Refactoring + test before v0.1.0 release.#115
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* Add v0.1.0 branch with larger refactorings and improvements. * Add some fixes and renaming of different variables. * Refactor code structure for improved readability and maintainability. * Fixes to Lidar tests and implementation. * Add more geometry tests for better coverage. * Better handling of rear-axle, imu, and center frame in ego state. Other refactorings. * Fix missing `*.yaml` files when installing from pip (#92) * Push intermediate stage of larger modular/async refactoring. * Add intermediate implementation of modular data format. * Push working prototype for modular data structure. * Push somewhat more stable version of modular data structure. * Restructure `api` module, to put writer and api objects closer together. (#93) * Fix version of current dev branch. * Add waymo protos * Update Waymo Open Dataset documentation and compilation script to remove heavy dependencies * Remove unused `wod_range_image_utils.py` and update imports in `wod_map_conversion.py` and `wod_perception_sensor_io.py` * Remove unused `wod_range_image_utils_no_tf.py` file * Fix dependency check for Waymo to use 'google.protobuf' * Lot of small fixes, e.g. ensuring timestamps and required inputs. (#93) * Apply ruff format * Update Waymo dependencies and clean up unused functions in utils * Add a few fixes, and testing WOD perception + motion. * Update docs with new `waymo` installation. (#96) * Manually run `pre-commit`. * Refactor detection datatypes and move timestamp to wrapper class, for easier sync/async handling (#93) * Push unfinished implementation of custom modality (kinda broken) * Create new parser structure for converting logs./maps, work in progress (#93). * Push intermediate state before larger refactoring (#93) * Push somewhat more stable version of async dataformat (#93) * Fix the nuplan parsers for modular/async writing (#93) * Push larger refactoring of `conversion` -> `parser` change (#93) * Fix some parsers for nuPlan and KITTI360. (#93) * Remove old config structure (#93) * Fix nuscenes and a couple of other things. (#93) * Update pandaset parser (#93( * Refactor waymo motion + perception to new structure and a few fixes. (#93) * Fix tests. * Replace some deprecated functions. * Test and add opendrive parser separately, push carla maps with gzip compression, adjust configs. (#94) * Push xodr conversion with batch interpolation on separate branch. (#94) * Add further optimizations to opendrive conversion. (#94) * Rename vehicle parameters to ego metadata. * Fix notebook. * Implement `LaneType` and `IntersectionType` to map structure. (#97) * Fix stop zone in nuplan map parser (#95) * Some fixes and adding the stop zone to visualization in matplotlib and viser (#95) * Add docs-build to test suite for Python 3.11. * Update tests for docs and building. * Fix `typing.override` issue for python<=3.11. Add import tests. * Fix `|:` typing comparison error in Python 3.9 * Fix 2D/3D typing of lanes and lane groups in `map_objects`. * Make lane group optional for a lane and add flag to waymo parsers (#78) * Make lane groups optional in visualization of map in viser and matplotlib. * Add error message to viser visualization. * Fix arrow map writer for 2D outlines. * Slightly adapt nuscenes parser to use own quaternion implementation directly. * Slight refactoring of the tutorials. * Refactor async format, merge cameras into a single modality, refactor parser / writer structure. (#106) * Push a few async prototypes of datasets on seperate branch. * Push intermediate state of async modality implementation. * push intermediate (#93) * Push somewhat more stable version. * Minor cleanups. * Push intermediate. * Fix some datasets and bugs. * Push intermediate refactoring. * Add experimental bokeh viewer. * Mini fixes and refactoring. * Fix fresnel spirals in OpenDrive conversion (#103) * Replace type hints to `Iterator` instead of `Generator`. * Add simplification and buffering to merged polygon in stop zone outline creation * Update lane type from UNDEFINED to SURFACE_STREET in lane extraction * Filter out lanes with zero-area rectangles in stop zone creation * Refine comment on filtering lanes with zero-area rectangles in stop zone creation * Push broken intermediate state. * Push unclean (but working version) of av2 (#93) * Add some small fixes. * Refactoring