Merge pull request #52 from ch-sa/ch-sa/refactoring-2022

General cleanup

.gitignore

@@ -10,6 +10,10 @@
 *.qt_for_python
 .idea
 
+!labelCloud/resources/examples/exemplary.ply
+!labelCloud/resources/examples/exemplary.json
+!labelCloud/resources/labelCloud_icon.pcd
+
 # ---------------------------------------------------------------------------- #
 #                                   GENERATED                                  #
 # ---------------------------------------------------------------------------- #

labelCloud/__init__.py

@@ -1 +1 @@
-__version__ = "0.6.9"
+__version__ = "0.6.10"

labelCloud/__main__.py

@@ -46,18 +46,18 @@ def setup_example_project() -> None:
 
     # Copy example files
     shutil.copy(
-        pkg_resources.resource_filename("labelCloud.ressources", "default_config.ini"),
+        pkg_resources.resource_filename("labelCloud.resources", "default_config.ini"),
         str(cwdir.joinpath("config.ini")),
     )
     shutil.copy(
         pkg_resources.resource_filename(
-            "labelCloud.ressources.examples", "exemplary.ply"
+            "labelCloud.resources.examples", "exemplary.ply"
         ),
         str(pcd_folder.joinpath("exemplary.ply")),
     )
     shutil.copy(
         pkg_resources.resource_filename(
-            "labelCloud.ressources.examples", "exemplary.json"
+            "labelCloud.resources.examples", "exemplary.json"
         ),
         str(label_folder.joinpath("exemplary.json")),
     )

labelCloud/control/config_manager.py

@@ -1,7 +1,7 @@
 """Load configuration from .ini file."""
 import configparser
-import os
-from typing import List
+from pathlib import Path
+from typing import List, Union
 
 import pkg_resources
 
@@ -12,7 +12,9 @@ class ExtendedConfigParser(configparser.ConfigParser):
     Can automatically parse float values besides plain strings.
     """
 
-    def getlist(self, section, option, raw=False, vars=None, fallback=None) -> List:
+    def getlist(
+        self, section, option, raw=False, vars=None, fallback=None
+    ) -> List[Union[str, float]]:
         raw_value = self.get(section, option, raw=raw, vars=vars, fallback=fallback)
         if "," in raw_value:
             values = [x.strip() for x in raw_value.split(",")]
@@ -22,25 +24,29 @@ def getlist(self, section, option, raw=False, vars=None, fallback=None) -> List:
                 return values
         return raw_value
 
+    def getpath(self, section, option, raw=False, vars=None, fallback=None) -> Path:
+        """Get a path from the configuration file."""
+        return Path(self.get(section, option, raw=raw, vars=vars, fallback=fallback))
+
 
 class ConfigManager(object):
-    PATH_TO_CONFIG = "config.ini"  # TODO: Handle!
-    PATH_TO_DEFAULT_CONFIG = pkg_resources.resource_filename(
-        "labelCloud.ressources", "default_config.ini"
+    PATH_TO_CONFIG = Path.cwd().joinpath("config.ini")
+    PATH_TO_DEFAULT_CONFIG = Path(
+        pkg_resources.resource_filename("labelCloud.resources", "default_config.ini")
     )
 
     def __init__(self) -> None:
         self.config = ExtendedConfigParser(comment_prefixes="/", allow_no_value=True)
         self.read_from_file()
 
     def read_from_file(self) -> None:
-        if os.path.isfile(ConfigManager.PATH_TO_CONFIG):
+        if ConfigManager.PATH_TO_CONFIG.is_file():
             self.config.read(ConfigManager.PATH_TO_CONFIG)
         else:
             self.config.read(ConfigManager.PATH_TO_DEFAULT_CONFIG)
 
     def write_into_file(self) -> None:
-        with open(ConfigManager.PATH_TO_CONFIG, "w") as configfile:
+        with ConfigManager.PATH_TO_CONFIG.open("w") as configfile:
             self.config.write(configfile, space_around_delimiters=True)
 
     def reset_to_default(self) -> None:

labelCloud/control/label_manager.py

@@ -1,13 +1,12 @@
-import ntpath
-import os
+from pathlib import Path
 from typing import List
 
 from ..label_formats import BaseLabelFormat, CentroidFormat, KittiFormat, VerticesFormat
 from ..model.bbox import BBox
 from .config_manager import config
 
 
-def get_label_strategy(export_format: str, label_folder: str) -> "BaseLabelFormat":
+def get_label_strategy(export_format: str, label_folder: Path) -> "BaseLabelFormat":
     if export_format == "vertices":
         return VerticesFormat(label_folder, LabelManager.EXPORT_PRECISION)
     elif export_format == "centroid_rel":
@@ -45,17 +44,19 @@ class LabelManager(object):
     EXPORT_PRECISION = config.getint("LABEL", "export_precision")
 
     def __init__(
-        self, strategy: str = STD_LABEL_FORMAT, path_to_label_folder: str = None
+        self, strategy: str = STD_LABEL_FORMAT, path_to_label_folder: Path = None
     ) -> None:
-        self.label_folder = path_to_label_folder or config.get("FILE", "label_folder")
-        if not os.path.isdir(self.label_folder):
-            os.mkdir(self.label_folder)
+        self.label_folder = path_to_label_folder or config.getpath(
+            "FILE", "label_folder"
+        )
+        if not self.label_folder.is_dir():
+            self.label_folder.mkdir(parents=True)
 
         self.label_strategy = get_label_strategy(strategy, self.label_folder)
 
