Update typing. (#142)

* Update typing.

* Update utils.py

* Add pytorch channel.

* Updat CI.

* Fix new lines.

* Update deps.

* Update CI.

* Move module metadata.

* Fix env name.

* Update CI.

.github/workflows/ci.yml

@@ -27,17 +27,35 @@ jobs:
       - uses: actions/checkout@v2
       - uses: conda-incubator/setup-miniconda@v2
         with:
+          activate-environment: av2
+          environment-file: conda/environment.yml
           mamba-version: "*"
           miniforge-version: latest
           python-version: ${{ matrix.python_version }}
 
-      - name: Install prerequisites.
+      - name: Build `av2`.
         run: |
-          mamba install -y nox pip pyyaml
+          maturin develop --extras test
 
-      - name: Run nox with ${{ matrix.venv_backend }}.
-        run: |  # Cache the environments (-r), fail on missing python interpreters (--error-on-missing-interpreters), set dependency resolver backend.
-          python -m nox -r --error-on-missing-interpreters --python ${{ matrix.python_version }} --default-venv-backend ${{ matrix.venv_backend }}
+      - name: Run `black`.
+        run: |
+          black .
+
+      - name: Run `isort`.
+        run: |
+          isort .
+
+      - name: Run `flake8`.
+        run: |
+          flake8 .
+
+      - name: Run `flake8`.
+        run: |
+          mypy .
+          
+      - name: Run `pytest`.
+        run: |
+          pytest tests --cov src/av2
 
       - name: Install pypa/build.
         run: >-

conda/environment.yml

@@ -1,5 +1,6 @@
 name: av2
 channels:
+  - pytorch
   - conda-forge
 dependencies:
   - av

pyproject.toml

@@ -39,12 +39,31 @@ dynamic = [
     "version"
 ]
 
+[project.optional-dependencies]
+test = [
+    "black[jupyter]",
+    "flake8",
+    "flake8-annotations",
+    "flake8-black",
+    "flake8-bugbear",
+    "flake8-docstrings",
+    "flake8-import-order",
+    "darglint",
+    "isort",
+    "mypy",
+    "types-pyyaml",
+    "pytest",
+    "pytest-benchmark",
+    "pytest-cov",
+]
+
 [project.urls]
 homepage = "argoverse.org"
 repository = "https://github.com/argoverse/av2-api"
 
 [tool.maturin]
 features = ["pyo3/extension-module"]
+module-name = "av2._r"
 
 [tool.black]
 line-length = 120

rust/Cargo.toml

@@ -3,9 +3,6 @@ name = "av2"
 version = "0.3.0"
 edition = "2021"
 
-[package.metadata.maturin]
-name = "av2._r"
-
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [lib]
 name = "av2"

src/av2/torch/structures/utils.py

@@ -44,12 +44,12 @@ def SE3_from_frame(frame: pd.DataFrame) -> Se3:
         SE(3) object representing a (N,4,4) tensor of homogeneous transformations.
     """
     quaternion_npy = frame.loc[0, list(QWXYZ_COLUMNS)].to_numpy().astype(float)
-    quat_wxyz = Quaternion(torch.as_tensor(quaternion_npy, dtype=torch.float32))
+    quat_wxyz = Quaternion(torch.as_tensor(quaternion_npy, dtype=torch.float32)[None])
     rotation = So3(quat_wxyz)
 
     translation_npy = frame.loc[0, list(TRANSLATION_COLUMNS)].to_numpy().astype(np.float32)
-    translation = torch.as_tensor(translation_npy, dtype=torch.float32)
-    dst_SE3_src = Se3(rotation[None], translation[None])
+    translation = torch.as_tensor(translation_npy, dtype=torch.float32)[None]
+    dst_SE3_src = Se3(rotation, translation)
     dst_SE3_src.rotation._q.requires_grad_(False)
     dst_SE3_src.translation.requires_grad_(False)
     return dst_SE3_src