscenes.eval.detection.loaders import load_prediction, load_gt, add_center_dist, filter_eval_boxes
 from nuscenes.eval.detection.data_classes import DetectionConfig

python-sdk/nuscenes/eval/detection/render.py

@@ -3,7 +3,7 @@
 import numpy as np
 from matplotlib import pyplot as plt
 from nuscenes.eval.detection.utils import boxes_to_sensor
-from nuscenes.nuscenes import NuScenes
+from nuscenes import NuScenes
 from nuscenes.utils.data_classes import LidarPointCloud
 from nuscenes.utils.geometry_utils import view_points
 

python-sdk/nuscenes/eval/detection/tests/test_main.py

@@ -12,10 +12,10 @@
 from tqdm import tqdm
 import numpy as np
 
-from nuscenes.eval.detection.main import NuScenesEval
+from nuscenes.eval.detection import NuScenesEval
 from nuscenes.eval.detection.utils import category_to_detection_name, detection_name_to_rel_attributes
 from nuscenes.eval.detection.data_classes import DetectionConfig
-from nuscenes.nuscenes import NuScenes
+from nuscenes import NuScenes
 from nuscenes.utils.splits import create_splits_scenes
 
 

python-sdk/nuscenes/eval/detection/tests/test_utils.py

@@ -7,8 +7,8 @@
 import numpy as np
 from pyquaternion import Quaternion
 
-from nuscenes.eval.detection.utils import scale_iou, quaternion_yaw, yaw_diff
 from nuscenes.eval.detection.data_classes import EvalBox
+from nuscenes.eval.detection.utils import scale_iou, yaw_diff
 
 
 class TestEval(unittest.TestCase):
@@ -54,48 +54,6 @@ def test_scale_iou(self):
         sr = EvalBox(size=[4, -5, 4])
         self.assertRaises(AssertionError, scale_iou, sa, sr)
 
-    def test_quaternion_yaw(self):
-        """Test valid and invalid inputs for quaternion_yaw()."""
-
-        # Misc yaws.
-        for yaw_in in np.linspace(-10, 10, 100):
-            q = Quaternion(axis=(0, 0, 1), angle=yaw_in)
-            yaw_true = yaw_in % (2 * np.pi)
-            if yaw_true > np.pi:
-                yaw_true -= 2 * np.pi
-            yaw_test = quaternion_yaw(q)
-            self.assertAlmostEqual(yaw_true, yaw_test)
-
-        # Non unit axis vector.
-        yaw_in = np.pi/4
-        q = Quaternion(axis=(0, 0, 0.5), angle=yaw_in)
-        yaw_test = quaternion_yaw(q)
-        self.assertAlmostEqual(yaw_in, yaw_test)
-
-        # Inverted axis vector.
-        yaw_in = np.pi/4
-        q = Quaternion(axis=(0, 0, -1), angle=yaw_in)
-        yaw_test = -quaternion_yaw(q)
-        self.assertAlmostEqual(yaw_in, yaw_test)
-
-        # Rotate around another axis.
-        yaw_in = np.pi/4
-        q = Quaternion(axis=(0, 1, 0), angle=yaw_in)
-        yaw_test = quaternion_yaw(q)
-        self.assertAlmostEqual(0, yaw_test)
-
-        # Rotate around two axes jointly.
-        yaw_in = np.pi/2
-        q = Quaternion(axis=(0, 1, 1), angle=yaw_in)
-        yaw_test = quaternion_yaw(q)
-        self.assertAlmostEqual(yaw_in, yaw_test)
-
-        # Rotate around two axes separately.
-        yaw_in = np.pi/2
-        q = Quaternion(axis=(0, 0, 1), angle=yaw_in) * Quaternion(axis=(0, 1, 0), angle=0.5821)
-        yaw_test = quaternion_yaw(q)
-        self.assertAlmostEqual(yaw_in, yaw_test)
-
     def test_yaw_diff(self):
         """Test valid and invalid inputs for yaw_diff()."""
 

python-sdk/nuscenes/eval/detection/utils.py

@@ -2,13 +2,12 @@
 # Code written by Holger Caesar, 2018.
 # Licensed under the Creative Commons [see licence.txt]
 
-from typing import List, Dict, Optional
-
 import numpy as np
 from pyquaternion import Quaternion
+from typing import List, Dict, Optional
 
-from nuscenes.utils.data_classes import Box
 from nuscenes.eval.detection.data_classes import EvalBox
+from nuscenes.utils.data_classes import Box
 
 
 def category_to_detection_name(category_name: str) -> Optional[str]:

python-sdk/nuscenes/nuscenes.py

@@ -5,25 +5,24 @@
 from __future__ import annotations
 
 import json
-import time
-import sys
 import os.path as osp
+import sys
+import time
 from datetime import datetime
-from typing import Tuple, List
 
 import cv2
-import numpy as np
 import matplotlib.pyplot as plt
+import numpy as np
+import sklearn.metrics
 from PIL import Image
 from matplotlib.axes import Axes
 from pyquaternion import Quaternion
-import sklearn.metrics
 from tqdm import tqdm
+from typing import Tuple, List
 
-from nuscenes.utils.map_mask import MapMask
 from nuscenes.utils.data_classes import LidarPointCloud, RadarPointCloud, Box
-from nuscenes.utils.geometry_utils import view_points, box_in_image, quaternion_slerp, BoxVisibility
-
+from nuscenes.utils.geometry_utils import view_points, box_in_image, BoxVisibility
+from nuscenes.utils.map_mask import MapMask
 
 PYTHON_VERSION = sys.version_info[0]
 
@@ -307,10 +306,10 @@ def get_boxes(self, sample_data_token: str) -> List[Box]:
                     center = [np.interp(t, [t0, t1], [c0, c1]) for c0, c1 in zip(prev_ann_rec['translation'],
                                                                                  curr_ann_rec['translation'])]
 
-                    # Interpolate orientation. (There is a bug in pyquaternion.slerp() so use external method.)
-                    rotation = Quaternion(quaternion_slerp(np.array(prev_ann_rec['rotation']),
-                                                           np.array(curr_ann_rec['rotation']),
-                                                           (t - t0) / (t1 - t0)))
+                    # Interpolate orientation.
+                    rotation = Quaternion.slerp(q0=Quaternion(prev_ann_rec['rotation']),
+                                                q1=Quaternion(curr_ann_rec['rotation']),
+                                                amount=(t - t0) / (t1 - t0))
 
                     box = Box(center, curr_ann_rec['size'], rotation, name=curr_ann_rec['category_name'])
                 else:

python-sdk/nuscenes/scripts/assert_download.py

@@ -6,7 +6,7 @@
 import os
 from tqdm import tqdm
 
-from nuscenes.nuscenes import NuScenes
+from nuscenes import NuScenes
 
 
 def verify_setup(nusc: NuScenes):

python-sdk/nuscenes/scripts/export_egoposes_on_map.py

@@ -10,7 +10,7 @@
 import matplotlib.pyplot as plt
 import numpy as np
 
-from nuscenes.nuscenes import NuScenes
+from nuscenes import NuScenes
 
 # Load NuScenes class
 nusc = NuScenes()