Clean comments, strings, imports

labelCloud/control/alignmode.py

@@ -1,11 +1,14 @@
-"""A module for aligning point clouds with the floor. The user has to span a triangle with 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."""
+"""
+A module for aligning point clouds with the floor. The user has to span a triangle with
+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
 
 import numpy as np
 
 import utils.oglhelper as ogl
-from control.pcd_manager import PointCloudManger
+from .pcd_manager import PointCloudManger
 
 if TYPE_CHECKING:
     from view.gui import GUI
@@ -123,8 +126,8 @@ def calculate_angles(self):
             np.cross(pn_normalized, z_axis)
         )
         print(
-            "Alignment rotation: %s around %s"
-            % (round(rotation_angle, 2), np.round(rotation_axis, 2))
+            f"Alignment rotation: {round(rotation_angle, 2)} "
+            f"around {np.round(rotation_axis, 2)}"
         )
 
         # Initiate point cloud rotation

labelCloud/control/bbox_controller.py

@@ -1,23 +1,29 @@
 """
-A class to handle all user manipulations of the bounding boxes and collect all labeling settings in one place.
-Bounding Box Management: adding, updating, deleting bboxes; changing the active bounding box
+A class to handle all user manipulations of the bounding boxes and collect all labeling
+settings in one place.
+Bounding Box Management: adding, selecting updating, deleting bboxes;
 Possible Active Bounding Box Manipulations: rotation, translation, scaling
 """
 from typing import TYPE_CHECKING, Union, List
 
 import numpy as np
 
+
 from utils import oglhelper
-from control.config_manager import config
 from model.bbox import BBox
+from .config_manager import config
 
 if TYPE_CHECKING:
     from view.gui import GUI
 
 
 # DECORATORS
 def has_active_bbox_decorator(func):
-    def wrapper(*args, **kwargs):  # plays function if active bbox exists
+    """
+    Only execute bounding box manipulation if there is an active bounding box.
+    """
+
+    def wrapper(*args, **kwargs):
         if args[0].has_active_bbox():
             return func(*args, **kwargs)
         else:
@@ -27,7 +33,11 @@ def wrapper(*args, **kwargs):  # plays function if active bbox exists
 
 
 def only_zrotation_decorator(func):
-    def wrapper(*args, **kwargs):  # plays function if active bbox exists
+    """
+    Only execute x- and y-rotation if z_rotation_only mode is not activated.
+    """
+
+    def wrapper(*args, **kwargs):
         if not config.getboolean("USER_INTERFACE", "z_rotation_only"):
             return func(*args, **kwargs)
         else:
@@ -209,9 +219,6 @@ def rotate_with_mouse(
         bbox_cosz = round(np.cos(np.deg2rad(total_z_rotation)), 0)
         bbox_sinz = -round(np.sin(np.deg2rad(total_z_rotation)), 0)
 
-        # self.rotate_around_x(y_angle * bbox_cosz + x_angle * bbox_sinz)
-        # self.rotate_around_y(y_angle * bbox_sinz + x_angle * bbox_cosz)
-
         self.rotate_around_x(y_angle * bbox_cosz)
         self.rotate_around_y(y_angle * bbox_sinz)
         self.rotate_around_z(x_angle)
@@ -251,9 +258,14 @@ def translate_along_z(self, distance: float = None, down: bool = False):
             self.get_active_bbox().center[2] + distance
         )
 
-    # Scale bbox while keeping ratios
     @has_active_bbox_decorator
-    def scale(self, length_increase: float = None, decrease: bool = False):
+    def scale(self, length_increase: float = None, decrease: bool = False) -> None:
+        """Scales a bounding box while keeping the previous aspect ratio.
+
+        :param length_increase: factor by which the length should be increased
+        :param decrease: if True, reverses the length_increasee (* -1)
+        :return: None
+        """
         length_increase = length_increase or config.getfloat("LABEL", "std_scaling")
         if decrease:
             length_increase *= -1
@@ -267,7 +279,7 @@ def scale(self, length_increase: float = None, decrease: bool = False):
 
         self.get_active_bbox().set_dimensions(new_length, new_width, new_height)
 
-    def select_bbox_by_ray(self, x: int, y: int):
+    def select_bbox_by_ray(self, x: int, y: int) -> None:
         intersected_bbox_id = oglhelper.get_intersected_bboxes(
             x,
             y,
@@ -281,26 +293,30 @@ def select_bbox_by_ray(self, x: int, y: int):
 
     # HELPER
 
-    def update_all(self):
+    def update_all(self) -> None:
         self.update_z_dial()
         self.update_curr_class()
         self.update_label_list()
         self.view.update_bbox_stats(self.get_active_bbox())
 
     @has_active_bbox_decorator
-    def update_z_dial(self):
+    def update_z_dial(self) -> None:
         self.view.dial_zrotation.blockSignals(True)  # To brake signal loop
         self.view.dial_zrotation.setValue(int(self.get_active_bbox().get_z_rotation()))
         self.view.dial_zrotation.blockSignals(False)
 
-    def update_curr_class(self):
+    def update_curr_class(self) -> None:
         if self.has_active_bbox():
             self.view.update_curr_class_edit()
         else:
             self.view.update_curr_class_edit(force="")
 
-    # Updating the list of existing labels if bboxes changed
-    def update_label_list(self):
+    def update_label_list(self) -> None:
+        """Updates the list of drawn labels and highlights the active label.
+
+        Should be always called if the bounding boxes changed.
+        :return: None
+        """
         self.view.label_list.blockSignals(True)  # To brake signal loop
         self.view.label_list.clear()
         for bbox in self.bboxes:

labelCloud/control/config_manager.py

@@ -1,12 +1,17 @@
 """Load configuration from .ini file."""
 import configparser
 
-# Read local file `config.ini`.
+
 import os
-from typing import List, Union, Optional
+from typing import List
 
 
 class ExtendedConfigParser(configparser.ConfigParser):
+    """Extends the ConfigParser with the ability to read and parse lists.
+
+    Can automatically parse float values besides plain strings.
+    """
+
     def getlist(self, section, option, raw=False, vars=None, fallback=None) -> List:
         raw_value = self.get(section, option, raw=raw, vars=vars, fallback=fallback)
         if "," in raw_value:

labelCloud/control/controller.py

@@ -2,17 +2,19 @@
 
 from PyQt5 import QtGui, QtCore
 
-from control.alignmode import AlignMode
-from control.drawing_manager import DrawingManager
-from control.pcd_manager import PointCloudManger
-from model.bbox import BBox
-from control.bbox_controller import BoundingBoxController
 
-from view.gui import GUI
 from utils import oglhelper
+from model.bbox import BBox
+from view.gui import GUI
+from .alignmode import AlignMode
+from .bbox_controller import BoundingBoxController
+from .drawing_manager import DrawingManager
+from .pcd_manager import PointCloudManger
 
 
 class Controller:
+    MOVEMENT_THRESHOLD = 0.1
+
     def __init__(self):
         """Initializes all controllers and managers."""
         self.view: Union["GUI", None] = None
@@ -172,12 +174,8 @@ def mouse_move_event(self, a0: QtGui.QMouseEvent):
                 and (not self.align_mode.is_active())
             ):
                 if a0.buttons() & QtCore.Qt.LeftButton:  # bbox rotation
-                    # self.bbox_controller.rotate_around_x(-dy)
-                    # self.bbox_controller.rotate_around_y(-dx)
                     self.bbox_controller.rotate_with_mouse(-dx, -dy)
                 elif a0.buttons() & QtCore.Qt.RightButton:  # bbox translation
-                    # self.bbox_controller.translate_along_x(-dx / 30)
-                    # self.bbox_controller.translate_along_y(dy / 30)
                     new_center = self.view.glWidget.get_world_coords(
                         a0.x(), a0.y(), correction=True
                     )
@@ -190,9 +188,8 @@ def mouse_move_event(self, a0: QtGui.QMouseEvent):
                     self.pcd_manager.translate_along_x(dx)
                     self.pcd_manager.translate_along_y(dy)
 
