Merge pull request #30 from ch-sa/ch/cleanup

Cleanup

config.ini

@@ -55,5 +55,4 @@ viewing_precision = 2
 near_plane = 0.1
 far_plane = 300
 ; keep last perspective between point clouds
-keep_perspective = False
-
+keep_perspective = False

labelCloud/control/alignmode.py

@@ -3,22 +3,22 @@
 three points on the plane that serves as the ground. Then the old point cloud will be
 saved up and the aligned current will overwrite the old.
 """
-from typing import Union, TYPE_CHECKING
+from typing import TYPE_CHECKING, Union
 
 import numpy as np
-
 import utils.oglhelper as ogl
+
 from .pcd_manager import PointCloudManger
 
 if TYPE_CHECKING:
     from view.gui import GUI
 
 
-class AlignMode:
-    def __init__(self, pcd_manager: PointCloudManger):
+class AlignMode(object):
+    def __init__(self, pcd_manager: PointCloudManger) -> None:
         self.pcd_manager = pcd_manager
         self.view: Union[GUI, None] = None
-        self.activated = False
+        self.is_active = False
         self.point_color = (1, 1, 0, 1)
         self.area_color = (1, 1, 0, 0.6)
         self.plane1 = None
@@ -28,40 +28,37 @@ def __init__(self, pcd_manager: PointCloudManger):
         self.tmp_p2 = None
         self.tmp_p3 = None
 
-    def set_view(self, view: "GUI"):
+    def set_view(self, view: "GUI") -> None:
         self.view = view
         self.view.glWidget.align_mode = self
 
-    def is_active(self):
-        return self.activated
-
-    def change_activation(self, force=None):
+    def change_activation(self, force=None) -> None:
         if force is not None:
-            self.activated = force
-        elif self.activated:
-            self.activated = False
+            self.is_active = force
+        elif self.is_active:
+            self.is_active = False
             self.reset()
         else:
-            self.activated = True
+            self.is_active = True
 
-        if self.activated:
+        if self.is_active:
             self.view.update_status(
                 "Select three points on the plane that should be the floor.",
                 "alignment",
             )
-        self.view.action_alignpcd.setChecked(self.activated)
+        self.view.action_alignpcd.setChecked(self.is_active)
         self.view.activate_draw_modes(
-            not self.activated
+            not self.is_active
         )  # Prevent bbox drawing while aligning
-        print("Alignmode was changed to %s!" % self.activated)
+        print(f"Alignmode was changed to {self.is_active}!")
 
-    def reset(self, points_only: bool = False):
+    def reset(self, points_only: bool = False) -> None:
         self.plane1, self.plane2, self.plane3 = (None, None, None)
         self.tmp_p2, self.tmp_p3 = (None, None)
         if not points_only:
             self.change_activation(force=False)
 
-    def register_point(self, new_point):
+    def register_point(self, new_point) -> None:
         if self.plane1 is None:
             self.plane1 = new_point
         elif not self.plane2:
@@ -75,13 +72,13 @@ def register_point(self, new_point):
         else:
             print("Cannot register point.")
 
-    def register_tmp_point(self, new_tmp_point):
+    def register_tmp_point(self, new_tmp_point) -> None:
         if self.plane1 and (not self.plane2):
             self.tmp_p2 = new_tmp_point
         elif self.plane2 and (not self.plane3):
             self.tmp_p3 = new_tmp_point
 
-    def draw_preview(self):
+    def draw_preview(self) -> None:
         if not self.plane3:
             if self.plane1:
                 ogl.draw_points([self.plane1], color=self.point_color)
@@ -104,15 +101,14 @@ def draw_preview(self):
                 )
 
         elif self.plane1 and self.plane2 and self.plane3:
-
             ogl.draw_points(
                 [self.plane1, self.plane2, self.plane3], color=self.point_color
             )
             ogl.draw_triangles(
                 [self.plane1, self.plane2, self.plane3], color=self.area_color
             )
 
-    def calculate_angles(self):
+    def calculate_angles(self) -> None:
         # Calculate plane normal with self.plane1 as origin
         plane_normal = np.cross(
             np.subtract(self.plane2, self.plane1), np.subtract(self.plane3, self.plane1)

labelCloud/control/bbox_controller.py

@@ -4,13 +4,12 @@
 Bounding Box Management: adding, selecting updating, deleting bboxes;
 Possible Active Bounding Box Manipulations: rotation, translation, scaling
 """
-from typing import TYPE_CHECKING, Union, List
+from typing import TYPE_CHECKING, List, Optional, Union
 
 import numpy as np
-
-
-from utils import oglhelper
 from model.bbox import BBox
+from utils import oglhelper
+
 from .config_manager import config
 
 if TYPE_CHECKING:
@@ -46,66 +45,66 @@ def wrapper(*args, **kwargs):
     return wrapper
 
