Misc cleanups (nutonomy#2)

* renamed folders, updated README and requirements.

* typo

* another typo

* Deleted notebook checkpoint

* added types and missing params for nuscenes explorer methods

* updated import according to the renamed utils folder

README.md

@@ -26,18 +26,59 @@ cd && git clone https://github.com/nutonomy/nuscenes-devkit.git
 ```
 The dev-kit is tested for Python 3.7. 
 We may add backward compatibility in future releases.
-To install the required packages, run the following in your favourite virtual environment:
+To install the required packages, run the following command in your favourite virtual environment. If you need help in 
+installing Python3.7 or in setting up a new virtual environment, you can look at [these instructions](#setup-new-virtual-environment):
 ```
 pip install -r requirements.txt
 ```
-Also add the `nuscenes_python` directory to your `PYTHONPATH` environmental variable, e.g. by adding the following to your `~/.bashrc`:
+Also add the `python-sdk` directory to your `PYTHONPATH` environmental variable, e.g. by adding the 
+following to your `~/.bashrc`:
 ```
-export PYTHONPATH="${PYTHONPATH}:$HOME/nuscenes-devkit/nuscenes_python"
+export PYTHONPATH="${PYTHONPATH}:$HOME/nuscenes-devkit/python-sdk"
 ```
 
 ## Getting started
 To get started with the nuScenes devkit, please run the tutorial as an IPython notebook:
 ```
-jupyter notebook $HOME/nuscenes-devkit/nuscenes_python/nuscenes_tutorial.ipynb
+jupyter notebook $HOME/nuscenes-devkit/python-sdk/tutorial.ipynb
 ```
-In case you want to avoid downloading and setting up the data, you can also take a look at the same notebook on [Github](https://github.com/nutonomy/nuscenes-devkit/blob/master/nuscenes_python/nuscenes_tutorial.ipynb).
+In case you want to avoid downloading and setting up the data, you can also take a look at the same notebook on 
+[Github](https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/tutorial.ipynb).
+
+## Setup new virtual environment
+
+It is recommended to install the devkit in a new virtual environment. Here are the steps you can follow to create one:
+
+#### Python 3.7 installation
+
+If you don't have Python 3.7 on your system, you can use the following steps to install it.
+
+UBUNTU:
+```
+sudo add-apt-repository ppa:deadsnakes/ppa
+sudo apt-get update
+sudo apt-get install python3.7
+```
+
+MACOS: Download from `https://www.python.org/downloads/mac-osx/` and install.
+
+#### Install virtualenvwrapper
+```
+pip install virtualenvwrapper
+```
+Add these two lines to `~/.bashrc` (`~/.bash_profile` on MACOS) to set the location where the virtual environments 
+should live and the location of the script installed with this package:
+```
+export WORKON_HOME=$HOME/.virtualenvs
+source [VIRTUAL_ENV_LOCATION]
+```
+Replace `[VIRTUAL_ENV_LOCATION]` with either `/usr/local/bin/virtualenvwrapper.sh` or `~/.local/bin/virtualenvwrapper.sh` 
+depending on where it is installed on your system.
+
+After editing it, reload the shell startup file by running e.g. `source ~/.bashrc`.
+
+#### Create the virtual environment
+```
+mkvirtualenv nuscenes --python [PYTHON_BINARIES] 
+```
+PYTHON_BINARIES are typically at either `/usr/local/bin/python3.7` or `/usr/bin/python3.7`.

nuscenes_python/nuscenes_tutorial.ipynb → python-sdk/tutorial.ipynb

@@ -37,18 +37,18 @@
       "304715 sample_data,\n",
       "99952 sample_annotation,\n",
       "12 map,\n",
-      "Done loading in 4.0 seconds.\n",
+      "Done loading in 4.3 seconds.\n",
       "======\n",
       "Reverse indexing ...\n",
-      "Done reverse indexing in 0.6 seconds.\n",
+      "Done reverse indexing in 1.3 seconds.\n",
       "======\n"
      ]
     }
    ],
    "source": [
     "# Let's start by initializing the database\n",
     "%matplotlib inline\n",
-    "from nuscenes_utils.nuscenes import NuScenes\n",
+    "from utils.nuscenes import NuScenes\n",
     "\n",
     "nusc = NuScenes(version='v0.1', dataroot='/data/nuscenes', verbose=True)"
    ]

nuscenes_python/nuscenes_utils/data_classes.py → python-sdk/utils/data_classes.py

@@ -9,7 +9,7 @@
 from pyquaternion import Quaternion
 
 
-from nuscenes_utils.geometry_utils import view_points
+from utils.geometry_utils import view_points
 
 
 class PointCloud:

nuscenes_python/nuscenes_utils/geometry_utils.py → python-sdk/utils/geometry_utils.py

@@ -90,7 +90,7 @@ def view_points(points, view, normalize):
 
 def box_in_image(box, intrinsic, imsize, vis_level=BoxVisibility.IN_FRONT):
     """
-    Check if a box in visible inside an image without accounting for occlusions.
+    Check if a box is visible inside an image without accounting for occlusions.
     :param box: <Box>.
     :param intrinsic: <float: 3, 3>. Intrinsic camera matrix.
     :param imsize: (width <int>, height <int>).

nuscenes_python/nuscenes_utils/nuscenes.py → python-sdk/utils/nuscenes.py

@@ -18,9 +18,9 @@
 from matplotlib.axes import Axes
 from pyquaternion import Quaternion
 
-from nuscenes_utils.map_mask import MapMask
-from nuscenes_utils.data_classes import PointCloud, Box
-from nuscenes_utils.geometry_utils import view_points, box_in_image, quaternion_slerp, BoxVisibility
+from utils.map_mask import MapMask
+from utils.data_classes import PointCloud, Box
+from utils.geometry_utils import view_points, box_in_image, quaternion_slerp, BoxVisibility
 
 
 PYTHON_VERSION = sys.version_info[0]
@@ -305,41 +305,43 @@ def get_boxes(self, sample_data_token: str) -> List[Box]:
                 boxes.append(box)
         return boxes
 
-    def list_categories(self):
+    def list_categories(self) -> None:
         self.explorer.list_categories()
 
-    def list_attributes(self):
+    def list_attributes(self) -> None:
         self.explorer.list_attributes()
 
-    def list_scenes(self):
+    def list_scenes(self) -> None:
         self.explorer.list_scenes()
 
-    def list_sample(self, sample_token):
+    def list_sample(self, sample_token: str) -> None:
         self.explorer.list_sample(sample_token)
 
-    def render_pointcloud_in_image(self, sample_token):
-        self.explorer.render_pointcloud_in_image(sample_token)
+    def render_pointcloud_in_image(self, sample_token: str, dot_size: int=5) -> None:
+        self.explorer.render_pointcloud_in_image(sample_token, dot_size)
 
-    def render_sample(self, sample_token):
-        self.explorer.render_sample(sample_token)
+    def render_sample(self, sample_token: str, box_vis_level: BoxVisibility=BoxVisibility.IN_FRONT) -> None:
+        self.explorer.render_sample(sample_token, box_vis_level)
 
-    def render_sample_data(self, sample_data_token):
-        self.explorer.render_sample_data(sample_data_token)
+    def render_sample_data(self, sample_data_token: str, with_anns: bool=True, box_vis_level: BoxVisibility=3,
+                           axes_limit: float=40, ax: Axes=None) -> None:
+        self.explorer.render_sample_data(sample_data_token, with_anns, box_vis_level, axes_limit, ax)
 
-    def render_annotation(self, sample_annotation_token):
-        self.explorer.render_annotation(sample_annotation_token)
+    def render_annotation(self, sample_annotation_token: str, margin: float=10, view: np.ndarray=np.eye(4),
+                          box_vis_level: BoxVisibility=3) -> None:
+        self.explorer.render_annotation(sample_annotation_token, margin, view, box_vis_level)
 
-    def render_instance(self, instance_token):
+    def render_instance(self, instance_token: str) -> None:
         self.explorer.render_instance(instance_token)
 
     def render_scene(self, scene_token: str, freq: float=10, imsize: Tuple[float, float]=(640, 360),
-                     out_path : str=None):
+                     out_path : str=None) -> None:
         self.explorer.render_scene(scene_token, freq, imsize, out_path)
 
-    def render_scene_channel(self, scene_token, channel='CAM_FRONT'):
-        self.explorer.render_scene_channel(scene_token, channel=channel)
+    def render_scene_channel(self, scene_token: str, channel: str='CAM_FRONT', imsize: Tuple[float, float] = (640, 360)):
+        self.explorer.render_scene_channel(scene_token, channel=channel, imsize=imsize)
 
-    def render_scene_on_map(self, scene_token):
+    def render_scene_on_map(self, scene_token: str) -> None:
         self.explorer.render_scene_on_map(scene_token)
 
 

requirements.txt

@@ -1,9 +1,7 @@
-easydict==1.8
 jupyter==1.0.0
 matplotlib==2.2.3
 numpy==1.14.5
 opencv-python==3.4.2.17
 Pillow==5.2.0
 pyquaternion==0.9.2
 tqdm==4.25.0
-opencv-python==3.4.2.17