-            if (
-                dx > 0.1 or dy > 0.1
-            ):  # Reset scroll locks if significant cursor movements
+            # Reset scroll locks of "side scrolling" for significant cursor movements
+            if dx > Controller.MOVEMENT_THRESHOLD or dy > Controller.MOVEMENT_THRESHOLD:
                 if self.side_mode:
                     self.side_mode = False
                 else:
@@ -243,45 +240,41 @@ def key_press_event(self, a0: QtGui.QKeyEvent):
                 print("Resetted selected points!")
 
         # BBOX MANIPULATION
-        elif (a0.key() == QtCore.Qt.Key_Y) or (
-            a0.key() == QtCore.Qt.Key_Comma
-        ):  # z rotate counterclockwise
+        elif (a0.key() == QtCore.Qt.Key_Y) or (a0.key() == QtCore.Qt.Key_Comma):
+            # z rotate counterclockwise
             self.bbox_controller.rotate_around_z()
-        elif (a0.key() == QtCore.Qt.Key_X) or (
-            a0.key() == QtCore.Qt.Key_Period
-        ):  # z rotate clockwise
+        elif (a0.key() == QtCore.Qt.Key_X) or (a0.key() == QtCore.Qt.Key_Period):
+            # z rotate clockwise
             self.bbox_controller.rotate_around_z(clockwise=True)
-        elif a0.key() == QtCore.Qt.Key_C:  # y rotate counterclockwise
+        elif a0.key() == QtCore.Qt.Key_C:
+            # y rotate counterclockwise
             self.bbox_controller.rotate_around_y()
-        elif a0.key() == QtCore.Qt.Key_V:  # y rotate clockwise
+        elif a0.key() == QtCore.Qt.Key_V:
+            # y rotate clockwise
             self.bbox_controller.rotate_around_y(clockwise=True)
-        elif a0.key() == QtCore.Qt.Key_B:  # x rotate counterclockwise
+        elif a0.key() == QtCore.Qt.Key_B:
+            # x rotate counterclockwise
             self.bbox_controller.rotate_around_x()
-        elif a0.key() == QtCore.Qt.Key_N:  # x rotate clockwise
+        elif a0.key() == QtCore.Qt.Key_N:
+            # x rotate clockwise
             self.bbox_controller.rotate_around_x(clockwise=True)
-        elif (a0.key() == QtCore.Qt.Key_W) or (
-            a0.key() == QtCore.Qt.Key_Up
-        ):  # move backward
+        elif (a0.key() == QtCore.Qt.Key_W) or (a0.key() == QtCore.Qt.Key_Up):
+            # move backward
             self.bbox_controller.translate_along_y()
-        elif (a0.key() == QtCore.Qt.Key_S) or (
-            a0.key() == QtCore.Qt.Key_Down
-        ):  # move forward
+        elif (a0.key() == QtCore.Qt.Key_S) or (a0.key() == QtCore.Qt.Key_Down):
+            # move forward
             self.bbox_controller.translate_along_y(forward=True)
-        elif (a0.key() == QtCore.Qt.Key_A) or (
-            a0.key() == QtCore.Qt.Key_Left
-        ):  # move left
+        elif (a0.key() == QtCore.Qt.Key_A) or (a0.key() == QtCore.Qt.Key_Left):
+            # move left
             self.bbox_controller.translate_along_x(left=True)
-        elif (a0.key() == QtCore.Qt.Key_D) or (
-            a0.key() == QtCore.Qt.Key_Right
-        ):  # move right
+        elif (a0.key() == QtCore.Qt.Key_D) or (a0.key() == QtCore.Qt.Key_Right):
+            # move right
             self.bbox_controller.translate_along_x()
-        elif (a0.key() == QtCore.Qt.Key_Q) or (
-            a0.key() == QtCore.Qt.Key_PageUp
-        ):  # move up
+        elif (a0.key() == QtCore.Qt.Key_Q) or (a0.key() == QtCore.Qt.Key_PageUp):
+            # move up
             self.bbox_controller.translate_along_z()
-        elif (a0.key() == QtCore.Qt.Key_E) or (
-            a0.key() == QtCore.Qt.Key_PageDown
-        ):  # move down
+        elif (a0.key() == QtCore.Qt.Key_E) or (a0.key() == QtCore.Qt.Key_PageDown):
+            # move down
             self.bbox_controller.translate_along_z(down=True)
 