 
-class BoundingBoxController:
+class BoundingBoxController(object):
     STD_SCALING = config.getfloat("LABEL", "std_scaling")
 
-    def __init__(self):
+    def __init__(self) -> None:
         self.view = None
         self.bboxes = []
         self.active_bbox_id = -1  # -1 means zero bboxes
         self.pcdc = None
 
     # GETTERS
-    def has_active_bbox(self):
+    def has_active_bbox(self) -> bool:
         return 0 <= self.active_bbox_id < self.get_no_of_bboxes()
 
-    def get_active_bbox(self) -> Union[BBox, None]:
+    def get_active_bbox(self) -> Optional[BBox]:
         if self.has_active_bbox():
             return self.bboxes[self.active_bbox_id]
         else:
             return None
 
-    def get_bboxes(self):
+    def get_bboxes(self) -> List[BBox]:
         return self.bboxes
 
-    def get_no_of_bboxes(self):
+    def get_no_of_bboxes(self) -> int:
         return len(self.bboxes)
 
     @has_active_bbox_decorator
-    def get_classname(self):
+    def get_classname(self) -> str:
         return self.get_active_bbox().get_classname()
 
     # SETTERS
 
-    def set_view(self, view: "GUI"):
+    def set_view(self, view: "GUI") -> None:
         self.view = view
 
-    def add_bbox(self, bbox: BBox):
+    def add_bbox(self, bbox: BBox) -> None:
         if isinstance(bbox, BBox):
             self.bboxes.append(bbox)
             self.set_active_bbox(self.bboxes.index(bbox))
             self.view.update_status(
                 "Bounding Box added, it can now be corrected.", mode="correction"
             )
 
-    def update_bbox(self, bbox_id: int, bbox: BBox):
+    def update_bbox(self, bbox_id: int, bbox: BBox) -> None:
         if isinstance(bbox, BBox) and (0 <= bbox_id < len(self.bboxes)):
             self.bboxes[bbox_id] = bbox
             self.update_label_list()
 
-    def delete_bbox(self, bbox_id: int):
+    def delete_bbox(self, bbox_id: int) -> None:
         if 0 <= bbox_id < len(self.bboxes):
             del self.bboxes[bbox_id]
             if bbox_id == self.active_bbox_id:
                 self.set_active_bbox(self.get_no_of_bboxes() - 1)
             else:
                 self.update_label_list()
 
-    def delete_current_bbox(self):
+    def delete_current_bbox(self) -> None:
         selected_item_id = self.view.label_list.currentRow()
         self.delete_bbox(selected_item_id)
 
-    def set_active_bbox(self, bbox_id: int):
+    def set_active_bbox(self, bbox_id: int) -> None:
         if 0 <= bbox_id < len(self.bboxes):
             self.active_bbox_id = bbox_id
             self.update_all()
@@ -116,31 +115,31 @@ def set_active_bbox(self, bbox_id: int):
             self.deselect_bbox()
 
     @has_active_bbox_decorator
-    def set_classname(self, new_class: str):
+    def set_classname(self, new_class: str) -> None:
         self.get_active_bbox().set_classname(new_class)
         self.update_label_list()
 
     @has_active_bbox_decorator
-    def set_center(self, cx: float, cy: float, cz: float):
+    def set_center(self, cx: float, cy: float, cz: float) -> None:
         self.get_active_bbox().center = (cx, cy, cz)
 
-    def set_bboxes(self, bboxes: List[BBox]):
+    def set_bboxes(self, bboxes: List[BBox]) -> None:
         self.bboxes = bboxes
         self.deselect_bbox()
         self.update_label_list()
 
-    def reset(self):
+    def reset(self) -> None:
         self.deselect_bbox()
         self.set_bboxes([])
 
-    def deselect_bbox(self):
+    def deselect_bbox(self) -> None:
         self.active_bbox_id = -1
         self.update_all()
         self.view.update_status("", mode="navigation")
 
     # MANIPULATORS
     @has_active_bbox_decorator
-    def update_position(self, axis: str, value: float):
+    def update_position(self, axis: str, value: float) -> None:
         if axis == "pos_x":
             self.get_active_bbox().set_x_translation(value)
         elif axis == "pos_y":
@@ -151,7 +150,7 @@ def update_position(self, axis: str, value: float):
             raise Exception("Wrong axis describtion.")
 
     @has_active_bbox_decorator
-    def update_dimension(self, dimension: str, value: float):
+    def update_dimension(self, dimension: str, value: float) -> None:
         if dimension == "length":
             self.get_active_bbox().set_length(value)
         elif dimension == "width":
@@ -162,7 +161,7 @@ def update_dimension(self, dimension: str, value: float):
             raise Exception("Wrong dimension describtion.")
 