-    def import_labels(self, pcd_name: str) -> List[BBox]:
+    def import_labels(self, pcd_path: Path) -> List[BBox]:
         try:
-            return self.label_strategy.import_labels(os.path.splitext(pcd_name)[0])
+            return self.label_strategy.import_labels(pcd_path)
         except KeyError as key_error:
             print("Found a key error with %s in the dictionary." % key_error)
             print(
@@ -69,7 +70,5 @@ def import_labels(self, pcd_name: str) -> List[BBox]:
             )
             return []
 
-    def export_labels(self, pcd_path: str, bboxes: List[BBox]) -> None:
-        pcd_name = ntpath.basename(pcd_path)
-        pcd_folder = os.path.dirname(pcd_path)
-        self.label_strategy.export_labels(bboxes, pcd_name, pcd_folder, pcd_path)
+    def export_labels(self, pcd_path: Path, bboxes: List[BBox]) -> None:
+        self.label_strategy.export_labels(bboxes, pcd_path)

labelCloud/control/pcd_manager.py

@@ -2,9 +2,8 @@
 Module to manage the point clouds (loading, navigation, floor alignment).
 Sets the point cloud and original point cloud path. Initiate the writing to the virtual object buffer.
 """
-import ntpath
-import os
 from dataclasses import dataclass
+from pathlib import Path
 from shutil import copyfile
 from typing import TYPE_CHECKING, List, Optional, Tuple
 
@@ -29,7 +28,7 @@ class Perspective(object):
 
 def color_pointcloud(points, z_min, z_max) -> np.ndarray:
     palette = np.loadtxt(
-        pkg_resources.resource_filename("labelCloud.ressources", "rocket-palette.txt")
+        pkg_resources.resource_filename("labelCloud.resources", "rocket-palette.txt")
     )
     palette_len = len(palette) - 1
 
@@ -48,8 +47,8 @@ class PointCloudManger(object):
 
     def __init__(self) -> None:
         # Point cloud management
-        self.pcd_folder = config.get("FILE", "pointcloud_folder")
-        self.pcds = []
+        self.pcd_folder = config.getpath("FILE", "pointcloud_folder")
+        self.pcds: List[Path] = []
         self.current_id = -1
 
         self.current_o3d_pcd = None
@@ -61,12 +60,21 @@ def __init__(self) -> None:
         self.collected_object_classes = set()
         self.saved_perspective: Perspective = None
 
+    @property
+    def pcd_path(self) -> Path:
+        return self.pcds[self.current_id]
+
+    @property
+    def pcd_name(self) -> Optional[str]:
+        if self.current_id >= 0:
+            return self.pcd_path.name
+
     def read_pointcloud_folder(self) -> None:
         """Checks point cloud folder and sets self.pcds to all valid point cloud file names."""
-        if os.path.isdir(self.pcd_folder):
+        if self.pcd_folder.is_dir():
             self.pcds = []
-            for file in sorted(os.listdir(self.pcd_folder), key=str.casefold):
-                if file.endswith(tuple(PointCloudManger.PCD_EXTENSIONS)):
+            for file in sorted(self.pcd_folder.iterdir()):
+                if file.suffix in PointCloudManger.PCD_EXTENSIONS:
                     self.pcds.append(file)
         else:
             print(f"Point cloud path {self.pcd_folder} is not a valid directory.")
@@ -85,7 +93,7 @@ def read_pointcloud_folder(self) -> None:
             )
             self.pointcloud = self.load_pointcloud(
                 pkg_resources.resource_filename(
-                    "labelCloud.ressources", "labelCloud_icon.pcd"
+                    "labelCloud.resources", "labelCloud_icon.pcd"
                 )
             )
             self.update_pcd_infos(pointcloud_label=" – (select folder!)")
@@ -101,7 +109,7 @@ def get_next_pcd(self) -> None:
         print("Loading next point cloud...")
         if self.pcds_left():
             self.current_id += 1
-            self.pointcloud = self.load_pointcloud(self.get_current_path())
+            self.pointcloud = self.load_pointcloud(self.pcd_path)
             self.update_pcd_infos()
         else:
             print("No point clouds left!")
@@ -110,27 +118,13 @@ def get_prev_pcd(self) -> None:
         print("Loading previous point cloud...")
         if self.current_id > 0:
             self.current_id -= 1
-            self.pointcloud = self.load_pointcloud(self.get_current_path())
+            self.pointcloud = self.load_pointcloud(self.pcd_path)
             self.update_pcd_infos()
         else:
             raise Exception("No point cloud left for loading!")
 