modular modality handling (#93) * A few small fixes and improvements. * Adapt all parsers to be compatible with new parser / writer structure (#93) * Refactor lidar codecs to single blobs in `.data` field. * Several refactorings to scene api and general pattern (#93) * Push somewhat stable version after refactoring. Merging camera classes. * Push some changes in the camera modelling. * Refactor timestamp , duration, and history referencing. (#93) * Minor improvements (#93) * Change pose of camera to global pose, only for av2 (#105), use Pillow for downscaled image decoding and removing turbojpeg. * fix: git workflows and attributes/ignores --------- Co-authored-by: Valentin Charraut <valentin.charraut@valeo.com> * Fix camera poses to global frame + general refactoring and checks of all datasets. (#107) * fix: conversion and global poses of cameras in KITTI-360 * fix: type hints and doc strings of av2 parsers. * fix: nuplan parser with global camera poses, pose interpolation, standalone lidar load (without dependencies), and minor type fixes. * refactor: remove old benchmark file. * fix: nuscenes parser structure, merge both 2hz and 10Hz parser in one file. verify correctness and test. * fix: Pandaset conversion and usage of global coordinates in camera pose. * fix: matplotlib visualization of of cameras with global pose. * fix: Wamo perception poses of cameras, general refactoring of wod motion. * fis: run precommit manually. * refactor: change `iter_modalities_async` to be optional with default in `BaseLogParser`. * feat: Add handy integer and array like dunder methods to timestamp. * Refactor / fix scene filter and builder. (#110) * fix: scene tutorial notebook. * refactor: Update scene filter to improve speed, filter options and clarity. * Refactor: Small changes of file structure. * fix: Few fixes and refactoring of scene filter. * fix: Small fixes to scene filter doc string and adding ray to __init__. * feat:Add iteration stride to scene filter and scene api. Enables downsampling logs to predefined target iteration duration. * feat: filter scenes with required modalities using `:any` and `:all` patterns. * fix: add missing config files for nuplan / nuscenes. * feat: Iterator for map objects using multiple map layers. * fix: tests about map api. * Refactor/viser viewer (#111) * refactor: Start refactoring viser viewer with independent elements for modalities. * feat: Add a few options and prepare darkmode of viewer. * feat: Push several features about the viser viz. * fix: camera frustum viewer element. * feat: add some modifications to viser viewer. * feat: add frames to viser and misc. * fix: small changes. * fix: few modifications for a better viewer. * fix: type check and misc. * Add physical ai av dataset (#113) * feature: init branch to convert physical ai av. * fix: correct color channels, change ID system, other refactorings. * refactor: Remove `timestep_seconds` from log metadata. * Refactor/base classes to consisent naming schema. (#114) * refactor: Change naming convention of base/abstract classes. * fix: docs and config. * Refactoring + test before `v0.1.0` release. (#115) * refactor: Minor refactoring for `__init__` structure and adding tests for map api. * fix: tests for map api. * test: Add test about scene module with roundtrip. * fix: test imports to avoid errors. * test: Add more tests for ray execution and common utils. * test: more test on scene filter. Refactoring of how sync table is created and more errors. * Update notebooks. * refactor: docs & tests. * fix: tests and restrict timestamps to non-strict increase. * refactor: notebooks. * refactor: remove zebra crossing from matplotlib. * refactor: changes to camera projection and docs * refactor: remove bokeh viz. * fix: make nuscenes memory efficient with thread executor. * refactor: remove backward compat. type. * refactor: Fix docs, reintroduce mp4 camera codec. * fix: av2 parser config. * refactor: Update default parser scripts. * chore: Add screenshot of viser to `README.md` * fix: tests and title. * chore: Update name and `README.md` * fix: link in `README.md` * chore: update `README.md` and introduction in docs. * chore: clean up conventions in docs. * fix: remove bokeh entry point. * chore: Update `README.md` * fix: test all tutorials. --------- Co-authored-by: Valentin Charraut <valentin.charraut@valeo.com>
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