From 40ba7faa7d82688085fef3b70e336c51c9c2e1b6 Mon Sep 17 00:00:00 2001 From: Easton Potokar Date: Wed, 5 Aug 2026 11:13:57 -0400 Subject: [PATCH 1/8] Bump Pipelines --- .github/release-please-config.json | 5 + AGENTS.md | 87 ++ cpp/bindings/CMakeLists.txt | 2 +- cpp/bindings/pipelines/genz_icp.h | 1 + cpp/bindings/pipelines/genz_icp.patch | 68 -- cpp/setup_pipelines.sh | 6 +- pyproject.toml | 4 +- uv.lock | 1297 ++++++++++++++----------- 8 files changed, 840 insertions(+), 630 deletions(-) create mode 100644 AGENTS.md diff --git a/.github/release-please-config.json b/.github/release-please-config.json index 3ffd63d5..85ea69f7 100644 --- a/.github/release-please-config.json +++ b/.github/release-please-config.json @@ -12,6 +12,11 @@ "type": "json", "path": "vcpkg.json", "jsonpath": "$.version" + }, + { + "path": "uv.lock", + "type": "toml", + "jsonpath": "$.package[?(@.name.value=='evalio')].version" } ] } diff --git a/AGENTS.md b/AGENTS.md new file mode 100644 index 00000000..95571e53 --- /dev/null +++ b/AGENTS.md @@ -0,0 +1,87 @@ +# AGENTS.md + +## Project Overview + +### Commands + +- **Sync deps:** `uv sync --dev --all-extras` +- **Rebuild C++ extension:** `just pybuild` (touches `pyproject.toml`, runs `uv sync`, copies the compiled `_cpp` from `site-packages` into `python/evalio/`) +- **Test:** `uv run pytest -v` +- **Typecheck:** `uv run basedpyright` +- **Lint:** `ruff check` + +### Architecture + +- Python package lives in `python/evalio/`; C++ nanobind extension source in `cpp/` (bindings in `cpp/bindings/`) +- `tests/` is the only pytest `testpaths` +- `python/typings/` holds vendored type stubs (`basedpyright` `stubPath`) +- The C++ portion builds lidar odometry pipelines as well, they are stored in `cpp/bindings/pipelines-src` and should not be edited directly without confirmation. + +### Local Dependencies + +No local sibling dependencies; all deps are installed from PyPI. + +### Quirks + +- After any C++ change (`cpp/**` or `CMakeLists.txt`), run `just pybuild` to rebuild and refresh the compiled `_cpp` in `python/evalio/` +- CI installs the package as a wheel (`UV_NO_EDITABLE=true`), not editable + +## Accuracy, recency, and sourcing (REQUIRED) + + +### Editing files + +- Make the smallest safe change that solves the issue. +- Preserve existing style and conventions. +- Prefer patch-style edits (small, reviewable diffs) over full-file rewrites. +- After making changes, run the project’s standard checks when feasible (format/lint, unit tests, build/typecheck). +- Never remove comments unless there are no longer valid +- NEVER utilize git stash or other git commands that would remove local changes +- Keep all code comments to two lines and under. Only comment for mathematical explanations or clarifying difficult code. + +## Baseline workflow + +- Start every task by determining: + 1. Goal + acceptance criteria. + 2. Constraints (time, safety, scope). + 3. What must be inspected (files, commands, tests, docs). + 4. Whether the request depends on **recency** (if yes, apply the "Accuracy, recency, and sourcing" rules). + 5. If requirements are ambiguous, ask targeted clarifying questions before making irreversible changes. + + +## Continuity Ledger (compaction-safe) + +Maintain a single continuity file for this workspace: `CONTINUITY.md`. +`CONTINUITY.md` is the canonical briefing designed to survive compaction; do not rely on earlier chat/tool output unless it's reflected there. + +### Operating rule +- At the start of each assistant turn: read `CONTINUITY.md` before acting. +- Update `CONTINUITY.md` only when there is a meaningful delta in: Goal/success criteria, Invariants/constraints, Decisions, State (Done/Now/Next), Open questions, Working set, or important tool outcomes. + +### Keep it bounded (anti-bloat) +- Keep `CONTINUITY.md` short and high-signal: + - `Snapshot`: ≤ 25 lines. + - `Done (recent)`: ≤ 7 bullets. + - `Working set`: ≤ 12 paths. + - `Receipts`: keep last 10–20 entries. +- If sections exceed caps, compress older items into milestone bullets with pointers (commit/PR/log path/doc path). Do not paste raw logs. + +### Anti-drift rules +- Facts only, no transcripts. +- Every entry must include: + - a date or ISO timestamp (e.g., `2026-01-13` or `2026-01-13T09:42Z`) + - a provenance tag: `[USER]`, `[CODE]`, `[TOOL]`, `[ASSUMPTION]` +- If unknown, write `UNCONFIRMED` (never guess). If something changes, supersede it explicitly (don't silently rewrite history). + +### Decisions and incidents +- Record durable choices in `Decisions` as ADR-lite entries (e.g., `D001 ACTIVE: …`). +- For recurring weirdness, create a small, stable incident capsule (Symptoms / Evidence pointers / Mitigation / Status). + +### Plan tool vs ledger +- Use `update_plan` for short-term execution scaffolding (3–7 steps). +- Use `CONTINUITY.md` for long-running continuity ("what/why/current state"), not micro task lists. +- Keep them consistent at the intent/progress level. + +### In replies +- Start with a brief "Ledger Snapshot" (Goal + Now + Next + Open Questions). +- Print the full ledger only when it materially changed or the user requests it. \ No newline at end of file diff --git a/cpp/bindings/CMakeLists.txt b/cpp/bindings/CMakeLists.txt index 492dca62..eb49ce1b 100644 --- a/cpp/bindings/CMakeLists.txt +++ b/cpp/bindings/CMakeLists.txt @@ -93,7 +93,7 @@ find_package( FetchContent_Declare( nanobind GIT_REPOSITORY https://github.com/wjakob/nanobind - GIT_TAG v2.12.0 + GIT_TAG v2.13.0 FIND_PACKAGE_ARGS CONFIG # uses find_package first, git if it fails ) diff --git a/cpp/bindings/pipelines/genz_icp.h b/cpp/bindings/pipelines/genz_icp.h index 5d4cd326..8dd0ae75 100644 --- a/cpp/bindings/pipelines/genz_icp.h +++ b/cpp/bindings/pipelines/genz_icp.h @@ -72,6 +72,7 @@ class GenZICP: public ev::Pipeline { // Doers void initialize() override { genz_icp_ = std::make_unique(config_); + genz_icp_->SetTerminalStatusEnabled(false); } void add_imu(ev::ImuMeasurement mm) override {} diff --git a/cpp/bindings/pipelines/genz_icp.patch b/cpp/bindings/pipelines/genz_icp.patch index 8b18a0ca..0c86e577 100644 --- a/cpp/bindings/pipelines/genz_icp.patch +++ b/cpp/bindings/pipelines/genz_icp.patch @@ -17,74 +17,6 @@ index c30ad1a..efe0989 100644 endfunction() find_external_dependecy("Eigen3" "Eigen3::Eigen" "${CMAKE_CURRENT_LIST_DIR}/eigen/eigen.cmake") -diff --git a/cpp/genz_icp/CMakeLists.txt b/cpp/genz_icp/CMakeLists.txt -index 32fbe45..d053a0e 100644 ---- a/cpp/genz_icp/CMakeLists.txt -+++ b/cpp/genz_icp/CMakeLists.txt -@@ -21,7 +21,7 @@ - # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - # SOFTWARE. - cmake_minimum_required(VERSION 3.16...3.26) --project(genz_icp_cpp VERSION 0.3.0 LANGUAGES CXX) -+project(genz_icp_cpp VERSION 0.2.0 LANGUAGES CXX) - - # Setup build options - option(USE_CCACHE "Build using Ccache if found on the path" ON) -diff --git a/cpp/genz_icp/core/Registration.cpp b/cpp/genz_icp/core/Registration.cpp -index f07ad94..d4bac0c 100644 ---- a/cpp/genz_icp/core/Registration.cpp -+++ b/cpp/genz_icp/core/Registration.cpp -@@ -30,7 +30,6 @@ - #include - #include - #include --#include - - namespace Eigen { - using Matrix6d = Eigen::Matrix; -@@ -142,34 +141,6 @@ std::tuple BuildLinearSystem( - - return std::make_tuple(JTJ, JTr); - } -- --void VisualizeStatus(size_t planar_count, size_t non_planar_count, double alpha) { -- const int bar_width = 52; -- const std::string planar_color = "\033[1;38;2;0;119;187m"; -- const std::string non_planar_color = "\033[1;38;2;238;51;119m"; -- const std::string alpha_color = "\033[1;32m"; -- -- printf("\033[2J\033[1;1H"); // Clear terminal -- std::cout << "====================== GenZ-ICP ======================\n"; -- std::cout << non_planar_color << "# of non-planar points: " << non_planar_count << ", "; -- std::cout << planar_color << "# of planar points: " << planar_count << "\033[0m\n"; -- -- std::cout << "Unstructured <----- "; -- std::cout << alpha_color << "alpha: " << std::fixed << std::setprecision(3) << alpha << "\033[0m"; -- std::cout << " -----> Structured\n"; -- -- const int alpha_location = static_cast(bar_width * alpha); -- std::cout << "["; -- for (int i = 0; i < bar_width; ++i) { -- if (i == alpha_location) { -- std::cout << "\033[1;32m█\033[0m"; -- } else { -- std::cout << "-"; -- } -- } -- std::cout << "]\n"; -- std::cout.flush(); --} - } // namespace - - namespace genz_icp { -@@ -208,7 +179,6 @@ std::tuple, std::vector=0.31"] [build-system] -requires = ["scikit-build-core>=0.12", "nanobind>=2.12", "numpy"] +requires = ["scikit-build-core>=0.12", "nanobind>=2.13", "numpy"] build-backend = "scikit_build_core.build" [project.scripts] @@ -91,7 +91,7 @@ dev = [ "mkdocstrings[python]>=0.29.1", "mkdocs-material>=9.6.11", "mkdocs-gen-files>=0.5.0", - "nanobind>=2.12", + "nanobind>=2.13", "mike>=2.1.3", "basedpyright>=1.31.4", "joblib-stubs>=1.5.2.0.20250831", diff --git a/uv.lock b/uv.lock index df2d229d..5861d955 100644 --- a/uv.lock +++ b/uv.lock @@ -2,26 +2,101 @@ version = 1 revision = 3 requires-python = ">=3.11" resolution-markers = [ - "python_full_version >= '3.14'", - "python_full_version < '3.14'", + "python_full_version >= '3.12'", + "python_full_version < '3.12'", ] [[package]] name = "annotated-doc" -version = "0.0.4" -source = { registry = "https://pypi.org/simple" } -sdist = { url = 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python/evalio/cli/run.py | 29 ++++++++--------- python/evalio/cli/stats.py | 34 ++++++++++---------- python/evalio/datasets/__init__.py | 19 +++++------ python/evalio/datasets/base.py | 17 ++-------- python/evalio/datasets/boreas.py | 10 +++--- python/evalio/datasets/boreas_rt.py | 12 ++++--- python/evalio/datasets/botanic_garden.py | 3 +- python/evalio/datasets/cumulti.py | 2 +- python/evalio/datasets/enwide.py | 24 +++++++------- python/evalio/datasets/fomo.py | 10 +++--- python/evalio/datasets/helipr.py | 3 +- python/evalio/datasets/hilti_2022.py | 24 +++++++------- python/evalio/datasets/loaders.py | 4 +-- python/evalio/datasets/multi_campus.py | 3 +- python/evalio/datasets/newer_college_2020.py | 3 +- python/evalio/datasets/newer_college_2021.py | 3 +- python/evalio/datasets/oxford_spires.py | 3 +- python/evalio/datasets/parser.py | 5 +-- python/evalio/pipelines/__init__.py | 30 ++++++++--------- python/evalio/pipelines/parser.py | 13 ++++---- python/evalio/rerun.py | 12 ++----- python/evalio/stats.py | 18 +++++------ python/evalio/types/__init__.py | 3 +- python/evalio/types/base.py | 22 ++++++------- python/evalio/types/extended.py | 7 ++-- python/evalio/utils.py | 1 + python/typings/asteval/__init__.pyi | 6 ++-- python/typings/distinctipy/__init__.pyi | 1 - python/typings/gdown/__init__.pyi | 2 -- tests/make_test_data.py | 2 +- tests/test_cli_data.py | 12 +++---- tests/test_csv_loading.py | 2 +- tests/test_io.py | 3 +- tests/test_parsing.py | 8 +++-- tests/test_trajectory.py | 5 ++- 41 files changed, 185 insertions(+), 197 deletions(-) diff --git a/docs/ref/cli.py b/docs/ref/cli.py index 354792c3..523fa3eb 100644 --- a/docs/ref/cli.py +++ b/docs/ref/cli.py @@ -3,6 +3,5 @@ import mkdocs_gen_files from typer.cli import app -with mkdocs_gen_files.open("ref/cli.md", "w") as f: - with redirect_stdout(f): - app(["evalio.cli", "utils", "docs", "--name", "evalio"]) +with mkdocs_gen_files.open("ref/cli.md", "w") as f, redirect_stdout(f): + app(["evalio.cli", "utils", "docs", "--name", "evalio"]) diff --git a/pyproject.toml b/pyproject.toml index b0ea1197..8d57fcfd 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -101,7 +101,7 @@ dev = [ [tool.ruff] exclude = ["cpp/**/*"] -lint.ignore = ["E731"] +lint.ignore = ["E731", "UP045"] [tool.ruff.format] # https://docs.astral.sh/ruff/configuration/ diff --git a/python/evalio/__init__.py b/python/evalio/__init__.py index 0b159b22..8e33cd28 100644 --- a/python/evalio/__init__.py +++ b/python/evalio/__init__.py @@ -1,8 +1,8 @@ import atexit -from typing import cast -import warnings -import os import importlib +import os +import warnings +from typing import cast from tqdm import TqdmExperimentalWarning @@ -57,12 +57,12 @@ def _register_custom_modules(module_name: str): __version__ = "0.5.0" # x-release-please-version __all__ = [ + "__version__", "_abi_tag", - "datasets", "_cpp", + "datasets", "pipelines", "stats", "types", "utils", - "__version__", ] diff --git a/python/evalio/cli/__init__.py b/python/evalio/cli/__init__.py index 59d33c36..c38caf65 100644 --- a/python/evalio/cli/__init__.py +++ b/python/evalio/cli/__init__.py @@ -92,7 +92,6 @@ def global_options( """ Global options for the evalio CLI. """ - pass __all__ = [ diff --git a/python/evalio/cli/completions.py b/python/evalio/cli/completions.py index 3499572b..2faf2405 100644 --- a/python/evalio/cli/completions.py +++ b/python/evalio/cli/completions.py @@ -3,7 +3,9 @@ import typer from rapidfuzz.process import extractOne from rich.console import Console -from evalio import datasets as ds, pipelines as pl + +from evalio import datasets as ds +from evalio import pipelines as pl err_console = Console(stderr=True) diff --git a/python/evalio/cli/ls.py b/python/evalio/cli/ls.py index 9c3e6cec..d09a34c9 100644 --- a/python/evalio/cli/ls.py +++ b/python/evalio/cli/ls.py @@ -1,5 +1,5 @@ from enum import StrEnum, auto -from typing import Annotated, Literal, Optional, TypeVar, TypedDict +from typing import Annotated, Literal, Optional, TypedDict, TypeVar import typer from rapidfuzz.process import extract_iter @@ -7,7 +7,8 @@ from rich.console import Console from rich.table import Table -from evalio import datasets as ds, pipelines as pl +from evalio import datasets as ds +from evalio import pipelines as pl app = typer.Typer() diff --git a/python/evalio/cli/run.py b/python/evalio/cli/run.py index 816cdea3..77256b2f 100644 --- a/python/evalio/cli/run.py +++ b/python/evalio/cli/run.py @@ -1,23 +1,23 @@ import multiprocessing from pathlib import Path -from evalio._cpp.types import VisOption # type: ignore -from evalio.cli.completions import DatasetOpt, PipelineOpt -from evalio.types.base import Trajectory -from evalio.utils import print_warning -from tqdm.rich import tqdm -import yaml +from time import time +from typing import Annotated, Optional -from evalio import datasets as ds, pipelines as pl, types as ty -from evalio.rerun import RerunVis +import typer +import yaml # from .stats import evaluate - from rich import print -from typing import Optional, Annotated -import typer - -from time import time +from tqdm.rich import tqdm +from evalio import datasets as ds +from evalio import pipelines as pl +from evalio import types as ty +from evalio._cpp.types import VisOption # type: ignore +from evalio.cli.completions import DatasetOpt, PipelineOpt +from evalio.rerun import RerunVis +from evalio.types.base import Trajectory +from evalio.utils import print_warning app = typer.Typer() @@ -368,8 +368,7 @@ def run_single( time_running += time() - start time_total += time_running - if time_running > time_max: - time_max = time_running + time_max = max(time_max, time_running) time_running = 0.0 vis.log_scan(data) diff --git a/python/evalio/cli/stats.py b/python/evalio/cli/stats.py index 42156625..6c99c655 100644 --- a/python/evalio/cli/stats.py +++ b/python/evalio/cli/stats.py @@ -1,21 +1,20 @@ +import itertools +from collections.abc import Callable from pathlib import Path -from typing import Annotated, Any, Callable, Optional, cast +from typing import Annotated, Any, Optional, cast -from evalio.types.base import Trajectory +import distinctipy import polars as pl -import itertools - -from evalio.utils import print_warning -from rich.table import Table -from rich.console import Console -from rich import box - -from evalio import types as ty, stats import typer - -import distinctipy - from joblib import Parallel, delayed +from rich import box +from rich.console import Console +from rich.table import Table + +from evalio import stats +from evalio import types as ty +from evalio.types.base import Trajectory +from evalio.utils import print_warning app = typer.Typer() @@ -56,7 +55,8 @@ def eval_dataset( colors = None if visualize: import rerun as rr - from evalio.rerun import convert, GT_COLOR + + from evalio.rerun import GT_COLOR, convert rr.init( str(dir), @@ -289,7 +289,7 @@ def evaluate_typer( # Parse the filtering options filter_method: Callable[[dict[str, Any]], bool] if filter_str is None: - filter_method = lambda r: True # noqa: E731 + filter_method = lambda r: True else: from asteval import Interpreter @@ -299,9 +299,9 @@ def evaluate_typer( original_filter = filter_method if only_complete: - filter_method = lambda r: original_filter(r) and r["status"] == "complete" # noqa: E731 + filter_method = lambda r: original_filter(r) and r["status"] == "complete" elif only_failed: - filter_method = lambda r: original_filter(r) and r["status"] == "fail" # noqa: E731 + filter_method = lambda r: original_filter(r) and r["status"] == "fail" windows: list[stats.WindowKind] = [] if w_seconds is not None: diff --git a/python/evalio/datasets/__init__.py b/python/evalio/datasets/__init__.py index 7292bd0f..7c218f9a 100644 --- a/python/evalio/datasets/__init__.py +++ b/python/evalio/datasets/__init__.py @@ -1,8 +1,5 @@ from .base import Dataset, DatasetIterator, get_data_dir, set_data_dir -from .loaders import RawDataIter, RosbagIter - from .boreas import Boreas - from .boreas_rt import BoreasRT from .botanic_garden import BotanicGarden from .cumulti import CUMulti @@ -10,23 +7,23 @@ from .fomo import FoMo from .helipr import HeLiPR from .hilti_2022 import Hilti2022 +from .loaders import RawDataIter, RosbagIter from .multi_campus import MultiCampus from .newer_college_2020 import NewerCollege2020 from .newer_college_2021 import NewerCollege2021 from .oxford_spires import OxfordSpires - from .parser import ( + DatasetConfig, + DatasetConfigError, + DatasetNotFound, + InvalidDatasetConfig, + SequenceNotFound, all_datasets, - get_dataset, all_sequences, + get_dataset, get_sequence, - register_dataset, parse_config, - DatasetNotFound, - SequenceNotFound, - InvalidDatasetConfig, - DatasetConfigError, - DatasetConfig, + register_dataset, ) __all__ = [ diff --git a/python/evalio/datasets/base.py b/python/evalio/datasets/base.py index 79ec1aaf..65fa28c6 100644 --- a/python/evalio/datasets/base.py +++ b/python/evalio/datasets/base.py @@ -1,8 +1,9 @@ import os +from collections.abc import Iterable, Iterator, Sequence from enum import StrEnum from itertools import islice from pathlib import Path -from typing import Iterable, Iterator, Optional, Sequence, Union, cast +from typing import Optional, Union, cast from evalio._cpp.types import ( # type: ignore