[Redesign] Add type annotations to operator and component creator #278
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pschafhalter
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pschafhalter
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Aug 2, 2022
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| def add_prediction(obstacles_tracking_stream: Stream[ObstaclesMessageTuple], | ||
| vehicle_id_stream: Stream[int], | ||
| release_sensor_stream: Stream[None], | ||
| point_cloud_stream: Stream[PointCloud], | ||
| lidar_setup: Stream[LidarSetup], | ||
| pose_stream: Optional[Stream[pylot.utils.Pose]] = None, | ||
| Camera_transform = None, | ||
| time_to_decision_stream: Optional[Stream[float]] = None | ||
| ) -> Tuple[Stream[prediction], Stream[int], Stream]: |
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Could you make sure that the arguments remain in the same order as before?
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Also, the return type should be Tuple[Stream[List[ObstaclePrediction]], Stream[SegmentedFrame], Stream[None]]
| @@ -226,7 +235,7 @@ def add_traffic_light_detector( | |||
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| def add_traffic_light_invasion_sensor(ground_vehicle_id_stream: Stream, | |||
| pose_stream: Stream) -> Stream: | |||
| pose_stream: Stream[pylot.utils.Pose]) -> Stream: | |||
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Please add an annotation the returned stream with the message type.
| camera_setup, | ||
| name='center_track'): | ||
| def add_center_track_tracking(bgr_camera_stream: Stream[CameraFrame], | ||
| camera_setup: Stream[CameraSetup], |
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Suggested change
| camera_setup: Stream[CameraSetup], | |
| camera_setup: CameraSetup, |
| global_trajectory_stream, | ||
| prediction_stream: Stream[prediction], | ||
| time_to_decision_stream: Optional[Stream[float]] = None, | ||
| pose_stream: Optional[Stream[pylot.utils.Pose]] = None) -> Stream: |
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Please annotate the return type of the stream -- it should carry waypoints.
| @@ -6,12 +6,14 @@ | |||
| from absl import flags | |||
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| from erdos import Stream | |||
| from pylot import prediction | |||
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| from pylot import prediction |
| @@ -7,9 +7,13 @@ | |||
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| import erdos | |||
| from erdos import Stream | |||
| from pylot import prediction | |||
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Suggested change
| from pylot import prediction |
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| from pylot.loggers.pose_logger_operator import PoseLoggerOperator | ||
| from pylot.loggers.imu_logger_operator import IMULoggerOperator | ||
| from pylot.prediction import obstacle_prediction | ||
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Why were these imports added?
| @@ -399,7 +408,7 @@ def add_segmentation_decay( | |||
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| def add_linear_prediction(tracking_stream: Stream, | |||
| time_to_decision_stream: Stream) -> Stream: | |||
| time_to_decision_stream: Stream) -> Stream[prediction]: | |||
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Suggested change
| time_to_decision_stream: Stream) -> Stream[prediction]: | |
| time_to_decision_stream: Stream[float]) -> Stream[List[ObstaclePrediction]]: |
| def add_r2p2_prediction(point_cloud_stream, obstacles_tracking_stream, | ||
| time_to_decision_stream, lidar_setup): | ||
| def add_r2p2_prediction(point_cloud_stream: Stream[PointCloud], obstacles_tracking_stream: Stream[ObstaclesMessageTuple], | ||
| time_to_decision_stream, lidar_setup: Stream[LidarSetup]) -> Stream[prediction]: |
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Suggested change
| time_to_decision_stream, lidar_setup: Stream[LidarSetup]) -> Stream[prediction]: | |
| time_to_decision_stream: Stream[float], lidar_setup: LidarSetup) -> Stream[List[ObstaclePrediction]]: |
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| tracking_stream: Stream, | ||
| prediction_stream: Stream, |
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Please annotate the types of these streams.
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