     def key_release_event(self, a0: QtGui.QKeyEvent):

labelCloud/control/drawing_manager.py

@@ -5,9 +5,9 @@
 
 import utils.math3d as math3d
 import utils.oglhelper as ogl
-from control.bbox_controller import BoundingBoxController
-from control.config_manager import config
 from model.bbox import BBox
+from .bbox_controller import BoundingBoxController
+from .config_manager import config
 
 if TYPE_CHECKING:
     from view.gui import GUI

labelCloud/control/label_manager.py

@@ -6,9 +6,9 @@
 
 import numpy as np
 
-from utils import math3d
-from control.config_manager import config
 from model.bbox import BBox
+from utils import math3d
+from .config_manager import config
 
 
 def get_label_strategy(export_format: str, label_folder: str) -> "IFormattingInterface":
@@ -31,11 +31,9 @@ class LabelManager:
         "centroid_rel",
         "centroid_abs",
         "kitti",
-    ]  # supported export formats
+    ]
     STD_LABEL_FORMAT = config.get("LABEL", "label_format")
-    EXPORT_PRECISION = config.getint(
-        "LABEL", "export_precision"
-    )  # Number of decimal places
+    EXPORT_PRECISION = config.getint("LABEL", "export_precision")
 
     def __init__(
         self, strategy: str = STD_LABEL_FORMAT, path_to_label_folder: str = None

labelCloud/control/pcd_manager.py

@@ -4,16 +4,16 @@
 """
 import ntpath
 import os
+from shutil import copyfile
 from typing import List, Tuple, TYPE_CHECKING, Optional
 
 import numpy as np
 import open3d as o3d
-from shutil import copyfile
 
-from control.config_manager import config
-from control.label_manager import LabelManager
 from model.bbox import BBox
 from model.point_cloud import PointCloud
+from .config_manager import config
+from .label_manager import LabelManager
 
 if TYPE_CHECKING:
     from view.gui import GUI
@@ -247,8 +247,6 @@ def rotate_pointcloud(
             self.get_current_path(),
             os.path.join(originals_path, self.get_current_name()),
         )
-        # o3d.io.write_point_cloud(os.path.join(originals_path, self.get_current_name()), self.current_o3d_pcd)
-
         # Rotate and translate point cloud
         rotation_matrix = o3d.geometry.get_rotation_matrix_from_axis_angle(
             np.multiply(axis, angle)
@@ -267,12 +265,6 @@ def rotate_pointcloud(
                 center=(0, 0, 0),
             )
 
-        # Overwrite current point cloud and reload
-        # if os.path.splitext(self.get_current_path())[1] == ".bin":
-        #     points = np.asarray(self.current_o3d_pcd.points)
-        #     flattened_points = np.append(points, np.zeros((len(points), 1)), axis=1).flatten()  # add dummy reflection
-        #     flattened_points.tofile(self.get_current_path())
-        # else:
         save_path = self.get_current_path()
         if os.path.splitext(save_path)[1] == ".bin":
             save_path = save_path[:-4] + ".pcd"
@@ -284,9 +276,7 @@ def rotate_pointcloud(
 
     def get_perspective(self):
         x_rotation = self.pointcloud.rot_x
-        # y_rotation = self.pcdc.get_pointcloud().rot_y
         z_rotation = self.pointcloud.rot_z
-        # print("PCD-ROTX/y/z: %s, %s, %s" % (x_rotation, y_rotation, z_rotation))
 
         cosz = round(np.cos(np.deg2rad(z_rotation)), 1)
         sinz = -round(np.sin(np.deg2rad(z_rotation)), 1)