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tier4 · May 23, 2024 · 987c76e · 987c76e
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diff --git a/perception_eval/perception_eval/common/__init__.py b/perception_eval/perception_eval/common/__init__.py
@@ -15,6 +15,7 @@
 from typing import Union
 
 import numpy as np
+
 from perception_eval.common.object2d import DynamicObject2D
 from perception_eval.common.object import DynamicObject
 from perception_eval.common.point import distance_points

diff --git a/perception_eval/perception_eval/common/dataset.py b/perception_eval/perception_eval/common/dataset.py
@@ -25,6 +25,8 @@
 from numpy.typing import NDArray
 from nuscenes.nuscenes import NuScenes
 from nuscenes.prediction.helper import PredictHelper
+from tqdm import tqdm
+
 from perception_eval.common import ObjectType
 from perception_eval.common.dataset_utils import _sample_to_frame
 from perception_eval.common.dataset_utils import _sample_to_frame_2d
@@ -37,7 +39,6 @@
 from perception_eval.common.transform import TransformDict
 from perception_eval.common.transform import TransformDictArgType
 from perception_eval.common.transform import TransformKey
-from tqdm import tqdm
 
 
 class FrameGroundTruth:

diff --git a/perception_eval/perception_eval/common/geometry.py b/perception_eval/perception_eval/common/geometry.py
@@ -18,13 +18,14 @@
 from typing import Union
 
 import numpy as np
+from pyquaternion import Quaternion
+
 from perception_eval.common.object2d import DynamicObject2D
 from perception_eval.common.object2d import Roi
 from perception_eval.common.object import DynamicObject
 from perception_eval.common.object import ObjectState
 from perception_eval.common.point import distance_points
 from perception_eval.common.point import distance_points_bev
-from pyquaternion import Quaternion
 
 # Type aliases
 ObjectType = Union[DynamicObject, DynamicObject2D]

diff --git a/perception_eval/perception_eval/common/object.py b/perception_eval/perception_eval/common/object.py
@@ -20,6 +20,9 @@
 from typing import Tuple
 
 import numpy as np
+from pyquaternion import Quaternion
+from shapely.geometry import Polygon
+
 from perception_eval.common.label import Label
 from perception_eval.common.point import crop_pointcloud
 from perception_eval.common.point import polygon_to_list
@@ -28,8 +31,6 @@
 from perception_eval.common.shape import Shape
 from perception_eval.common.shape import ShapeType
 from perception_eval.common.transform import TransformDict
-from pyquaternion import Quaternion
-from shapely.geometry import Polygon
 
 
 class ObjectState:

diff --git a/perception_eval/perception_eval/common/object2d.py b/perception_eval/perception_eval/common/object2d.py
@@ -20,12 +20,13 @@
 from typing import Tuple
 
 import numpy as np
+from shapely.geometry import Polygon
+
 from perception_eval.common.label import Label
 from perception_eval.common.object import ObjectState
 from perception_eval.common.schema import FrameID
 from perception_eval.common.schema import Visibility
 from perception_eval.common.transform import TransformDict
-from shapely.geometry import Polygon
 
 
 class Roi:

diff --git a/perception_eval/perception_eval/evaluation/matching/object_matching.py b/perception_eval/perception_eval/evaluation/matching/object_matching.py
@@ -21,13 +21,14 @@
 from typing import Optional
 from typing import Tuple
 
+from shapely.geometry import Polygon
+
 from perception_eval.common import distance_objects
 from perception_eval.common import distance_points_bev
 from perception_eval.common import ObjectType
 from perception_eval.common.object import DynamicObject
 from perception_eval.common.point import get_point_left_right
 from perception_eval.common.point import polygon_to_list
-from shapely.geometry import Polygon
 
 
 class MatchingMode(Enum):

diff --git a/perception_eval/perception_eval/evaluation/metrics/detection/ap.py b/perception_eval/perception_eval/evaluation/metrics/detection/ap.py
@@ -22,6 +22,7 @@
 
 import matplotlib.pyplot as plt
 import numpy as np
+
 from perception_eval.common.label import LabelType
 from perception_eval.common.threshold import get_label_threshold
 from perception_eval.evaluation import DynamicObjectWithPerceptionResult

diff --git a/perception_eval/perception_eval/evaluation/metrics/detection/tp_metrics.py b/perception_eval/perception_eval/evaluation/metrics/detection/tp_metrics.py
@@ -17,6 +17,7 @@
 from math import pi
 
 import numpy as np
+
 from perception_eval.common.schema import FrameID
 from perception_eval.common.transform import HomogeneousMatrix
 from perception_eval.common.transform import TransformDict

diff --git a/perception_eval/perception_eval/evaluation/result/object_result.py b/perception_eval/perception_eval/evaluation/result/object_result.py
@@ -20,6 +20,7 @@
 from typing import Tuple
 
 import numpy as np
+
 from perception_eval.common import distance_objects
 from perception_eval.common import distance_objects_bev
 from perception_eval.common import DynamicObject

diff --git a/perception_eval/perception_eval/evaluation/sensing/sensing_frame_result.py b/perception_eval/perception_eval/evaluation/sensing/sensing_frame_result.py
@@ -17,6 +17,7 @@
 from typing import Tuple
 
 import numpy as np
+
 from perception_eval.common.object import DynamicObject
 from perception_eval.common.point import crop_pointcloud
 from perception_eval.evaluation.sensing.sensing_frame_config import SensingFrameConfig

diff --git a/perception_eval/perception_eval/evaluation/sensing/sensing_result.py b/perception_eval/perception_eval/evaluation/sensing/sensing_result.py
@@ -15,6 +15,7 @@
 from typing import Optional
 
 import numpy as np
+
 from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import Visibility
 

diff --git a/perception_eval/perception_eval/manager/sensing_evaluation_manager.py b/perception_eval/perception_eval/manager/sensing_evaluation_manager.py
@@ -17,6 +17,7 @@
 from typing import Tuple
 
 import numpy as np
+
 from perception_eval.common.dataset import FrameGroundTruth
 from perception_eval.common.object import DynamicObject
 from perception_eval.common.point import crop_pointcloud

diff --git a/perception_eval/perception_eval/tool/perception_analyzer2d.py b/perception_eval/perception_eval/tool/perception_analyzer2d.py
@@ -24,12 +24,13 @@
 
 import numpy as np
 import pandas as pd
+import yaml
+
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.object2d import DynamicObject2D
 from perception_eval.common.status import MatchingStatus
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-import yaml
 
 from .perception_analyzer_base import PerceptionAnalyzerBase
 from .utils import PlotAxes

diff --git a/perception_eval/perception_eval/tool/perception_analyzer3d.py b/perception_eval/perception_eval/tool/perception_analyzer3d.py
@@ -24,14 +24,15 @@
 
 import numpy as np
 import pandas as pd
+import yaml
+
 from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import FrameID
 from perception_eval.common.status import MatchingStatus
 from perception_eval.common.transform import TransformDict
 from perception_eval.common.transform import TransformKey
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-import yaml
 
 from .perception_analyzer_base import PerceptionAnalyzerBase
 from .utils import extract_area_results

diff --git a/perception_eval/perception_eval/tool/perception_analyzer3dfield.py b/perception_eval/perception_eval/tool/perception_analyzer3dfield.py
@@ -24,9 +24,10 @@
 
 import numpy as np
 import pandas as pd
+import yaml
+
 from perception_eval.common.status import MatchingStatus
 from perception_eval.config import PerceptionEvaluationConfig
-import yaml
 
 from .perception_analyzer3d import PerceptionAnalyzer3D
 

diff --git a/perception_eval/perception_eval/tool/perception_analyzer_base.py b/perception_eval/perception_eval/tool/perception_analyzer_base.py
@@ -37,6 +37,8 @@
 from mpl_toolkits.mplot3d import Axes3D
 import numpy as np
 import pandas as pd
+from tqdm import tqdm
+
 from perception_eval.common.label import LabelType
 from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import FrameID
@@ -48,7 +50,6 @@
 from perception_eval.evaluation.matching.objects_filter import divide_objects
 from perception_eval.evaluation.matching.objects_filter import divide_objects_to_num
 from perception_eval.evaluation.metrics.metrics import MetricsScore
-from tqdm import tqdm
 
 from .utils import get_metrics_info
 from .utils import PlotAxes

diff --git a/perception_eval/perception_eval/tool/utils.py b/perception_eval/perception_eval/tool/utils.py
@@ -27,6 +27,7 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import pandas as pd
+
 from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import FrameID
 from perception_eval.common.transform import TransformDict

diff --git a/perception_eval/perception_eval/util/debug.py b/perception_eval/perception_eval/util/debug.py
@@ -22,6 +22,8 @@
 
 import numpy as np
 from numpy.typing import ArrayLike
+from pyquaternion.quaternion import Quaternion
+
 from perception_eval.common.dataset import FrameGroundTruth
 from perception_eval.common.label import AutowareLabel
 from perception_eval.common.label import Label
@@ -32,7 +34,6 @@
 from perception_eval.common.schema import FrameID
 from perception_eval.common.shape import Shape
 from perception_eval.common.transform import TransformDict
-from pyquaternion.quaternion import Quaternion
 
 
 def format_class_for_log(

diff --git a/perception_eval/perception_eval/visualization/eda_tool.py b/perception_eval/perception_eval/visualization/eda_tool.py
@@ -22,6 +22,10 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import pandas as pd
+from plotly import graph_objects as go
+from plotly.graph_objs import Figure
+from plotly.subplots import make_subplots
+
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import LabelConverter
 from perception_eval.common.label import LabelType
@@ -31,9 +35,6 @@
 from perception_eval.evaluation.matching.objects_filter import divide_tp_fp_objects
 from perception_eval.evaluation.matching.objects_filter import filter_object_results
 from perception_eval.evaluation.matching.objects_filter import get_fn_objects
-from plotly import graph_objects as go
-from plotly.graph_objs import Figure
-from plotly.subplots import make_subplots
 
 try:
     import pandas_profiling as pdp

diff --git a/perception_eval/perception_eval/visualization/perception_visualizer2d.py b/perception_eval/perception_eval/visualization/perception_visualizer2d.py
@@ -27,6 +27,11 @@
 from matplotlib.patches import Rectangle
 import matplotlib.pyplot as plt
 import numpy as np
+from PIL import Image
+from PIL.Image import Image as PILImage
+from tqdm import tqdm
+import yaml
+
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
 from perception_eval.common.label import TrafficLightLabel
@@ -36,10 +41,6 @@
 from perception_eval.evaluation import DynamicObjectWithPerceptionResult
 from perception_eval.evaluation import PerceptionFrameResult
 from perception_eval.visualization.color import ColorMap
-from PIL import Image
-from PIL.Image import Image as PILImage
-from tqdm import tqdm
-import yaml
 
 
 class PerceptionVisualizer2D:

diff --git a/perception_eval/perception_eval/visualization/perception_visualizer3d.py b/perception_eval/perception_eval/visualization/perception_visualizer3d.py
@@ -29,6 +29,12 @@
 from matplotlib.transforms import Affine2D
 import numpy as np
 from numpy.typing import NDArray
+from PIL import Image
+from PIL.Image import Image as PILImage
+from pyquaternion import Quaternion
+from tqdm import tqdm
+import yaml
+
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import FrameID
@@ -37,11 +43,6 @@
 from perception_eval.evaluation import DynamicObjectWithPerceptionResult
 from perception_eval.evaluation import PerceptionFrameResult
 from perception_eval.visualization.color import ColorMap
-from PIL import Image
-from PIL.Image import Image as PILImage
-from pyquaternion import Quaternion
-from tqdm import tqdm
-import yaml
 
 
 class PerceptionVisualizer3D:

diff --git a/perception_eval/perception_eval/visualization/perception_visualizer3dfield.py b/perception_eval/perception_eval/visualization/perception_visualizer3dfield.py
@@ -20,6 +20,7 @@
 
 import matplotlib.pyplot as plt
 import numpy as np
+
 from perception_eval.tool import PerceptionFieldXY
 
 

diff --git a/perception_eval/perception_eval/visualization/sensing_visualizer.py b/perception_eval/perception_eval/visualization/sensing_visualizer.py
@@ -28,17 +28,18 @@
 import matplotlib.pyplot as plt
 from matplotlib.transforms import Affine2D
 import numpy as np
-from perception_eval.common.object import DynamicObject
-from perception_eval.config import SensingEvaluationConfig
-from perception_eval.evaluation import DynamicObjectWithSensingResult
-from perception_eval.evaluation import SensingFrameResult
-from perception_eval.visualization.color import ColorMap
 from PIL import Image
 from PIL.Image import Image as PILImage
 from pyquaternion import Quaternion
 from tqdm import tqdm
 import yaml
 
+from perception_eval.common.object import DynamicObject
+from perception_eval.config import SensingEvaluationConfig
+from perception_eval.evaluation import DynamicObjectWithSensingResult
+from perception_eval.evaluation import SensingFrameResult
+from perception_eval.visualization.color import ColorMap
+
 
 class SensingVisualizer:
     """The class to visualize sensing results in BEV space.

diff --git a/perception_eval/test/common/test_geometry.py b/perception_eval/test/common/test_geometry.py
@@ -1,9 +1,10 @@
 import numpy as np
+from pyquaternion import Quaternion
+import pytest
+
 from perception_eval.common.geometry import interpolate_homogeneous_matrix
 from perception_eval.common.geometry import interpolate_list
 from perception_eval.common.geometry import interpolate_quaternion
-from pyquaternion import Quaternion
-import pytest
 
 
 def test_interpolate_homogeneous_matrix():

diff --git a/perception_eval/test/common/test_label.py b/perception_eval/test/common/test_label.py
@@ -15,12 +15,13 @@
 from typing import List
 from typing import Tuple
 
+import pytest
+
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
 from perception_eval.common.label import LabelConverter
 from perception_eval.common.label import LabelType
 from perception_eval.common.label import TrafficLightLabel
-import pytest
 
 autoware_non_merged_pairs = [
     (AutowareLabel.BICYCLE, "bicycle"),

diff --git a/perception_eval/test/common/test_object.py b/perception_eval/test/common/test_object.py
@@ -19,11 +19,12 @@
 import unittest
 
 import numpy as np
+from shapely.geometry import Polygon
+
 from perception_eval.common import distance_objects
 from perception_eval.common import distance_objects_bev
 from perception_eval.common.object import DynamicObject
 from perception_eval.util.debug import get_objects_with_difference
-from shapely.geometry import Polygon
 
 
 class TestObject(unittest.TestCase):

diff --git a/perception_eval/test/common/test_point.py b/perception_eval/test/common/test_point.py
@@ -18,6 +18,7 @@
 import unittest
 
 import numpy as np
+
 from perception_eval.common.point import crop_pointcloud
 from perception_eval.common.point import distance_points
 from perception_eval.common.point import distance_points_bev

diff --git a/perception_eval/test/common/test_transform.py b/perception_eval/test/common/test_transform.py
@@ -1,4 +1,5 @@
 import numpy as np
+
 from perception_eval.common.schema import FrameID
 from perception_eval.common.transform import HomogeneousMatrix
 from perception_eval.common.transform import TransformDict

diff --git a/perception_eval/test/evaluation/matching/test_objects_filter.py b/perception_eval/test/evaluation/matching/test_objects_filter.py
@@ -20,6 +20,7 @@
 import unittest
 
 import numpy as np
+
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
 from perception_eval.common.label import Label

diff --git a/perception_eval/test/evaluation/metrics/detection/test_ap.py b/perception_eval/test/evaluation/metrics/detection/test_ap.py
@@ -24,6 +24,7 @@
 import unittest
 
 import numpy as np
+
 from perception_eval.common import DynamicObject
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
Original file line number	Diff line number	Diff line change
Expand Up		@@ -20,6 +20,7 @@

		import matplotlib.pyplot as plt
		import numpy as np

		from perception_eval.tool import PerceptionFieldXY


Expand Down