SE3, @@ -11,10 +12,8 @@ LidarMeasurement, LidarParams, ) - from evalio.types import GroundTruth, Trajectory - -from evalio.utils import print_warning, pascal_to_snake +from evalio.utils import pascal_to_snake, print_warning Measurement = Union[ImuMeasurement, LidarMeasurement] @@ -37,7 +36,6 @@ def imu_iter(self) -> Iterator[ImuMeasurement]: Yields: Iterator of IMU measurements. """ - ... def lidar_iter(self) -> Iterator[LidarMeasurement]: """Main interface for iterating over Lidar measurements. @@ -45,7 +43,6 @@ def lidar_iter(self) -> Iterator[LidarMeasurement]: Yields: Iterator of Lidar measurements. """ - ... def __iter__(self) -> Iterator[Measurement]: """Main interface for iterating over all measurements. @@ -54,7 +51,6 @@ def __iter__(self) -> Iterator[Measurement]: Iterator of all measurements (IMU and Lidar). """ - ... # Return the number of lidar scans def __len__(self) -> int: @@ -63,7 +59,6 @@ def __len__(self) -> int: Returns: Number of lidar scans. """ - ... class Dataset(StrEnum): @@ -81,7 +76,6 @@ def data_iter(self) -> DatasetIterator: Returns: An iterator that yields measurements from the dataset. """ - ... # Return the ground truth in the ground truth frame def ground_truth_raw(self) -> Optional[Trajectory]: @@ -100,7 +94,6 @@ def imu_T_lidar(self) -> SE3: Returns: Transformation from IMU to Lidar frame. """ - ... def imu_T_gt(self) -> SE3: """Retrieves the transformation from IMU to ground truth frame. @@ -108,7 +101,6 @@ def imu_T_gt(self) -> SE3: Returns: Transformation from IMU to ground truth frame. """ - ... def imu_params(self) -> ImuParams: """Specifies the parameters of the IMU. @@ -116,7 +108,6 @@ def imu_params(self) -> ImuParams: Returns: Parameters of the IMU. """ - ... def lidar_params(self) -> LidarParams: """Specifies the parameters of the Lidar. @@ -124,7 +115,6 @@ def lidar_params(self) -> LidarParams: Returns: Parameters of the Lidar. """ - ... def files(self) -> Sequence[str | Path]: """Return list of files required to run this dataset. @@ -134,7 +124,6 @@ def files(self) -> Sequence[str | Path]: Returns: List of files required to run this dataset. """ - ... # ------------------------- Optional dataset info ------------------------- # @staticmethod diff --git a/python/evalio/datasets/boreas.py b/python/evalio/datasets/boreas.py index a7fc2d09..6dc19b86 100644 --- a/python/evalio/datasets/boreas.py +++ b/python/evalio/datasets/boreas.py @@ -1,6 +1,7 @@ +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence +from typing import Optional import numpy as np @@ -12,8 +13,8 @@ ImuMeasurement, ImuParams, LidarParams, - Trajectory, Stamp, + Trajectory, ) from .base import Dataset, DatasetIterator @@ -240,9 +241,10 @@ def is_downloaded(self) -> bool: return sum(1 for _ in (self.folder / "lidar").glob("*.bin")) >= num def download(self): - from subprocess import Popen, PIPE, run - from tqdm import tqdm import sys + from subprocess import PIPE, Popen, run + + from tqdm import tqdm # NOTE: This is experimental; not sure if should use aws cli or boto3 to download from S3 # boto3 is slower for all those tiny lidar files diff --git a/python/evalio/datasets/boreas_rt.py b/python/evalio/datasets/boreas_rt.py index 239d7cf1..bd7678f8 100644 --- a/python/evalio/datasets/boreas_rt.py +++ b/python/evalio/datasets/boreas_rt.py @@ -1,6 +1,7 @@ +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence +from typing import Optional import numpy as np @@ -12,12 +13,12 @@ ImuMeasurement, ImuParams, LidarParams, - Trajectory, Stamp, + Trajectory, ) -from .boreas import MAP_ROW_TO_IDX from .base import Dataset, DatasetIterator +from .boreas import MAP_ROW_TO_IDX class BoreasRT(Dataset): @@ -212,9 +213,10 @@ def is_downloaded(self) -> bool: return sum(1 for _ in (self.folder / "lidar").glob("*.bin")) >= num def download(self): - from subprocess import Popen, PIPE, run - from tqdm import tqdm import sys + from subprocess import PIPE, Popen, run + + from tqdm import tqdm # NOTE: This is experimental; not sure if should use aws cli or boto3 to download from S3 # boto3 is slower for all those tiny lidar files diff --git a/python/evalio/datasets/botanic_garden.py b/python/evalio/datasets/botanic_garden.py index 252de4b5..855ac4e9 100644 --- a/python/evalio/datasets/botanic_garden.py +++ b/python/evalio/datasets/botanic_garden.py @@ -1,6 +1,7 @@ +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence +from typing import Optional import numpy as np diff --git a/python/evalio/datasets/cumulti.py b/python/evalio/datasets/cumulti.py index 33b49cf3..4a83fb18 100644 --- a/python/evalio/datasets/cumulti.py +++ b/python/evalio/datasets/cumulti.py @@ -1,10 +1,10 @@ import os -from typing import Optional import urllib import urllib.request import zipfile from enum import auto from pathlib import Path +from typing import Optional import numpy as np from rosbags.typesys import Stores diff --git a/python/evalio/datasets/enwide.py b/python/evalio/datasets/enwide.py index 8830057c..98149b74 100644 --- a/python/evalio/datasets/enwide.py +++ b/python/evalio/datasets/enwide.py @@ -1,8 +1,9 @@ import urllib import urllib.request +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence, cast +from typing import Optional, cast import numpy as np from tqdm.rich import tqdm @@ -25,18 +26,17 @@ # https://github.com/pytorch/vision/blob/fc746372bedce81ecd53732ee101e536ae3afec1/torchvision/datasets/utils.py#L27 def _urlretrieve(url: str, filename: Path, chunk_size: int = 1024 * 32) -> None: - with urllib.request.urlopen( + with ( + urllib.request.urlopen( urllib.request.Request(url, headers={"User-Agent": "evalio"}) - ) as response: - with ( - open(filename, "wb") as fh, - tqdm( - total=response.length, unit="B", unit_scale=True, dynamic_ncols=True - ) as pbar, - ): - while chunk := response.read(chunk_size): - fh.write(chunk) - pbar.update(len(chunk)) + ) as response, open(filename, "wb") as fh, + tqdm( + total=response.length, unit="B", unit_scale=True, dynamic_ncols=True + ) as pbar, + ): + while chunk := response.read(chunk_size): + fh.write(chunk) + pbar.update(len(chunk)) class EnWide(Dataset): diff --git a/python/evalio/datasets/fomo.py b/python/evalio/datasets/fomo.py index e775e3d6..0b46af15 100644 --- a/python/evalio/datasets/fomo.py +++ b/python/evalio/datasets/fomo.py @@ -1,6 +1,7 @@ +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence +from typing import Optional import numpy as np @@ -12,8 +13,8 @@ ImuMeasurement, ImuParams, LidarParams, - Trajectory, Stamp, + Trajectory, ) from .base import Dataset, DatasetIterator @@ -207,9 +208,10 @@ def is_downloaded(self) -> bool: return sum(1 for _ in (self.folder / "robosense").glob("*.bin")) >= num def download(self): - from subprocess import Popen, PIPE, run - from tqdm import tqdm import sys + from subprocess import PIPE, Popen, run + + from tqdm import tqdm # NOTE: This is experimental; not sure if should use aws cli or boto3 to download from S3 # boto3 is slower for all those tiny lidar files diff --git a/python/evalio/datasets/helipr.py b/python/evalio/datasets/helipr.py index ef87c70f..1e50dbe0 100644 --- a/python/evalio/datasets/helipr.py +++ b/python/evalio/datasets/helipr.py @@ -1,8 +1,9 @@ import os import tarfile +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence +from typing import Optional import numpy as np diff --git a/python/evalio/datasets/hilti_2022.py b/python/evalio/datasets/hilti_2022.py index 3e0414c5..0f5d7a82 100644 --- a/python/evalio/datasets/hilti_2022.py +++ b/python/evalio/datasets/hilti_2022.py @@ -1,8 +1,9 @@ import urllib import urllib.request +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence, cast +from typing import Optional, cast import numpy as np from tqdm.rich import tqdm @@ -25,18 +26,17 @@ # https://github.com/pytorch/vision/blob/fc746372bedce81ecd53732ee101e536ae3afec1/torchvision/datasets/utils.py#L27 def _urlretrieve(url: str, filename: Path, chunk_size: int = 1024 * 32) -> None: - with urllib.request.urlopen( + with ( + urllib.request.urlopen( urllib.request.Request(url, headers={"User-Agent": "evalio"}) - ) as response: - with ( - open(filename, "wb") as fh, - tqdm( - total=response.length, unit="B", unit_scale=True, dynamic_ncols=True - ) as pbar, - ): - while chunk := response.read(chunk_size): - fh.write(chunk) - pbar.update(len(chunk)) + ) as response, open(filename, "wb") as fh, + tqdm( + total=response.length, unit="B", unit_scale=True, dynamic_ncols=True + ) as pbar, + ): + while chunk := response.read(chunk_size): + fh.write(chunk) + pbar.update(len(chunk)) class Hilti2022(Dataset): diff --git a/python/evalio/datasets/loaders.py b/python/evalio/datasets/loaders.py index 2a8eebb9..f88baecf 100644 --- a/python/evalio/datasets/loaders.py +++ b/python/evalio/datasets/loaders.py @@ -1,8 +1,8 @@ -from collections.abc import Iterator +from collections.abc import Callable, Iterator from dataclasses import dataclass from enum import StrEnum, auto from pathlib import Path -from typing import Any, Callable, Optional, TypeVar +from typing import Any, Optional, TypeVar import numpy as np from rich import box diff --git a/python/evalio/datasets/multi_campus.py b/python/evalio/datasets/multi_campus.py index 9b10af46..0a54cbfa 100644 --- a/python/evalio/datasets/multi_campus.py +++ b/python/evalio/datasets/multi_campus.py @@ -1,7 +1,8 @@ import os +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence +from typing import Optional import numpy as np diff --git a/python/evalio/datasets/newer_college_2020.py b/python/evalio/datasets/newer_college_2020.py index ad08f25e..356440dd 100644 --- a/python/evalio/datasets/newer_college_2020.py +++ b/python/evalio/datasets/newer_college_2020.py @@ -1,7 +1,8 @@ import os +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence +from typing import Optional import numpy as np diff --git a/python/evalio/datasets/newer_college_2021.py b/python/evalio/datasets/newer_college_2021.py index b2067ed7..4a795922 100644 --- a/python/evalio/datasets/newer_college_2021.py +++ b/python/evalio/datasets/newer_college_2021.py @@ -1,7 +1,8 @@ import os +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence +from typing import Optional import numpy as np diff --git a/python/evalio/datasets/oxford_spires.py b/python/evalio/datasets/oxford_spires.py index d72508b3..095e2d3a 100644 --- a/python/evalio/datasets/oxford_spires.py +++ b/python/evalio/datasets/oxford_spires.py @@ -1,7 +1,8 @@ import os +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Optional, Sequence +from typing import Optional import numpy as np diff --git a/python/evalio/datasets/parser.py b/python/evalio/datasets/parser.py index 1acbac3e..e4e7bf7f 100644 --- a/python/evalio/datasets/parser.py +++ b/python/evalio/datasets/parser.py @@ -1,8 +1,9 @@ import importlib -from inspect import isclass import itertools +from collections.abc import Sequence +from inspect import isclass from types import ModuleType -from typing import NotRequired, Optional, Sequence, TypedDict, cast +from typing import NotRequired, Optional, TypedDict, cast from evalio import datasets from evalio.datasets.base import Dataset diff --git a/python/evalio/pipelines/__init__.py b/python/evalio/pipelines/__init__.py index 27a36d66..91c1fe77 100644 --- a/python/evalio/pipelines/__init__.py +++ b/python/evalio/pipelines/__init__.py @@ -1,28 +1,28 @@ -from evalio._cpp.pipelines import * # type: ignore # noqa: F403 +from evalio._cpp.pipelines import * # type: ignore from .parser import ( - register_pipeline, - get_pipeline, + InvalidPipelineConfig, + InvalidPipelineParamType, + PipelineConfigError, + PipelineNotFound, + UnusedPipelineParam, all_pipelines, + get_pipeline, parse_config, + register_pipeline, validate_params, - PipelineNotFound, - UnusedPipelineParam, - InvalidPipelineParamType, - InvalidPipelineConfig, - PipelineConfigError, ) __all__ = [ - "Pipeline", # noqa: F405 + "InvalidPipelineConfig", + "InvalidPipelineParamType", + "Pipeline", + "PipelineConfigError", + "PipelineNotFound", + "UnusedPipelineParam", "all_pipelines", "get_pipeline", - "register_pipeline", "parse_config", + "register_pipeline", "validate_params", - "PipelineNotFound", - "InvalidPipelineConfig", - "UnusedPipelineParam", - "InvalidPipelineParamType", - "PipelineConfigError", ] diff --git a/python/evalio/pipelines/parser.py b/python/evalio/pipelines/parser.py index 3b6fbfbe..a6f738c5 100644 --- a/python/evalio/pipelines/parser.py +++ b/python/evalio/pipelines/parser.py @@ -1,20 +1,21 @@ from __future__ import annotations -from copy import deepcopy import importlib -from inspect import isclass import itertools +from collections.abc import Sequence +from copy import deepcopy +from inspect import isclass from types import ModuleType -from typing import Any, Optional, cast, Sequence -import numpy as np +from typing import Any, Optional, cast +import numpy as np from asteval import Interpreter + from evalio import pipelines from evalio.pipelines import Pipeline from evalio.types import Param from evalio.utils import CustomException - _PIPELINES: set[type[Pipeline]] = set() @@ -220,7 +221,7 @@ def parse_config( elif isinstance(p, dict): # figure out name of pipeline if "pipeline" not in p: - return InvalidPipelineConfig(f"Need pipeline: {str(p)}") + return InvalidPipelineConfig(f"Need pipeline: {p!s}") pipe_name = cast(str, p.pop("pipeline")) # figure out the name diff --git a/python/evalio/rerun.py b/python/evalio/rerun.py index fa79e2e7..780310e0 100644 --- a/python/evalio/rerun.py +++ b/python/evalio/rerun.py @@ -1,11 +1,13 @@ from typing import Any, Literal, Optional, TypedDict, cast, overload -from typing_extensions import TypeVar from uuid import UUID, uuid4 import distinctipy import numpy as np from numpy.typing import NDArray +from typing_extensions import TypeVar +from evalio._cpp.helpers import closest # type: ignore +from evalio._cpp.types import VisOption # type: ignore from evalio.datasets import Dataset from evalio.types import ( SE3, @@ -18,8 +20,6 @@ Trajectory, ) from evalio.utils import print_warning -from evalio._cpp.helpers import closest # type: ignore -from evalio._cpp.types import VisOption # type: ignore # These colors are pulled directly from the rerun skybox colors @@ -286,7 +286,6 @@ def convert( rr.Points3D: LidarMeasurement converted to rerun Points3D. """ - ... @overload def convert( @@ -307,7 +306,6 @@ def convert( Returns: rr.Points3D: Points converted to rerun Points3D. """ - ... @overload def convert( @@ -329,7 +327,6 @@ def convert( Returns: rr.Points3D: numpy array converted to rerun Points3D. """ - ... # trajectories @overload @@ -346,7 +343,6 @@ def convert( Returns: rr.Points3D: List of SE3 poses converted to rerun Points3D. """ - ... M = TypeVar("M", bound=Metadata | None) @@ -364,7 +360,6 @@ def convert( Returns: rr.Points3D: Trajectory converted to rerun Points3D. """ - ... # poses @overload @@ -377,7 +372,6 @@ def convert(obj: SE3) -> rr.Transform3D: Returns: rr.Transform3D: SE3 pose converted to rerun Transform3D. """ - ... def convert( obj: Any, diff --git a/python/evalio/stats.py b/python/evalio/stats.py index d681ffe7..08f47435 100644 --- a/python/evalio/stats.py +++ b/python/evalio/stats.py @@ -1,18 +1,16 @@ -from enum import StrEnum, auto -from typing_extensions import TypeVar - -from evalio.utils import print_warning -from evalio._cpp.helpers import closest # type: ignore -from . import types as ty - +from copy import deepcopy from dataclasses import dataclass +from enum import StrEnum, auto +from typing import cast import numpy as np - -from typing import cast from numpy.typing import NDArray +from typing_extensions import TypeVar -from copy import deepcopy +from evalio._cpp.helpers import closest # type: ignore +from evalio.utils import print_warning + +from . import types as ty class MetricKind(StrEnum): diff --git a/python/evalio/types/__init__.py b/python/evalio/types/__init__.py index 8612fc73..a0c5d917 100644 --- a/python/evalio/types/__init__.py +++ b/python/evalio/types/__init__.py @@ -10,10 +10,9 @@ Stamp, ) -from .base import Param, Trajectory, Metadata, GroundTruth, FailedMetadataParse +from .base import FailedMetadataParse, GroundTruth, Metadata, Param, Trajectory from .extended import Experiment, ExperimentStatus - __all__ = [ # cpp includes "ImuMeasurement", diff --git a/python/evalio/types/base.py b/python/evalio/types/base.py index 7038fb4d..27ae6515 100644 --- a/python/evalio/types/base.py +++ b/python/evalio/types/base.py @@ -6,27 +6,26 @@ from __future__ import annotations -from copy import deepcopy -from dataclasses import asdict, dataclass, field import csv from _csv import Writer +from collections.abc import Iterator +from copy import deepcopy +from dataclasses import asdict, dataclass, field from io import TextIOWrapper -from typing_extensions import TypeVar -from evalio.utils import print_warning -import yaml - from pathlib import Path -from typing import Any, ClassVar, Generic, Iterator, Optional, Self, cast, Literal +from typing import Any, ClassVar, Generic, Literal, Optional, Self, cast + import numpy as np +import yaml +from typing_extensions import TypeVar +from evalio._cpp.helpers import parse_csv_line # type: ignore from evalio._cpp.types import ( # type: ignore SE3, SO3, Stamp, ) -from evalio._cpp.helpers import parse_csv_line # type: ignore - -from evalio.utils import pascal_to_snake +from evalio.utils import pascal_to_snake, print_warning Param = bool | int | float | str """A parameter value for a pipeline, can be a bool, int, float, or str.""" @@ -70,8 +69,7 @@ def from_dict(cls, data: dict[str, Any]) -> Self: Returns: An instance of the metadata class. """ - if "type" in data: - del data["type"] + data.pop("type", None) return cls(**data) def to_dict(self) -> dict[str, Any]: diff --git a/python/evalio/types/extended.py b/python/evalio/types/extended.py index 68226af3..aa427126 100644 --- a/python/evalio/types/extended.py +++ b/python/evalio/types/extended.py @@ -4,12 +4,13 @@ from __future__ import annotations -from enum import Enum from dataclasses import dataclass +from enum import Enum from typing import Any, Optional, Self -from evalio.types.base import Param, Metadata -from evalio import pipelines as pl, datasets as ds +from evalio import datasets as ds +from evalio import pipelines as pl +from evalio.types.base import Metadata, Param from evalio.utils import print_warning diff --git a/python/evalio/utils.py b/python/evalio/utils.py index 9fd72c2c..f24a2ec2 100644 --- a/python/evalio/utils.py +++ b/python/evalio/utils.py @@ -1,4 +1,5 @@ from enum import Enum, auto + from rich.console import Console diff --git a/python/typings/asteval/__init__.pyi b/python/typings/asteval/__init__.pyi index 19b6e57a..3592c9e4 100644 --- a/python/typings/asteval/__init__.pyi +++ b/python/typings/asteval/__init__.pyi @@ -2,7 +2,8 @@ This type stub file was generated by pyright. """ -from typing import Any, Iterable, Optional +from collections.abc import Iterable +from typing import Any, Optional class Interpreter: """create an asteval Interpreter: a restricted, simplified interpreter @@ -56,7 +57,7 @@ class Interpreter: config: dict[str, Any] = ..., **kws: dict[Any, Any], ) -> None: - pass + ... def eval( self, @@ -66,7 +67,6 @@ class Interpreter: raise_errors: bool = ..., ) -> Any: """Evaluate a single statement.""" - ... __all__ = [ "Interpreter", diff --git a/python/typings/distinctipy/__init__.pyi b/python/typings/distinctipy/__init__.pyi index 11ae7279..a206baf3 100644 --- a/python/typings/distinctipy/__init__.pyi +++ b/python/typings/distinctipy/__init__.pyi @@ -65,7 +65,6 @@ def get_colors( :return: colors - A list of (r,g,b) colors that are visually distinct to each other and to the colours in exclude_colors. (r,g,b) values are floats between 0 and 1. """ - ... __all__ = [ "BLACK", diff --git a/python/typings/gdown/__init__.pyi b/python/typings/gdown/__init__.pyi index 8a9f1b6b..ba6d7320 100644 --- a/python/typings/gdown/__init__.pyi +++ b/python/typings/gdown/__init__.pyi @@ -63,7 +63,6 @@ def download( output: str Output filename. """ - ... def download_folder( url: str = ..., @@ -128,7 +127,6 @@ def download_folder( "1ZXEhzbLRLU1giKKRJkjm8N04cO_JoYE2", ) """ - ... __version__ = ... diff --git a/tests/make_test_data.py b/tests/make_test_data.py index af2cb320..32f5fc7c 100644 --- a/tests/make_test_data.py +++ b/tests/make_test_data.py @@ -1,4 +1,4 @@ -import pickle # noqa: F401 +import pickle from pathlib import Path import evalio.datasets as ds diff --git a/tests/test_cli_data.py b/tests/test_cli_data.py index 1f067a67..228e0b5c 100644 --- a/tests/test_cli_data.py +++ b/tests/test_cli_data.py @@ -1,10 +1,11 @@ +from collections.abc import Sequence from enum import auto from pathlib import Path -from typing import Sequence -from evalio.cli.dataset_manager import dl, rm -from evalio import datasets as ds, types as ty import pytest +from evalio import datasets as ds +from evalio import types as ty +from evalio.cli.dataset_manager import dl, rm class FakeData(ds.Dataset): @@ -12,10 +13,7 @@ class FakeData(ds.Dataset): downloaded = auto() def is_downloaded(self) -> bool: - if self == FakeData.not_downloaded: - return False - else: - return True + return self != FakeData.not_downloaded def files(self) -> Sequence[str | Path]: return [] diff --git a/tests/test_csv_loading.py b/tests/test_csv_loading.py index ee17722d..137da69a 100644 --- a/tests/test_csv_loading.py +++ b/tests/test_csv_loading.py @@ -2,9 +2,9 @@ from enum import Enum, auto from pathlib import Path +import evalio.datasets as ds import numpy as np import pytest -import evalio.datasets as ds from evalio.types import ( SE3, GroundTruth, diff --git a/tests/test_io.py b/tests/test_io.py index f1b1577c..1eda2a55 100644 --- a/tests/test_io.py +++ b/tests/test_io.py @@ -1,7 +1,8 @@ from pathlib import Path + +import numpy as np from evalio import types as ty from evalio._cpp.helpers import parse_csv_line # type: ignore -import numpy as np def make_exp() -> ty.Experiment: diff --git a/tests/test_parsing.py b/tests/test_parsing.py index 275d45fc..3b584871 100644 --- a/tests/test_parsing.py +++ b/tests/test_parsing.py @@ -1,9 +1,11 @@ +from collections.abc import Sequence +from typing import Any + import evalio.datasets as ds -from evalio.types import Param -from evalio.datasets.parser import DatasetConfig, DatasetConfigError import evalio.pipelines as pl -from typing import Any, Sequence import pytest +from evalio.datasets.parser import DatasetConfig, DatasetConfigError +from evalio.types import Param # ------------------------- Dataset Parsing ------------------------- # seq = ds.NewerCollege2021.quad_easy diff --git a/tests/test_trajectory.py b/tests/test_trajectory.py index 2552e5c3..fb97a791 100644 --- a/tests/test_trajectory.py +++ b/tests/test_trajectory.py @@ -1,8 +1,7 @@ -import pytest import numpy as np - -from evalio.types.base import Trajectory +import pytest from evalio._cpp.types import SE3, SO3, Stamp # type: ignore +from evalio.types.base import Trajectory @pytest.fixture From 2d904e74f0767f457bbee34c578d9abf24d81040 Mon Sep 17 00:00:00 2001 From: Easton Potokar Date: Wed, 5 Aug 2026 15:11:05 -0400 Subject: [PATCH 3/8] LLM guided ruff fixes --- compute_size.py | 14 ++++++---- pyproject.toml | 3 ++ python/evalio/cli/completions.py | 2 +- python/evalio/cli/dataset_manager.py | 4 +-- python/evalio/cli/run.py | 2 +- python/evalio/cli/stats.py | 4 +-- python/evalio/datasets/__init__.py | 42 ++++++++++++++-------------- python/evalio/datasets/base.py | 8 ++---- python/evalio/datasets/boreas.py | 3 +- python/evalio/datasets/boreas_rt.py | 3 +- python/evalio/datasets/cumulti.py | 40 +++++++++++++------------- python/evalio/datasets/fomo.py | 3 +- python/evalio/datasets/helipr.py | 2 +- python/evalio/datasets/parser.py | 3 -- python/evalio/pipelines/parser.py | 15 ++++------ python/evalio/rerun.py | 15 +++++----- python/evalio/stats.py | 7 ++--- python/evalio/types/__init__.py | 22 +++++++-------- python/evalio/types/base.py | 4 +-- tests/get_lens.py | 2 +- 20 files changed, 98 insertions(+), 100 deletions(-) diff --git a/compute_size.py b/compute_size.py index 06c61941..292ce1bb 100644 --- a/compute_size.py +++ b/compute_size.py @@ -1,6 +1,8 @@ from typing import Any -from evalio import datasets as ds, types as ty + import numpy as np +from evalio import datasets as ds +from evalio import types as ty # ------------------------- Compute Total Dataset Time Length ------------------------- # all_sequences = ds.all_sequences() @@ -8,11 +10,11 @@ s for s in all_sequences.values() if s.quick_len() is not None ] -temp: list[float] = list( +temp: list[float] = [ s.quick_len() / s.lidar_params().rate # type: ignore for s in all_sequences.values() if s.quick_len() is not None -) +] total_length = sum(temp) # type: ignore print(total_length / 60 / 60, "hours") @@ -27,12 +29,14 @@ def compute_length(traj: ty.Trajectory[Any]): return np.sum(dist) +# pyrefly: ignore [bad-argument-type] print(compute_length(ds.Hilti2022.basement_2.ground_truth())) -temp = list( +temp = [ + # pyrefly: ignore [bad-argument-type] compute_length(s.ground_truth()) for s in all_sequences.values() if s.is_downloaded() -) +] total_length = sum(temp) # type: ignore print(total_length / 1000, "km") diff --git a/pyproject.toml b/pyproject.toml index 8d57fcfd..c39a6afe 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -119,3 +119,6 @@ stubPath = "python/typings" reportPrivateUsage = "none" reportConstantRedefinition = "none" reportUnnecessaryIsInstance = "none" + +[tool.pyrefly] +include = ["python", "tests"] diff --git a/python/evalio/cli/completions.py b/python/evalio/cli/completions.py index 2faf2405..b2f59563 100644 --- a/python/evalio/cli/completions.py +++ b/python/evalio/cli/completions.py @@ -10,7 +10,7 @@ err_console = Console(stderr=True) all_sequences_names = list(ds.all_sequences().keys()) + [ - k + "/*" for k in ds.all_datasets().keys() + k + "/*" for k in ds.all_datasets() ] diff --git a/python/evalio/cli/dataset_manager.py b/python/evalio/cli/dataset_manager.py index 3e3643e3..572f2faa 100644 --- a/python/evalio/cli/dataset_manager.py +++ b/python/evalio/cli/dataset_manager.py @@ -73,7 +73,7 @@ def dl(datasets: DatasetArg) -> None: print(f"---------- Beginning {dataset} ----------") try: dataset.download() - except Exception as e: + except Exception as e: # noqa: BLE001 print(f"Error downloading {dataset}\n: {e}") print(f"---------- Finished {dataset} ----------") @@ -114,7 +114,7 @@ def rm( (dataset.folder / f).unlink() else: shutil.rmtree(dataset.folder / f, ignore_errors=True) - except Exception as e: + except Exception as e: # noqa: BLE001 print(f"Error removing {dataset}\n: {e}") print(f"---------- Finished {dataset} ----------") diff --git a/python/evalio/cli/run.py b/python/evalio/cli/run.py index 77256b2f..ffdb40bb 100644 --- a/python/evalio/cli/run.py +++ b/python/evalio/cli/run.py @@ -116,7 +116,7 @@ def run_from_cli( with open(config, "r") as f: try: Loader = yaml.CSafeLoader - except Exception as _: + except (ImportError, AttributeError): print_warning( "Failed to import yaml.CSafeLoader, trying yaml.SafeLoader" ) diff --git a/python/evalio/cli/stats.py b/python/evalio/cli/stats.py index 6c99c655..6000deb4 100644 --- a/python/evalio/cli/stats.py +++ b/python/evalio/cli/stats.py @@ -46,7 +46,7 @@ def eval_dataset( if visualize: try: import rerun as rr - except Exception: + except ImportError: print_warning("Rerun not found, visualization disabled") visualize = False @@ -328,7 +328,7 @@ def evaluate_typer( # ------------------------- Filter all results ------------------------- # try: results = [r for r in results if filter_method(r)] - except Exception as e: + except Exception as e: # noqa: BLE001 print_warning(f"Error filtering results: {e}") # convert to polars dataframe for easier processing diff --git a/python/evalio/datasets/__init__.py b/python/evalio/datasets/__init__.py index 7c218f9a..344b5c43 100644 --- a/python/evalio/datasets/__init__.py +++ b/python/evalio/datasets/__init__.py @@ -27,37 +27,37 @@ ) __all__ = [ - # base imports - "Dataset", - "DatasetIterator", - "get_data_dir", - "set_data_dir", - # loaders - "RawDataIter", - "RosbagIter", - # parser - "all_datasets", - "get_dataset", - "all_sequences", - "get_sequence", - "register_dataset", - "parse_config", - "DatasetNotFound", - "SequenceNotFound", - "InvalidDatasetConfig", - "DatasetConfigError", - "DatasetConfig", # datasets "Boreas", "BoreasRT", "BotanicGarden", "CUMulti", + # base imports + "Dataset", + "DatasetConfig", + "DatasetConfigError", + "DatasetIterator", + "DatasetNotFound", "EnWide", "FoMo", "HeLiPR", "Hilti2022", + "InvalidDatasetConfig", + "MultiCampus", "NewerCollege2020", "NewerCollege2021", - "MultiCampus", "OxfordSpires", + # loaders + "RawDataIter", + "RosbagIter", + "SequenceNotFound", + # parser + "all_datasets", + "all_sequences", + "get_data_dir", + "get_dataset", + "get_sequence", + "parse_config", + "register_dataset", + "set_data_dir", ] diff --git a/python/evalio/datasets/base.py b/python/evalio/datasets/base.py index 65fa28c6..3a79a5fa 100644 --- a/python/evalio/datasets/base.py +++ b/python/evalio/datasets/base.py @@ -3,7 +3,7 @@ from enum import StrEnum from itertools import islice from pathlib import Path -from typing import Optional, Union, cast +from typing import Optional, cast from evalio._cpp.types import ( # type: ignore SE3, @@ -15,7 +15,7 @@ from evalio.types import GroundTruth, Trajectory from evalio.utils import pascal_to_snake, print_warning -Measurement = Union[ImuMeasurement, LidarMeasurement] +Measurement = ImuMeasurement | LidarMeasurement _DATA_DIR = Path(os.environ.get("EVALIO_DATA", "evalio_data")) _WARNED = False @@ -230,7 +230,7 @@ def _fail_not_downloaded(self): @classmethod def _warn_default_dir(cls): - global _DATA_DIR, _WARNED + global _WARNED if not _WARNED and _DATA_DIR == Path("./evalio_data"): print_warning( "Using default './evalio_data' for base data directory. Override by setting [magenta]EVALIO_DATA[/magenta], [magenta]evalio.set_data_dir(path)[/magenta] in python, or [magenta]-D[/magenta] in the CLI." @@ -346,7 +346,6 @@ def folder(self) -> Path: Returns: Path to the dataset folder. """ - global _DATA_DIR return _DATA_DIR / self.full_name def size_on_disk(self) -> Optional[float]: @@ -380,5 +379,4 @@ def get_data_dir() -> Path: Returns: Directory where datasets are stored. """ - global _DATA_DIR return _DATA_DIR diff --git a/python/evalio/datasets/boreas.py b/python/evalio/datasets/boreas.py index 6dc19b86..371601b0 100644 --- a/python/evalio/datasets/boreas.py +++ b/python/evalio/datasets/boreas.py @@ -115,7 +115,7 @@ def data_iter(self) -> DatasetIterator: ] # Setup lidar files - lidar_files = sorted(list(lidar_path.glob("*.bin"))) + lidar_files = sorted(lidar_path.glob("*.bin")) params = self.lidar_params() def lidar_iter(): @@ -265,6 +265,7 @@ def download(self): ], capture_output=True, text=True, + check=False, ) if output.returncode != 0: error_msg = output.stderr.strip() if output.stderr else "unknown error" diff --git a/python/evalio/datasets/boreas_rt.py b/python/evalio/datasets/boreas_rt.py index bd7678f8..06726e8d 100644 --- a/python/evalio/datasets/boreas_rt.py +++ b/python/evalio/datasets/boreas_rt.py @@ -77,7 +77,7 @@ def data_iter(self) -> DatasetIterator: ] # Setup lidar files - lidar_files = sorted(list(lidar_path.glob("*.bin"))) + lidar_files = sorted(lidar_path.glob("*.bin")) params = self.lidar_params() def lidar_iter(): @@ -237,6 +237,7 @@ def download(self): ], capture_output=True, text=True, + check=False, ) if output.returncode != 0: error_msg = output.stderr.strip() if output.stderr else "unknown error" diff --git a/python/evalio/datasets/cumulti.py b/python/evalio/datasets/cumulti.py index 4a83fb18..69f09ebb 100644 --- a/python/evalio/datasets/cumulti.py +++ b/python/evalio/datasets/cumulti.py @@ -28,21 +28,17 @@ def _urlretrieve(url: str, filename: Path, chunk_size: int = 1024 * 32) -> None: """ Retrieves a file from url using urllib """ - with urllib.request.urlopen( - urllib.request.Request(url, headers={"User-Agent": "evalio"}) - ) as response: - with ( - open(filename, "wb") as fh, - tqdm( - total=100e9, # GLOBUS does not include size in request response, guess=100GB - unit="B", - unit_scale=True, - dynamic_ncols=True, - ) as pbar, - ): - while chunk := response.read(chunk_size): - fh.write(chunk) - pbar.update(len(chunk)) + with ( + urllib.request.urlopen( + urllib.request.Request(url, headers={"User-Agent": "evalio"}) + ) as response, + open(filename, "wb") as fh, + # GLOBUS does not include size in request response, guess=100GB + tqdm(total=100e9, unit="B", unit_scale=True, dynamic_ncols=True) as pbar, + ): + while chunk := response.read(chunk_size): + fh.write(chunk) + pbar.update(len(chunk)) def _extract_noreplace(zip_file: Path, dest_dir: Path): @@ -51,12 +47,14 @@ def _extract_noreplace(zip_file: Path, dest_dir: Path): (Allows to resume zip extractions) """ print(f"Extracting: {zip_file.name}") - with zipfile.ZipFile(str(zip_file)) as archive: - with tqdm(total=len(archive.namelist()), dynamic_ncols=True) as pbar: - for filename in archive.namelist(): - if not (dest_dir / filename).is_file(): - archive.extract(filename, path=dest_dir) - pbar.update() + with ( + zipfile.ZipFile(str(zip_file)) as archive, + tqdm(total=len(archive.namelist()), dynamic_ncols=True) as pbar, + ): + for filename in archive.namelist(): + if not (dest_dir / filename).is_file(): + archive.extract(filename, path=dest_dir) + pbar.update() class CUMulti(Dataset): diff --git a/python/evalio/datasets/fomo.py b/python/evalio/datasets/fomo.py index 0b46af15..4aec1150 100644 --- a/python/evalio/datasets/fomo.py +++ b/python/evalio/datasets/fomo.py @@ -77,7 +77,7 @@ def data_iter(self) -> DatasetIterator: # Setup lidar files lidar_path = self.folder / "robosense" - lidar_files = sorted(list(lidar_path.glob("*.bin"))) + lidar_files = sorted(lidar_path.glob("*.bin")) params = self.lidar_params() def lidar_iter(): @@ -258,6 +258,7 @@ def download(self): ], capture_output=True, text=True, + check=False, ) if output.returncode != 0: error_msg = output.stderr.strip() if output.stderr else "unknown error" diff --git a/python/evalio/datasets/helipr.py b/python/evalio/datasets/helipr.py index 1e50dbe0..a59ab6da 100644 --- a/python/evalio/datasets/helipr.py +++ b/python/evalio/datasets/helipr.py @@ -62,7 +62,7 @@ def data_iter(self) -> DatasetIterator: # setup all the lidar data lidar_path = self.folder / "Ouster" - lidar_files = sorted(list(lidar_path.glob("*"))) + lidar_files = sorted(lidar_path.glob("*")) lidar_stamps = [Stamp.from_nsec(int(x.stem)) for x in lidar_files] lidar_params = self.lidar_params() diff --git a/python/evalio/datasets/parser.py b/python/evalio/datasets/parser.py index e4e7bf7f..32dbda2e 100644 --- a/python/evalio/datasets/parser.py +++ b/python/evalio/datasets/parser.py @@ -61,8 +61,6 @@ def register_dataset( Returns: The number of datasets registered or an ImportError. """ - global _DATASETS - total = 0 if module is not None: if isinstance(module, str): @@ -88,7 +86,6 @@ def all_datasets() -> dict[str, type[Dataset]]: Returns: A dictionary mapping dataset names to their classes. """ - global _DATASETS return {d.dataset_name(): d for d in _DATASETS} diff --git a/python/evalio/pipelines/parser.py b/python/evalio/pipelines/parser.py index a6f738c5..dd28fc63 100644 --- a/python/evalio/pipelines/parser.py +++ b/python/evalio/pipelines/parser.py @@ -83,8 +83,6 @@ def register_pipeline( pipeline (Optional[type[Pipeline]], optional): A specific pipeline class to add. Defaults to None. module (Optional[ModuleType | str], optional): The module to search for pipelines. Defaults to None. """ - global _PIPELINES - total = 0 if module is not None: if isinstance(module, str): @@ -110,7 +108,6 @@ def all_pipelines() -> dict[str, type[Pipeline]]: Returns: A dictionary mapping pipeline names to their classes. """ - global _PIPELINES return {p.name(): p for p in _PIPELINES} @@ -165,12 +162,12 @@ def validate_params( An error if validation fails, otherwise None. """ default_params = pipe.default_params() - for p in params: + for p, val in params.items(): if p not in default_params: return UnusedPipelineParam(p, pipe.name()) expected_type = type(default_params[p]) - actual_type = type(params[p]) + actual_type = type(val) if actual_type != expected_type: return InvalidPipelineParamType(p, expected_type, actual_type) @@ -204,7 +201,7 @@ def eval_str_sweep(val: str) -> list[Any]: return interp # type: ignore # raise error for anything else else: - raise ValueError(f"Sweep '{val}' does not evaluate to a list") + raise TypeError(f"Sweep '{val}' does not evaluate to a list") return [] @@ -241,18 +238,18 @@ def parse_config( sweep = cast(dict[str, list[Param]], params.pop("sweep")) # Parse any sweeps that are not lists but are evaluable python expressions - for k in sweep.keys(): + for k in sweep: val = sweep[k] if not isinstance(val, list): try: sweep[k] = eval_str_sweep(val) # If the sweep failed - except ValueError as _: + except TypeError as _: return InvalidPipelineConfig( f"Sweep value for '{k}' not a list: '{val}'" ) # If the eval failed - except Exception as _: + except Exception as _: # noqa: BLE001 return InvalidPipelineConfig( f"Sweep value for '{k}' is not evaluable by python: '{val}'" ) diff --git a/python/evalio/rerun.py b/python/evalio/rerun.py index 780310e0..4360d4a5 100644 --- a/python/evalio/rerun.py +++ b/python/evalio/rerun.py @@ -256,13 +256,12 @@ def log_features(self, stamp: Stamp, features: dict[str, NDArray[np.float64]]): self.rec.set_time("evalio_time", timestamp=stamp.to_sec()) # Features from the scan - if VisOption.FEATURES in self.args: - if len(features) > 0: - for (k, p), c in zip(features.items(), self.colors): - self.rec.log( - f"{self.pn}/imu/lidar/{k}", - convert(p, color=c, radii=0.12), - ) + if VisOption.FEATURES in self.args and len(features) > 0: + for (k, p), c in zip(features.items(), self.colors): + self.rec.log( + f"{self.pn}/imu/lidar/{k}", + convert(p, color=c, radii=0.12), + ) # ------------------------- For converting to rerun types ------------------------- # # point clouds @@ -466,7 +465,7 @@ def convert( else: raise ValueError(f"Cannot convert {type(obj)} to rerun type") # type: ignore -except Exception: +except ImportError: class RerunVis: def __init__( diff --git a/python/evalio/stats.py b/python/evalio/stats.py index 08f47435..749912c2 100644 --- a/python/evalio/stats.py +++ b/python/evalio/stats.py @@ -24,7 +24,7 @@ class MetricKind(StrEnum): """Sqrt of Sum of squared errors""" -@dataclass +@dataclass(frozen=True) class WindowMeters: """Dataclass to hold the parameters for a distance-based window.""" @@ -36,7 +36,7 @@ def name(self) -> str: return f"{self.value:.1f}m" -@dataclass +@dataclass(frozen=True) class WindowSeconds: """Dataclass to hold the parameters for a time-based window.""" @@ -300,7 +300,7 @@ def ate(traj: ty.Trajectory[M1], gt: ty.Trajectory[M2]) -> Error: def rte( traj: ty.Trajectory[M1], gt: ty.Trajectory[M2], - window: WindowKind = WindowMeters(30), + window: WindowKind = WindowMeters(30), # noqa: B008 ) -> Error: """Compute the Relative Trajectory Error (RTE) between two trajectories. @@ -343,7 +343,6 @@ def rte( window_deltas_poses.append(traj.poses[i].inverse() * traj.poses[end_idx]) window_deltas_gts.append(gt.poses[i].inverse() * gt.poses[end_idx]) - elif isinstance(window, WindowMeters): # Compute deltas for all of ground truth poses dist = np.zeros(len_gt) diff --git a/python/evalio/types/__init__.py b/python/evalio/types/__init__.py index a0c5d917..879ecafb 100644 --- a/python/evalio/types/__init__.py +++ b/python/evalio/types/__init__.py @@ -14,23 +14,23 @@ from .extended import Experiment, ExperimentStatus __all__ = [ + "SE3", + "SO3", + "Duration", + # extended includes + "Experiment", + "ExperimentStatus", + "FailedMetadataParse", + # base includes + "GroundTruth", # cpp includes "ImuMeasurement", "ImuParams", "LidarMeasurement", "LidarParams", - "Duration", - "Point", - "SO3", - "SE3", - "Stamp", - # base includes - "GroundTruth", - "FailedMetadataParse", "Metadata", "Param", + "Point", + "Stamp", "Trajectory", - # extended includes - "Experiment", - "ExperimentStatus", ] diff --git a/python/evalio/types/base.py b/python/evalio/types/base.py index 27ae6515..2ecf8916 100644 --- a/python/evalio/types/base.py +++ b/python/evalio/types/base.py @@ -106,7 +106,7 @@ def from_yaml(cls, yaml_str: str) -> Metadata | FailedMetadataParse: """ try: Loader = yaml.CSafeLoader - except Exception as _: + except (ImportError, AttributeError): print_warning("Failed to import yaml.CSafeLoader, trying yaml.SafeLoader") Loader = yaml.SafeLoader @@ -121,7 +121,7 @@ def from_yaml(cls, yaml_str: str) -> Metadata | FailedMetadataParse: if data["type"] == name: try: return subclass.from_dict(data) - except Exception as e: + except Exception as e: # noqa: BLE001 return FailedMetadataParse(f"Failed to parse {name}: {e}") return FailedMetadataParse(f"Unknown metadata type '{data['type']}'") diff --git a/tests/get_lens.py b/tests/get_lens.py index 7fb04bd7..50de9b6b 100644 --- a/tests/get_lens.py +++ b/tests/get_lens.py @@ -14,7 +14,7 @@ try: lengths[seq.name] = len(seq.data_iter()) - except Exception: + except Exception: # noqa: BLE001 print_warning(f"Failed to get length of {seq.name}") continue From 12e7aad3afc555171dd9587767c0eddc06199785 Mon Sep 17 00:00:00 2001 From: Easton Potokar Date: Wed, 5 Aug 2026 15:32:57 -0400 Subject: [PATCH 4/8] Bump all python deps, switch from basedpyright to pyrefly --- .github/workflows/reusable_build.yml | 4 +-- .github/workflows/reusable_checks.yml | 19 ++++++----- .github/workflows/reusable_docs.yml | 4 +-- pyproject.toml | 20 +++++------ python/evalio/cli/run.py | 3 +- python/evalio/rerun.py | 2 +- tests/__init__.py | 0 tests/test_csv_loading.py | 2 +- tests/test_iteration.py | 2 +- tests/test_parsing.py | 5 +-- tests/test_rosbag_conversion.py | 2 +- tests/test_stats.py | 2 +- uv.lock | 48 ++++++++++++++++----------- 13 files changed, 63 insertions(+), 50 deletions(-) create mode 100644 tests/__init__.py diff --git a/.github/workflows/reusable_build.yml b/.github/workflows/reusable_build.yml index f1db037f..3e7fdf47 100644 --- a/.github/workflows/reusable_build.yml +++ b/.github/workflows/reusable_build.yml @@ -25,7 +25,7 @@ jobs: AWS_REQUEST_CHECKSUM_CALCULATION: when_required AWS_RESPONSE_CHECKSUM_VALIDATION: when_required steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 name: Checkout # Do all the building @@ -50,7 +50,7 @@ jobs: CIBW_ENVIRONMENT_PASS_LINUX: VCPKG_BINARY_SOURCES AWS_ACCESS_KEY_ID AWS_SECRET_ACCESS_KEY AWS_ENDPOINT_URL AWS_REQUEST_CHECKSUM_CALCULATION AWS_RESPONSE_CHECKSUM_VALIDATION # save artifacts for testing - - uses: actions/upload-artifact@v4 + - uses: actions/upload-artifact@v7 with: name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }} path: ./wheelhouse/*.whl diff --git a/.github/workflows/reusable_checks.yml b/.github/workflows/reusable_checks.yml index d35ace75..3c334e7b 100644 --- a/.github/workflows/reusable_checks.yml +++ b/.github/workflows/reusable_checks.yml @@ -8,33 +8,34 @@ jobs: ruff: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 name: Checkout - - uses: astral-sh/ruff-action@v3 + - uses: astral-sh/ruff-action@v4 name: Ruff # check python typing types: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 name: Checkout - name: Install uv - uses: astral-sh/setup-uv@v5 + uses: astral-sh/setup-uv@v9 with: enable-cache: true - name: Install the project run: uv sync --dev --verbose --all-extras - name: Copy stubs into place run: cp -r .venv/lib/python$(cat .python-version)/site-packages/evalio/_cpp python/evalio - - name: Run basedpyright - run: uv run basedpyright + - name: Run pyrefly + uses: facebook/pyrefly@main + # check cpp formatting clang-format: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 name: Checkout - uses: jidicula/clang-format-action@v4.14.0 name: Clang-Format @@ -58,10 +59,10 @@ jobs: - "3.13" - "3.14" steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 name: Checkout - name: Install uv - uses: astral-sh/setup-uv@v5 + uses: astral-sh/setup-uv@v9 with: python-version: ${{ matrix.python-version }} enable-cache: true diff --git a/.github/workflows/reusable_docs.yml b/.github/workflows/reusable_docs.yml index 1ec087dd..c36437c0 100644 --- a/.github/workflows/reusable_docs.yml +++ b/.github/workflows/reusable_docs.yml @@ -31,7 +31,7 @@ jobs: AWS_REQUEST_CHECKSUM_CALCULATION: when_required AWS_RESPONSE_CHECKSUM_VALIDATION: when_required steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 name: Checkout with: fetch-depth: 0 @@ -42,7 +42,7 @@ jobs: # Setup Python dependencies - name: Install uv - uses: astral-sh/setup-uv@v5 + uses: astral-sh/setup-uv@v9 - name: Install the project run: uv sync --dev --verbose diff --git a/pyproject.toml b/pyproject.toml index c39a6afe..fd7ec50f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -7,18 +7,18 @@ description = "Evaluate Lidar-Inertial Odometry on public datasets" readme = "README.md" requires-python = ">=3.11" dependencies = [ - "asteval>=1.0.6", - "awscli>=1.44.58", + "asteval>=1.0.8", + "awscli>=1.46.0", "distinctipy>=1.3.4", - "gdown>=5.2.0", + "gdown>=6.1.0", "joblib>=1.5.2", "numpy", - "polars>=1.33.1", + "polars>=1.43.2", "pyyaml>=6.0", "rapidfuzz>=3.12.2", - "rosbags>=0.11.0", - "tqdm>=4.66", - "typer>=0.15.3", + "rosbags>=0.11.3", + "tqdm>=4.67", + "typer>=0.24.0", ] keywords = [ "lidar", @@ -31,10 +31,10 @@ keywords = [ license = { file = "LICENSE.txt" } [project.optional-dependencies] -vis = ["rerun-sdk>=0.31"] +vis = ["rerun-sdk>=0.35"] [build-system] -requires = ["scikit-build-core>=0.12", "nanobind>=2.13", "numpy"] +requires = ["scikit-build-core>=1.0", "nanobind==2.13.0", "numpy"] build-backend = "scikit_build_core.build" [project.scripts] @@ -91,12 +91,12 @@ dev = [ "mkdocstrings[python]>=0.29.1", "mkdocs-material>=9.6.11", "mkdocs-gen-files>=0.5.0", - "nanobind>=2.13", "mike>=2.1.3", "basedpyright>=1.31.4", "joblib-stubs>=1.5.2.0.20250831", "scipy>=1.16.2", "scipy-stubs>=1.16.2.4", + "pyrefly>=1.2.0", ] [tool.ruff] diff --git a/python/evalio/cli/run.py b/python/evalio/cli/run.py index ffdb40bb..d2d1abc2 100644 --- a/python/evalio/cli/run.py +++ b/python/evalio/cli/run.py @@ -346,7 +346,8 @@ def run_single( print_warning(f"Error setting up experiment {exp.name}: {output}") return pipe, dataset = output - pipe.set_visualizing(vis.args) + if vis.args is not None: + pipe.set_visualizing(vis.args) exp.status = ty.ExperimentStatus.Started traj = ty.Trajectory(metadata=exp) traj.open() diff --git a/python/evalio/rerun.py