Upgrade py_motmetrics code for Python 3.10 support

[michael-hoss]

I am currently using nuscenes-devkit as a submodule in a Python 3.10 project for tracking evaluation (see also bazel integration PR #1044).

To make it work beyond Python 3.6 and 3.7, I:

• bumped the dependency of motmetrics from <= 1.1.3 to ==1.4.0.
• adapted the devkit code that was taken from motmetrics to their newer code from 1.4.0.
  • in doing so, I fixed one thing that I already merged back into their repo: Keep the MultiIndex of the df even if empty cheind/py-motmetrics#188
  • I saw there was a speed optimization in our code before, which I haven't yet included in the 1.4.0 code again. Feel free to do so if you're still familiar with this!
  • included the "pred_frequencies" here metric because py_motmetrics needs it now

Note: I have not yet tested if this is still compatible with Python 3.6 and 3.7.

[whyekit-motional]

@michael-hoss if this PR is not tested to be backward-compatible with Python 3.6 and 3.7, we would not be able to merge it, as this will affect a lot of prior users if it fails

[michael-hoss]

@whyekit-motional What exactly would the testing for backward-compatibility include? All unit tests passing in Python envs of the respective versions? How about those unit tests that are skipped right now, e.g. I saw some @unittest.skip commands here?

Edit: Please let me know if you happen to have a script or CI workflow that wraps this all. Also, which expansions of the dataset would I need to execute all relevant tests?

[dominikandreas]

Is python<=3.7 actually supported at the moment? With the current state of the master branch, I'm not able to install the dependencies using python3.7

(py37) :~/$ python --version
Python 3.7.12
(py37) :~/$ pip install git+https://github.com/nutonomy/nuscenes-devkit/#subdirectory=setup
Collecting git+https://github.com/nutonomy/nuscenes-devkit/#subdirectory=setup
  Cloning https://github.com/nutonomy/nuscenes-devkit/ to /tmp/pip-req-build-ua0_z75y
  Running command git clone --filter=blob:none --quiet https://github.com/nutonomy/nuscenes-devkit/ /tmp/pip-req-build-ua0_z75y
  Resolved https://github.com/nutonomy/nuscenes-devkit/ to commit 9df79f48bac3cc713f4dbd2b48049be845605c51
  Preparing metadata (setup.py) ... done
Collecting cachetools (from nuscenes-devkit==1.1.11)
  Using cached cachetools-5.3.3-py3-none-any.whl.metadata (5.3 kB)
Collecting descartes (from nuscenes-devkit==1.1.11)
  Using cached descartes-1.1.0-py3-none-any.whl.metadata (2.4 kB)
Collecting fire (from nuscenes-devkit==1.1.11)
  Using cached fire-0.6.0.tar.gz (88 kB)
  Preparing metadata (setup.py) ... done
Collecting matplotlib<3.6.0 (from nuscenes-devkit==1.1.11)
  Using cached matplotlib-3.5.3-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl.metadata (6.7 kB)
INFO: pip is looking at multiple versions of nuscenes-devkit to determine which version is compatible with other requirements. This could take a while.
ERROR: Ignored the following versions that require a different python version: 1.22.0 Requires-Python >=3.8; 1.22.1 Requires-Python >=3.8; 1.22.2 Requires-Python >=3.8; 1.22.3 Requires-Python >=3.8; 1.22.4 Requires-Python >=3.8; 1.23.0 Requires-Python >=3.8; 1.23.0rc1 Requires-Python >=3.8; 1.23.0rc2 Requires-Python >=3.8; 1.23.0rc3 Requires-Python >=3.8; 1.23.1 Requires-Python >=3.8; 1.23.2 Requires-Python >=3.8; 1.23.3 Requires-Python >=3.8; 1.23.4 Requires-Python >=3.8; 1.23.5 Requires-Python >=3.8; 1.24.0 Requires-Python >=3.8; 1.24.0rc1 Requires-Python >=3.8; 1.24.0rc2 Requires-Python >=3.8; 1.24.1 Requires-Python >=3.8; 1.24.2 Requires-Python >=3.8; 1.24.3 Requires-Python >=3.8; 1.24.4 Requires-Python >=3.8; 1.25.0 Requires-Python >=3.9; 1.25.0rc1 Requires-Python >=3.9; 1.25.1 Requires-Python >=3.9; 1.25.2 Requires-Python >=3.9; 1.26.0 Requires-Python <3.13,>=3.9; 1.26.0b1 Requires-Python <3.13,>=3.9; 1.26.0rc1 Requires-Python <3.13,>=3.9; 1.26.1 Requires-Python <3.13,>=3.9; 1.26.2 Requires-Python >=3.9; 1.26.3 Requires-Python >=3.9; 1.26.4 Requires-Python >=3.9; 2.0.0b1 Requires-Python >=3.9; 3.6.0 Requires-Python >=3.8; 3.6.0rc1 Requires-Python >=3.8; 3.6.0rc2 Requires-Python >=3.8; 3.6.1 Requires-Python >=3.8; 3.6.2 Requires-Python >=3.8; 3.6.3 Requires-Python >=3.8; 3.7.0 Requires-Python >=3.8; 3.7.0rc1 Requires-Python >=3.8; 3.7.1 Requires-Python >=3.8; 3.7.2 Requires-Python >=3.8; 3.7.3 Requires-Python >=3.8; 3.7.4 Requires-Python >=3.8; 3.7.5 Requires-Python >=3.8; 3.8.0 Requires-Python >=3.9; 3.8.0rc1 Requires-Python >=3.9; 3.8.1 Requires-Python >=3.9; 3.8.2 Requires-Python >=3.9; 3.8.3 Requires-Python >=3.9
ERROR: Could not find a version that satisfies the requirement numpy>=1.22.0 (from nuscenes-devkit) (from versions: 1.3.0, 1.4.1, 1.5.0, 1.5.1, 1.6.0, 1.6.1, 1.6.2, 1.7.0, 1.7.1, 1.7.2, 1.8.0, 1.8.1, 1.8.2, 1.9.0, 1.9.1, 1.9.2, 1.9.3, 1.10.0.post2, 1.10.1, 1.10.2, 1.10.4, 1.11.0, 1.11.1, 1.11.2, 1.11.3, 1.12.0, 1.12.1, 1.13.0, 1.13.1, 1.13.3, 1.14.0, 1.14.1, 1.14.2, 1.14.3, 1.14.4, 1.14.5, 1.14.6, 1.15.0, 1.15.1, 1.15.2, 1.15.3, 1.15.4, 1.16.0, 1.16.1, 1.16.2, 1.16.3, 1.16.4, 1.16.5, 1.16.6, 1.17.0, 1.17.1, 1.17.2, 1.17.3, 1.17.4, 1.17.5, 1.18.0, 1.18.1, 1.18.2, 1.18.3, 1.18.4, 1.18.5, 1.19.0, 1.19.1, 1.19.2, 1.19.3, 1.19.4, 1.19.5, 1.20.0, 1.20.1, 1.20.2, 1.20.3, 1.21.0, 1.21.1, 1.21.2, 1.21.3, 1.21.4, 1.21.5, 1.21.6)
ERROR: No matching distribution found for numpy>=1.22.0

[michael-hoss]

@dominikandreas Thanks for pointing this out. So far, I have just tested this in a Python 3.10 environment. Will look more into this for Python <=3.7