-    def get_pointcloud(self) -> PointCloud:
-        return self.pointcloud
-
-    def get_current_name(self) -> str:
-        if self.current_id >= 0:
-            return self.pcds[self.current_id]
-
-    def get_current_details(self) -> Tuple[str, int, int]:
-        if self.current_id >= 0:
-            return self.get_current_name(), self.current_id + 1, len(self.pcds)
-
-    def get_current_path(self) -> str:
-        return os.path.join(self.pcd_folder, self.pcds[self.current_id])
-
     def get_labels_from_file(self) -> List[BBox]:
-        bboxes = self.label_manager.import_labels(self.get_current_name())
+        bboxes = self.label_manager.import_labels(self.pcd_path)
         print("Loaded %s bboxes!" % len(bboxes))
         return bboxes
 
@@ -141,7 +135,7 @@ def set_view(self, view: "GUI") -> None:
 
     def save_labels_into_file(self, bboxes: List[BBox]) -> None:
         if self.pcds:
-            self.label_manager.export_labels(self.get_current_path(), bboxes)
+            self.label_manager.export_labels(self.pcd_path, bboxes)
             self.collected_object_classes.update(
                 {bbox.get_classname() for bbox in bboxes}
             )
@@ -162,26 +156,22 @@ def save_current_perspective(self, active: bool = True) -> None:
             print("Reset saved perspective.")
 
     # MANIPULATOR
-    def load_pointcloud(self, path_to_pointcloud: str) -> PointCloud:
-        print("=" * 20, "Loading", ntpath.basename(path_to_pointcloud), "=" * 20)
+    def load_pointcloud(self, path_to_pointcloud: Path) -> PointCloud:
+        print("=" * 20, "Loading", path_to_pointcloud.name, "=" * 20)
 
         if config.getboolean("USER_INTERFACE", "keep_perspective"):
             self.save_current_perspective()
 
-        if (
-            os.path.splitext(path_to_pointcloud)[1] == ".bin"
-        ):  # Loading binary pcds with numpy
+        if path_to_pointcloud.suffix == ".bin":  # Loading binary pcds with numpy
             bin_pcd = np.fromfile(path_to_pointcloud, dtype=np.float32)
             points = bin_pcd.reshape((-1, 4))[
                 :, 0:3
             ]  # Reshape and drop reflection values
             self.current_o3d_pcd = o3d.geometry.PointCloud(
                 o3d.utility.Vector3dVector(points)
             )
-        else:
-            self.current_o3d_pcd = o3d.io.read_point_cloud(
-                path_to_pointcloud
-            )  # Load point cloud with open3d
+        else:  # Load point cloud with open3d
+            self.current_o3d_pcd = o3d.io.read_point_cloud(str(path_to_pointcloud))
 
         tmp_pcd = PointCloud(path_to_pointcloud)
         tmp_pcd.points = np.asarray(self.current_o3d_pcd.points).astype(
@@ -271,15 +261,13 @@ def rotate_pointcloud(
         self, axis: List[float], angle: float, rotation_point: List[float]
     ) -> None:
         # Save current, original point cloud in ORIGINALS_FOLDER
-        originals_path = os.path.join(
-            self.pcd_folder, PointCloudManger.ORIGINALS_FOLDER
-        )
-        if not os.path.exists(originals_path):
-            os.mkdir(originals_path)
+        originals_path = self.pcd_folder.joinpath(PointCloudManger.ORIGINALS_FOLDER)
+        originals_path.mkdir(parents=True, exist_ok=True)
         copyfile(
-            self.get_current_path(),
-            os.path.join(originals_path, self.get_current_name()),
+            str(self.pcd_path),
+            str(originals_path.joinpath(self.pcd_name)),
         )
+
         # Rotate and translate point cloud
         rotation_matrix = o3d.geometry.get_rotation_matrix_from_axis_angle(
             np.multiply(axis, angle)
@@ -298,11 +286,11 @@ def rotate_pointcloud(
                 center=(0, 0, 0),
             )
 
-        save_path = self.get_current_path()
-        if os.path.splitext(save_path)[1] == ".bin":
-            save_path = save_path[:-4] + ".pcd"
+        save_path = self.pcd_path
+        if save_path.suffix == ".bin":  # save .bin point clouds as .pcd
+            save_path = save_path.parent.joinpath(save_path.stem + ".pcd")
 
-        o3d.io.write_point_cloud(save_path, self.current_o3d_pcd)
+        o3d.io.write_point_cloud(str(save_path), self.current_o3d_pcd)
         self.pointcloud = self.load_pointcloud(save_path)
 
     # HELPER
@@ -323,7 +311,7 @@ def get_perspective(self) -> Tuple[float, float, float]:
     # UPDATE GUI
 
     def update_pcd_infos(self, pointcloud_label: str = None) -> None:
-        self.view.set_pcd_label(pointcloud_label or self.get_current_name())
+        self.view.set_pcd_label(pointcloud_label or self.pcd_name)
         self.view.update_progress(self.current_id)
 
         if self.current_id <= 0: