Add type hinting for dataset evaluation

Author: spencer@primus

avapi/_dataset.py

@@ -5,6 +5,7 @@
 
 import numpy as np
 from avstack import calibration, sensors
+from avstack.datastructs import DataContainer
 from avstack.environment.objects import (
     ObjectState,
     ObjectStateDecoder,
@@ -267,40 +268,41 @@ def get_objects(
         agent=None,
         max_dist=None,
         max_occ=None,
+        in_global: bool = False,
         **kwargs,
-    ):
+    ) -> DataContainer:
         reference = self.get_ego_reference(frame, agent=agent)
         sensor = self.get_sensor_name(sensor, agent=agent)
+        timestamp = self.get_timestamp(frame=frame, sensor=sensor, agent=agent)
         objs = self._load_objects(frame, sensor=sensor, agent=agent, **kwargs)
         if max_occ is not None:
-            objs = np.array(
-                [
+            objs = [
                     obj
                     for obj in objs
                     if (obj.occlusion <= max_occ)
                     or (obj.occlusion == Occlusion.UNKNOWN)
-                ]
-            )
+            ]
         if max_dist is not None:
             if sensor == "ego":
                 calib = calibration.Calibration(reference)
             else:
                 calib = self.get_calibration(frame, sensor, agent=agent)
-            objs = np.array(
-                [
+            objs = [
                     obj
                     for obj in objs
                     if obj.position.distance(calib.reference) < max_dist
-                ]
-            )
+            ]
+        objs = DataContainer(source_identifier=sensor, frame=frame, timestamp=timestamp, data=objs)
+        if in_global:
+            objs = objs.apply_and_return("change_reference", GlobalOrigin3D, inplace=False)
         return objs
 
     def get_objects_global(
         self,
         frame,
         max_dist: Union[Tuple[ReferenceFrame, float], None] = None,
         **kwargs,
-    ):
+    ) -> DataContainer:
         return self._load_objects_global(frame, max_dist=max_dist, **kwargs)
 
     def get_number_of_objects(self, frame, **kwargs):

avapi/evaluation/__init__.py

@@ -1,10 +1,3 @@
-# -*- coding: utf-8 -*-
-# @Author: spencer@primus
-# @Date:   2022-05-30
-# @Last Modified by:   spencer@primus
-# @Last Modified time: 2022-09-12
-
-
 from . import metrics
 from .base import ResultManager
 from .perception import (
@@ -14,3 +7,5 @@
 from .prediction import get_predict_results_from_folder
 from .tracking import get_track_results_from_folder, get_track_results_from_multi_folder
 from .trades import run_trades
+
+

avapi/evaluation/ospa.py

@@ -21,8 +21,8 @@ def _cost(list_shorter: list, list_longer: list, p: float = 1.0, c: float = 1.0)
         return distance
 
     @staticmethod
-    def cost(tracks: list, truths: list):
+    def cost(tracks: list, truths: list, p: float = 1.0, c: float = 1.0):
         if len(tracks) <= len(truths):
-            return OspaMetric._cost(tracks, truths)
+            return OspaMetric._cost(tracks, truths, p=p, c=c)
         else:
-            return OspaMetric._cost(truths, tracks)
+            return OspaMetric._cost(truths, tracks, p=p, c=c)

avapi/nuscenes/dataset.py

@@ -1,12 +1,3 @@
-# -*- coding: utf-8 -*-
-# @Author: Spencer H
-# @Date:   2022-09-05
-# @Last Modified by:   Spencer H
-# @Last Modified date: 2022-09-29
-# @Description:
-"""
-
-"""
 import logging
 import os
 import struct
@@ -59,18 +50,18 @@ def __init__(self, data_dir, split="v1.0-mini", verbose=False):
             for k, vs in splits_scenes.items()
         }
 
-    def list_scenes(self):
+    def list_scenes(self) -> List[str]:
         self.nuX.list_scenes()
 
-    def get_scene_dataset_by_name(self, scene_name):
+    def get_scene_dataset_by_name(self, scene_name) -> "nuScenesSceneDataset":
         idx = self.scene_name_to_index[scene_name]
         return self.get_scene_dataset_by_index(idx)
 
-    def get_scene_dataset_by_scene_number(self, scene_number):
+    def get_scene_dataset_by_scene_number(self, scene_number) -> "nuScenesSceneDataset":
         idx = self.scene_number_to_index[scene_number]
         return self.get_scene_dataset_by_index(idx)
 
-    def get_scene_dataset_by_index(self, scene_idx):
+    def get_scene_dataset_by_index(self, scene_idx) -> "nuScenesSceneDataset":
         return nuScenesSceneDataset(
             self.data_dir,
             self.split,