b/python/evalio/rerun.py index 4360d4a5..e0a21874 100644 --- a/python/evalio/rerun.py +++ b/python/evalio/rerun.py @@ -285,7 +285,6 @@ def convert( rr.Points3D: LidarMeasurement converted to rerun Points3D. """ - @overload def convert( obj: list[Point], @@ -471,6 +470,7 @@ class RerunVis: def __init__( self, args: Optional[set[VisOption]], pipeline_names: list[str] ) -> None: + self.args = args if args is not None: print_warning("Rerun not found, visualization disabled") diff --git a/tests/__init__.py b/tests/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/tests/test_csv_loading.py b/tests/test_csv_loading.py index 137da69a..2280512b 100644 --- a/tests/test_csv_loading.py +++ b/tests/test_csv_loading.py @@ -13,7 +13,7 @@ Stamp, Trajectory, ) -from utils import check_lidar_eq, isclose_se3, rand_se3 +from tests.utils import check_lidar_eq, isclose_se3, rand_se3 # ------------------------- Loading imu & lidar ------------------------- # data_dir = Path("tests/data") diff --git a/tests/test_iteration.py b/tests/test_iteration.py index fc3521e5..6dc7ed5c 100644 --- a/tests/test_iteration.py +++ b/tests/test_iteration.py @@ -3,7 +3,7 @@ import numpy as np from evalio.datasets.loaders import RawDataIter, RosbagIter from evalio.types import ImuMeasurement, LidarMeasurement, LidarParams, Point, Stamp -from utils import rosbag_saver +from tests.utils import rosbag_saver def make_imus(num: int = 200) -> list[ImuMeasurement]: diff --git a/tests/test_parsing.py b/tests/test_parsing.py index 3b584871..00c11f80 100644 --- a/tests/test_parsing.py +++ b/tests/test_parsing.py @@ -12,7 +12,8 @@ name = seq.full_name # fmt: off -DATASETS: list[tuple[str | DatasetConfig | Sequence[str | DatasetConfig], DatasetConfigError | list[tuple[ds.Dataset, int]]]] = [ +# pyrefly: ignore [bad-assignment] +DATASETS: list[tuple[str | DatasetConfig | Sequence[str | DatasetConfig], DatasetConfigError | list[tuple[ds.Dataset, int | None]]]] = [ # good ones (name, [(seq, None)]), ({"name": name}, [(seq, None)]), @@ -23,7 +24,7 @@ ("newer_college_123/*", ds.DatasetNotFound(name="newer_college_123")), ("newer_college_123/*", ds.DatasetNotFound(name="newer_college_123")), ({"name": "newer_college_2020/bad"}, ds.SequenceNotFound("newer_college_2020/bad")), - ({"length": 100}, ds.InvalidDatasetConfig("Missing 'name' in dataset config")), # type: ignore + ({"length": 100}, ds.InvalidDatasetConfig("Missing 'name' in dataset config")), ] # fmt: on diff --git a/tests/test_rosbag_conversion.py b/tests/test_rosbag_conversion.py index 6ba9ee11..4e7c61e2 100644 --- a/tests/test_rosbag_conversion.py +++ b/tests/test_rosbag_conversion.py @@ -18,7 +18,7 @@ Point, Stamp, ) -from utils import check_lidar_eq, rosbag_saver +from tests.utils import check_lidar_eq, rosbag_saver # Create a row major point cloud WIDTH = 256 diff --git a/tests/test_stats.py b/tests/test_stats.py index 346b5b4f..e031aed7 100644 --- a/tests/test_stats.py +++ b/tests/test_stats.py @@ -3,7 +3,7 @@ import numpy as np from evalio import stats from evalio.types import SE3, Stamp, Trajectory -from utils import isclose_se3, rand_se3 +from tests.utils import isclose_se3, rand_se3 ID = SE3.identity() 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Checkout - - uses: astral-sh/ruff-action@v4 + - uses: astral-sh/ruff-action@v4.1.0 name: Ruff # check python typing @@ -20,7 +20,7 @@ jobs: - uses: actions/checkout@v7 name: Checkout - name: Install uv - uses: astral-sh/setup-uv@v9 + uses: astral-sh/setup-uv with: enable-cache: true - name: Install the project @@ -62,7 +62,7 @@ jobs: - uses: actions/checkout@v7 name: Checkout - name: Install uv - uses: astral-sh/setup-uv@v9 + uses: astral-sh/setup-uv with: python-version: ${{ matrix.python-version }} enable-cache: true diff --git a/.github/workflows/reusable_docs.yml b/.github/workflows/reusable_docs.yml index c36437c0..c87cf1ea 100644 --- a/.github/workflows/reusable_docs.yml +++ b/.github/workflows/reusable_docs.yml @@ -42,7 +42,7 @@ jobs: # Setup Python dependencies - name: Install uv - uses: astral-sh/setup-uv@v9 + uses: astral-sh/setup-uv - name: Install the project run: uv sync --dev --verbose From 2d016663d50b1a4413cad5c3f58ac283da5a08fd Mon Sep 17 00:00:00 2001 From: Easton Potokar Date: Wed, 5 Aug 2026 15:46:05 -0400 Subject: [PATCH 6/8] Trying again --- .github/workflows/reusable_checks.yml | 4 ++-- .github/workflows/reusable_docs.yml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/reusable_checks.yml b/.github/workflows/reusable_checks.yml index 5437d2d1..aa9fa9af 100644 --- a/.github/workflows/reusable_checks.yml +++ b/.github/workflows/reusable_checks.yml @@ -20,7 +20,7 @@ jobs: - uses: actions/checkout@v7 name: Checkout - name: Install uv - uses: astral-sh/setup-uv + uses: astral-sh/setup-uv:v9.0.0 with: enable-cache: true - name: Install the project @@ -62,7 +62,7 @@ jobs: - uses: actions/checkout@v7 name: Checkout - name: Install uv - uses: astral-sh/setup-uv + uses: astral-sh/setup-uv:v9.0.0 with: python-version: ${{ matrix.python-version }} enable-cache: true diff --git a/.github/workflows/reusable_docs.yml b/.github/workflows/reusable_docs.yml index c87cf1ea..cfc716ca 100644 --- a/.github/workflows/reusable_docs.yml +++ b/.github/workflows/reusable_docs.yml @@ -42,7 +42,7 @@ jobs: # Setup Python dependencies - name: Install uv - uses: astral-sh/setup-uv + uses: astral-sh/setup-uv:v9.0.0 - name: Install the project run: uv sync --dev --verbose From 59a50e3214f96cf234e27d839aeff2a6d9384012 Mon Sep 17 00:00:00 2001 From: Easton Potokar Date: Wed, 5 Aug 2026 15:46:36 -0400 Subject: [PATCH 7/8] once more --- .github/workflows/reusable_checks.yml | 4 ++-- .github/workflows/reusable_docs.yml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/reusable_checks.yml b/.github/workflows/reusable_checks.yml index aa9fa9af..c5b3d8d0 100644 --- a/.github/workflows/reusable_checks.yml +++ b/.github/workflows/reusable_checks.yml @@ -20,7 +20,7 @@ jobs: - uses: actions/checkout@v7 name: Checkout - name: Install uv - uses: astral-sh/setup-uv:v9.0.0 + uses: astral-sh/setup-uv@v9.0.0 with: enable-cache: true - name: Install the project @@ -62,7 +62,7 @@ jobs: - uses: actions/checkout@v7 name: Checkout - name: Install uv - uses: astral-sh/setup-uv:v9.0.0 + uses: astral-sh/setup-uv@v9.0.0 with: python-version: ${{ matrix.python-version }} enable-cache: true diff --git a/.github/workflows/reusable_docs.yml b/.github/workflows/reusable_docs.yml index cfc716ca..a1907aa3 100644 --- a/.github/workflows/reusable_docs.yml +++ b/.github/workflows/reusable_docs.yml @@ -42,7 +42,7 @@ jobs: # Setup Python dependencies - name: Install uv - uses: astral-sh/setup-uv:v9.0.0 + uses: astral-sh/setup-uv@v9.0.0 - name: Install the project run: uv sync --dev --verbose From dc3847c5d78b1394478a563590017f9033f38caa Mon Sep 17 00:00:00 2001 From: Easton Potokar Date: Wed, 5 Aug 2026 15:48:54 -0400 Subject: [PATCH 8/8] More ruff fixes --- pyproject.toml | 2 +- tests/test_csv_loading.py | 1 + tests/test_iteration.py | 1 + tests/test_rosbag_conversion.py | 1 + tests/test_stats.py | 1 + uv.lock | 2 +- 6 files changed, 6 insertions(+), 2 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 6d21962b..93ac77e1 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -82,7 +82,7 @@ MACOSX_DEPLOYMENT_TARGET = "11" dev = [ "cmake<4.0.0", "compdb>=0.2.0", - "ruff>=0.6.8", + "ruff>=0.16", "types-pyyaml>=6.0.12.20240917", "types-tabulate>=0.9.0.20240106", "types-tqdm>=4.66.0.20240417", diff --git a/tests/test_csv_loading.py b/tests/test_csv_loading.py index 2280512b..5a28a5d8 100644 --- a/tests/test_csv_loading.py +++ b/tests/test_csv_loading.py @@ -13,6 +13,7 @@ Stamp, Trajectory, ) + from tests.utils import check_lidar_eq, isclose_se3, rand_se3 # ------------------------- Loading imu & lidar ------------------------- # diff --git a/tests/test_iteration.py b/tests/test_iteration.py index 6dc7ed5c..72c47876 100644 --- a/tests/test_iteration.py +++ b/tests/test_iteration.py @@ -3,6 +3,7 @@ import numpy as np from evalio.datasets.loaders import RawDataIter, RosbagIter from evalio.types import ImuMeasurement, LidarMeasurement, LidarParams, Point, Stamp + from tests.utils import rosbag_saver diff --git a/tests/test_rosbag_conversion.py b/tests/test_rosbag_conversion.py index 4e7c61e2..49b8c729 100644 --- a/tests/test_rosbag_conversion.py +++ b/tests/test_rosbag_conversion.py @@ -18,6 +18,7 @@ Point, Stamp, ) + from tests.utils import check_lidar_eq, rosbag_saver # Create a row major point cloud diff --git a/tests/test_stats.py b/tests/test_stats.py index e031aed7..354b0563 100644 --- a/tests/test_stats.py +++ b/tests/test_stats.py @@ -3,6 +3,7 @@ import numpy as np from evalio import stats from evalio.types import SE3, Stamp, Trajectory + from tests.utils import isclose_se3, rand_se3 ID = SE3.identity() diff --git a/uv.lock b/uv.lock index 0f6b9426..657a2318 100644 --- a/uv.lock +++ b/uv.lock @@ -399,7 +399,7 @@ dev = [ { name = "mkdocstrings", extras = ["python"], specifier = ">=0.29.1" }, { name = "pyrefly", specifier = ">=1.2.0" }, { name = "pytest", specifier = ">=8.3.5" }, - { name = "ruff", specifier = ">=0.6.8" }, + { name = "ruff", specifier = ">=0.16" }, { name = "scipy", specifier = ">=1.16.2" }, { name = "scipy-stubs", specifier = ">=1.16.2.4" }, { name = "types-pyyaml", specifier = ">=6.0.12.20240917" },