     @has_active_bbox_decorator
-    def update_rotation(self, axis: str, value: float):
+    def update_rotation(self, axis: str, value: float) -> None:
         if axis == "rot_x":
             self.get_active_bbox().set_x_rotation(value)
         elif axis == "rot_y":
@@ -174,7 +173,7 @@ def update_rotation(self, axis: str, value: float):
 
     @only_zrotation_decorator
     @has_active_bbox_decorator
-    def rotate_around_x(self, dangle: float = None, clockwise: bool = False):
+    def rotate_around_x(self, dangle: float = None, clockwise: bool = False) -> None:
         dangle = dangle or config.getfloat("LABEL", "std_rotation")
         if clockwise:
             dangle *= -1
@@ -184,7 +183,7 @@ def rotate_around_x(self, dangle: float = None, clockwise: bool = False):
 
     @only_zrotation_decorator
     @has_active_bbox_decorator
-    def rotate_around_y(self, dangle: float = None, clockwise: bool = False):
+    def rotate_around_y(self, dangle: float = None, clockwise: bool = False) -> None:
         dangle = dangle or config.getfloat("LABEL", "std_rotation")
         if clockwise:
             dangle *= -1
@@ -195,7 +194,7 @@ def rotate_around_y(self, dangle: float = None, clockwise: bool = False):
     @has_active_bbox_decorator
     def rotate_around_z(
         self, dangle: float = None, clockwise: bool = False, absolute: bool = False
-    ):
+    ) -> None:
         dangle = dangle or config.getfloat("LABEL", "std_rotation")
         if clockwise:
             dangle *= -1
@@ -210,7 +209,7 @@ def rotate_around_z(
     @has_active_bbox_decorator
     def rotate_with_mouse(
         self, x_angle: float, y_angle: float
-    ):  # TODO: Make more intuitive
+    ) -> None:  # TODO: Make more intuitive
         # Get bbox perspective
         pcd_z_rotation = self.pcdc.get_pointcloud().rot_z
         bbox_z_rotation = self.get_active_bbox().get_z_rotation()
@@ -224,7 +223,7 @@ def rotate_with_mouse(
         self.rotate_around_z(x_angle)
 
     @has_active_bbox_decorator
-    def translate_along_x(self, distance: float = None, left: bool = False):
+    def translate_along_x(self, distance: float = None, left: bool = False) -> None:
         distance = distance or config.getfloat("LABEL", "std_translation")
         if left:
             distance *= -1
@@ -237,7 +236,7 @@ def translate_along_x(self, distance: float = None, left: bool = False):
         )
 
     @has_active_bbox_decorator
-    def translate_along_y(self, distance: float = None, forward: bool = False):
+    def translate_along_y(self, distance: float = None, forward: bool = False) -> None:
         distance = distance or config.getfloat("LABEL", "std_translation")
         if forward:
             distance *= -1
@@ -250,7 +249,7 @@ def translate_along_y(self, distance: float = None, forward: bool = False):
         )
 
     @has_active_bbox_decorator
-    def translate_along_z(self, distance: float = None, down: bool = False):
+    def translate_along_z(self, distance: float = None, down: bool = False) -> None:
         distance = distance or config.getfloat("LABEL", "std_translation")
         if down:
             distance *= -1

labelCloud/control/config_manager.py

@@ -1,7 +1,5 @@
 """Load configuration from .ini file."""
 import configparser
-
-
 import os
 from typing import List
 
@@ -27,21 +25,21 @@ class ConfigManager(object):
     PATH_TO_CONFIG = "config.ini"
     PATH_TO_DEFAULT_CONFIG = "ressources/default_config.ini"
 
-    def __init__(self):
+    def __init__(self) -> None:
         self.config = ExtendedConfigParser(comment_prefixes="/", allow_no_value=True)
         self.read_from_file()
 
-    def read_from_file(self):
+    def read_from_file(self) -> None:
         if os.path.isfile(ConfigManager.PATH_TO_CONFIG):
             self.config.read(ConfigManager.PATH_TO_CONFIG)
         else:
             self.config.read(ConfigManager.PATH_TO_DEFAULT_CONFIG)
 
-    def write_into_file(self):
+    def write_into_file(self) -> None:
         with open(ConfigManager.PATH_TO_CONFIG, "w") as configfile:
             self.config.write(configfile, space_around_delimiters=True)
 
-    def reset_to_default(self):
+    def reset_to_default(self) -> None:
         self.config.read(ConfigManager.PATH_TO_DEFAULT_CONFIG)
 
     def get_file_settings(self, key: str) -> str: