Merge pull request #227 from benjaminrwilson/detection-eval-max-boxes…

…-fix

Detection eval max boxes fix

argoverse/evaluation/detection/utils.py

@@ -338,10 +338,7 @@ def rank(dts: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
     ranked_scores = scores[ranks]
 
     # Ensure the number of boxes considered per class is at most `MAX_NUM_BOXES`.
-    if ranked_dts.shape[0] > MAX_NUM_BOXES:
-        ranked_dts = ranked_dts[:MAX_NUM_BOXES]
-        ranked_scores = ranked_scores[:MAX_NUM_BOXES]
-    return ranked_dts, ranked_scores
+    return ranked_dts[:MAX_NUM_BOXES], ranked_scores[:MAX_NUM_BOXES]
 
 
 def interp(prec: np.ndarray, method: InterpType = InterpType.ALL) -> np.ndarray:

argoverse/map_representation/map_api.py

@@ -57,7 +57,7 @@ class ArgoverseMap:
     """
 
     def __init__(self, root: _PathLike = ROOT) -> None:
-        """ Initialize the Argoverse Map. """
+        """Initialize the Argoverse Map."""
         self.root = root
 
         self.city_name_to_city_id_dict = {"PIT": PITTSBURGH_ID, "MIA": MIAMI_ID}

argoverse/utils/make_att_files.py

@@ -234,7 +234,7 @@ def compute_v_a(traj: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
 
 
 def make_att_files(root_dir: str) -> None:
-    """ Write a .pkl file with difficulty attributes per track """
+    """Write a .pkl file with difficulty attributes per track"""
     path_output_vis = "vis_output"
     filename_output = "att_file.npy"
 

argoverse/utils/sim2.py

@@ -14,7 +14,7 @@
 
 
 class Sim2:
-    """ Implements the Similarity(2) class."""
+    """Implements the Similarity(2) class."""
 
     def __init__(self, R: np.ndarray, t: np.ndarray, s: Union[int, float]) -> None:
         """Initialize from rotation R, translation t, and scale s.

argoverse/utils/transform.py

@@ -49,10 +49,10 @@ def quat_argo2scipy(q: np.ndarray) -> np.ndarray:
 
 
 def quat_argo2scipy_vectorized(q: np.ndarray) -> np.ndarray:
-    """"Re-order Argoverse's scalar-first [w,x,y,z] quaternion order to Scipy's scalar-last [x,y,z,w]"""
+    """Re-order Argoverse's scalar-first [w,x,y,z] quaternion order to Scipy's scalar-last [x,y,z,w]"""
     return q[..., [1, 2, 3, 0]]
 
 
 def quat_scipy2argo_vectorized(q: np.ndarray) -> np.ndarray:
-    """"Re-order Scipy's scalar-last [x,y,z,w] quaternion order to Argoverse's scalar-first [w,x,y,z]."""
+    """Re-order Scipy's scalar-last [x,y,z,w] quaternion order to Argoverse's scalar-first [w,x,y,z]."""
     return q[..., [3, 0, 1, 2]]

argoverse/visualization/visualization_utils.py

@@ -206,7 +206,7 @@ def draw_box(
 
 
 def show_image_with_boxes(img: np.ndarray, objects: Iterable[ObjectLabelRecord], calib: Calibration) -> np.ndarray:
-    """ Show image with 2D bounding boxes """
+    """Show image with 2D bounding boxes."""
     img1 = np.copy(img)
     K = calib.K
     d = calib.d

demo_usage/visualize_30hz_benchmark_data_on_map.py

@@ -327,7 +327,7 @@ def render_front_camera_on_axis(self, ax: plt.Axes, timestamp: int, log_id: str)
 
 
 def visualize_30hz_benchmark_data_on_map(args: Any) -> None:
-    """"""
+    """Function to render lidar, tracks, and map elements overlaid on a bird's-eye-view."""
     domv = DatasetOnMapVisualizer(
         args.dataset_dir,
         args.experiment_prefix,

integration_tests/test_map_api.py

@@ -16,7 +16,7 @@
 
 
 def add_lane_segment_to_ax(
-    ax: plt.axes.Axis,
+    ax: plt.Axes,
     lane_centerline: np.ndarray,
     lane_polygon: np.ndarray,
     patch_color: str,
@@ -25,14 +25,14 @@ def add_lane_segment_to_ax(
     ymin: float,
     ymax: float,
 ) -> None:
-    """"""
+    """Utility function to add a lane segment to an Matplotlib axis."""
     plot_lane_segment_patch(lane_polygon, ax, color=patch_color, alpha=0.3)
 
 
 def find_lane_segment_bounds_in_table(
     avm: ArgoverseMap, city_name: str, lane_segment_id: int
 ) -> Tuple[float, float, float, float]:
-    """"""
+    """Helper function to find lane segment bounds within prepopulated table."""
     match_found = False
     # find the lane segment inside the table
     for table_idx, table_lane_id in avm.city_halluc_tableidx_to_laneid_map[city_name].items():
@@ -47,7 +47,7 @@ def find_lane_segment_bounds_in_table(
 
 
 def verify_halluc_lane_extent_index(enable_lane_boundaries: bool = False) -> None:
-    """"""
+    """Produce graphs for verifying lane segment extents."""
     avm = ArgoverseMap()
 
     city_names = ["MIA", "PIT"]
@@ -157,64 +157,10 @@ def verify_halluc_lane_extent_index(enable_lane_boundaries: bool = False) -> Non
             plt.close("all")
 
 
-# def verify_manhattan_search_functionality() -> None:
-#     """
-#         Minimal example where we
-#         """
-#     avm = ArgoverseMap()
-#     # query_x = 254.
-#     # query_y = 1778.
-
-#     ref_query_x = 422.0
-#     ref_query_y = 1005.0
-
-#     city_name = "PIT"  # 'MIA'
-#     for trial_idx in range(10):
-#         query_x = ref_query_x + (np.random.rand() - 0.5) * 10
-#         query_y = ref_query_y + (np.random.rand() - 0.5) * 10
-
-#         # query_x,query_y = (3092.49845414,1798.55426805)
-#         query_x, query_y = (3112.80160113, 1817.07585338)
-
-#         lane_segment_ids = avm.get_lane_ids_in_xy_bbox(query_x, query_y, city_name, 5000)
-
-#         fig = plt.figure(figsize=(22.5, 8))
-#         ax = fig.add_subplot(111)
-#         # ax.scatter([query_x], [query_y], 500, color='k', marker='.')
-
-#         plot_lane_segment_patch(pittsburgh_bounds, ax, color="m", alpha=0.1)
-
-#         if len(lane_segment_ids) > 0:
-#             for i, lane_segment_id in enumerate(lane_segment_ids):
-#                 patch_color = "y"  # patch_colors[i % 4]
-#                 lane_centerline = avm.get_lane_segment_centerline(lane_segment_id, city_name)
-
-#                 test_x, test_y = lane_centerline.mean(axis=0)
-#                 inside = point_inside_polygon(
-#                     n_poly_vertices, pittsburgh_bounds[:, 0], pittsburgh_bounds[:, 1], test_x, test_y
-#                 )
-
-#                 if inside:
-#                     halluc_lane_polygon = avm.get_lane_segment_polygon(lane_segment_id, city_name)
-#                     xmin, ymin, xmax, ymax = find_lane_segment_bounds_in_table(avm, city_name, lane_segment_id)
-#                     add_lane_segment_to_ax(
-#                         ax, lane_centerline, halluc_lane_polygon, patch_color, xmin, xmax, ymin, ymax
-#                     )
-
-#         ax.axis("equal")
-#         plt.show()
-#         datetime_str = generate_datetime_string()
-#         plt.savefig(f"{trial_idx}_{datetime_str}.jpg")
-#         plt.close("all")
-
-
 def verify_point_in_polygon_for_lanes() -> None:
-    """"""
+    """Verify point in polygon for lane segments."""
     avm = ArgoverseMap()
 
-    # ref_query_x = 422.
-    # ref_query_y = 1005.
-
     ref_query_x = -662
     ref_query_y = 2817
 
@@ -244,15 +190,15 @@ def verify_point_in_polygon_for_lanes() -> None:
 
 
 def plot_nearby_halluc_lanes(
-    ax: plt.axes.Axis,
+    ax: plt.Axes,
     city_name: str,
     avm: ArgoverseMap,
     query_x: float,
     query_y: float,
     patch_color: str = "r",
     radius: float = 20.0,
 ) -> None:
-    """"""
+    """Produce lane segment graphs for visual verification."""
     nearby_lane_ids = avm.get_lane_ids_in_xy_bbox(query_x, query_y, city_name, radius)
     for nearby_lane_id in nearby_lane_ids:
         halluc_lane_polygon = avm.get_lane_segment_polygon(nearby_lane_id, city_name)
@@ -265,8 +211,7 @@ def plot_nearby_halluc_lanes(
 
 
 def verify_lane_tangent_vector() -> None:
-    """
-    debug low confidence lane tangent predictions
+    """Debug low confidence lane tangent predictions.
 
     I noticed that the confidence score of lane direction is
     pretty low (almost zero) in some logs
@@ -511,7 +456,7 @@ def test_get_candidate_centerlines_for_traj() -> None:
 
 
 def test_dfs() -> None:
-    """Test dfs for lane graph
+    """Test dfs for lane graph.
 
     Lane Graph:
                 9629626

integration_tests/test_plane_visualization_utils.py

@@ -39,15 +39,15 @@
 
 @skip_if_mayavi_missing  # type: ignore
 def test_plot_frustum_planes_and_normals() -> None:
-    """"""
+    """Test plotting frustum planes and normals for visualization in `mayavi`."""
 
     assert planes is not None
     plot_frustum_planes_and_normals(planes, cuboid_verts=None, near_clip_dist=0.5)
 
 
 @skip_if_mayavi_missing  # type: ignore
 def test_populate_frustum_voxels() -> None:
-    """"""
+    """Test populating frustum voxels for visualization in `mayavi`."""
     fig, axis_pair = plt.subplots(1, 1, figsize=(20, 15))
 
     assert planes is not None
@@ -56,6 +56,6 @@ def test_populate_frustum_voxels() -> None:
 
 @skip_if_mayavi_missing  # type: ignore
 def test_get_perpendicular() -> None:
-    """"""
+    """Test getting an orthogonal vector from a given query vector."""
     n = [0, 1, 1]
     result = get_perpendicular(n)

tests/test_cuboid_interior.py

@@ -81,7 +81,7 @@ def get_scenario_1() -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
 
 
 def test_extract_pc_in_box3d_hull() -> None:
-    """"""
+    """Test extracting a point cloud from a 3D convex hull."""
     pc_raw, bbox_3d, gt_segment, gt_is_valid = get_scenario_1()
     segment, is_valid = extract_pc_in_box3d_hull(pc_raw, bbox_3d)