Add CI (#42)

.github/workflows/pre-commit.yml

@@ -0,0 +1,18 @@
+name: Style Check
+
+on:
+  push:
+    branches: ["main"]
+  pull_request:
+    branches: ["main"]
+
+jobs:
+  pre-commit:
+    name: Pre-commit checks
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v4
+        with:
+          python-version: "3.10"
+      - uses: pre-commit/action@v3.0.0

.github/workflows/python.yml

@@ -0,0 +1,24 @@
+name: Python API
+on:
+  push:
+    branches: ["main"]
+  pull_request:
+    branches: ["main"]
+
+jobs:
+  python_package:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-22.04, ubuntu-20.04]
+
+    steps:
+      - uses: actions/checkout@v3
+      - name: Setup Python3
+        uses: actions/setup-python@v3
+      - name: Install dependencies
+        run: python -m pip install --upgrade pip
+      - name: Build pip package
+        run: python -m pip install --verbose .
+      - name: Test installation
+        run: mos4d_pipeline --help

.pre-commit-config.yaml

@@ -0,0 +1,18 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+    -   id: trailing-whitespace
+        exclude: \.patch$
+    -   id: end-of-file-fixer
+        exclude: \.patch$
+    -   id: check-yaml
+    -   id: check-added-large-files
+-   repo: https://github.com/psf/black
+    rev: 23.1.0
+    hooks:
+    -   id: black
+-   repo: https://github.com/pycqa/isort
+    rev: 5.12.0
+    hooks:
+     - id: isort

README.md

@@ -60,7 +60,7 @@ mos4d_pipeline --help
 ```
 to see how to run 4DMOS.
 
-Check the [Download](#downloads) section for a pre-trained model. Like [KISS-ICP](https://github.com/PRBonn/kiss-icp), our pipeline runs on a variety of point cloud data formats like `bin`, `pcd`, `ply`, `xyz`, `rosbags`, and more. To visualize these, just type 
+Check the [Download](#downloads) section for a pre-trained model. Like [KISS-ICP](https://github.com/PRBonn/kiss-icp), our pipeline runs on a variety of point cloud data formats like `bin`, `pcd`, `ply`, `xyz`, `rosbags`, and more. To visualize these, just type
 
 ```bash
 mos4d_pipeline --visualize /path/to/weights.ckpt /path/to/data

config/apollo.yaml

@@ -1,5 +1,5 @@
 data:
-  deskew: False 
+  deskew: False
 
 mos:
   max_range_mos: -1.0 # No limit

config/kitti-tracking.yaml

@@ -1,5 +1,5 @@
 data:
-  deskew: True 
+  deskew: True
 
 mos:
   max_range_mos: -1.0 # No limit

config/kitti.yaml

@@ -1,5 +1,5 @@
 data:
-  deskew: False 
+  deskew: False
 
 mos:
   max_range_mos: -1.0 # No limit

scripts/cache_to_ply.py

@@ -21,19 +21,19 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-import os
-import typer
 import importlib
+import os
+from pathlib import Path
+from typing import List, Optional
 
 import numpy as np
 import torch
-from typing import List, Optional
+import typer
 from torch.utils.data import DataLoader
 from tqdm import tqdm
-from pathlib import Path
 
-from mos4d.datasets.mos4d_dataset import MOS4DDataset, collate_fn
 from mos4d.config import load_config
+from mos4d.datasets.mos4d_dataset import MOS4DDataset, collate_fn
 
 
 def cache_to_ply(

scripts/precache.py

@@ -21,10 +21,11 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-from tqdm import tqdm
 from pathlib import Path
 from typing import List, Optional
+
 import typer
+from tqdm import tqdm
 
 from mos4d.config import load_config
 
@@ -62,8 +63,9 @@ def precache(
     ),
 ):
     from torch.utils.data import DataLoader
-    from mos4d.datasets.mos4d_dataset import collate_fn
+
     from mos4d.datasets.mos4d_dataset import MOS4DDataset as Dataset
+    from mos4d.datasets.mos4d_dataset import collate_fn
 
     cfg = load_config(config)
     sequences = list(sequence) if len(sequence) > 0 else cfg.training.train + cfg.training.val

scripts/train.py

@@ -22,16 +22,17 @@
 # SOFTWARE.
 
 import os
+from pathlib import Path
+from typing import Optional
+
 import torch
 import typer
-from typing import Optional
-from pathlib import Path
 from pytorch_lightning import Trainer
 from pytorch_lightning import loggers as pl_loggers
 from pytorch_lightning.callbacks import LearningRateMonitor, ModelCheckpoint
 
-from mos4d.utils.seed import set_seed
 from mos4d.config import load_config
+from mos4d.utils.seed import set_seed
 
 
 def train(

src/mos4d/cli.py

@@ -25,6 +25,7 @@
 
 import typer
 from kiss_icp.tools.cmd import guess_dataloader
+
 from mos4d.datasets import (
     available_dataloaders,
     jumpable_dataloaders,
@@ -172,7 +173,6 @@ def mos4d_pipeline(
         jump = 0
     # Lazy-loading for faster CLI
     from mos4d.datasets import dataset_factory
-
     from mos4d.pipeline import MOS4DPipeline as Pipeline
 
     Pipeline(

src/mos4d/config/config.py

@@ -21,6 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 from typing import List
+
 from pydantic import BaseModel, Field
 
 

src/mos4d/config/parser.py

@@ -25,18 +25,12 @@
 
 import importlib
 import sys
-
 from pathlib import Path
 from typing import Any, Dict, Optional
 
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
-from mos4d.config.config import (
-    DataConfig,
-    OdometryConfig,
-    MOSConfig,
-    TrainingConfig,
-)
+from mos4d.config.config import DataConfig, MOSConfig, OdometryConfig, TrainingConfig
 
 
 class MOS4DConfig(BaseSettings):

src/mos4d/datasets/apollo.py

@@ -21,6 +21,7 @@
 # SOFTWARE.
 
 import numpy as np
+
 from mos4d.datasets.kitti import SemanticKITTIDataset
 
 

src/mos4d/datasets/helimos.py

@@ -22,6 +22,7 @@
 
 import glob
 import os
+
 import numpy as np
 
 

src/mos4d/datasets/kitti.py

@@ -22,6 +22,7 @@
 
 import glob
 import os
+
 import numpy as np
 from kiss_icp.datasets.kitti import KITTIOdometryDataset
 

src/mos4d/datasets/kitti_tracking.py

@@ -21,6 +21,7 @@
 # SOFTWARE.
 
 import numpy as np
+
 from mos4d.datasets.kitti import SemanticKITTIDataset
 
 

src/mos4d/datasets/mos4d_dataset.py

@@ -21,17 +21,18 @@
 # SOFTWARE.
 
 import os
-import torch
-import numpy as np
-from typing import Dict
 from pathlib import Path
-from torch.utils.data import Dataset, DataLoader
+from typing import Dict
+
+import numpy as np
+import torch
 from pytorch_lightning import LightningDataModule
+from torch.utils.data import DataLoader, Dataset
 
-from mos4d.utils.cache import get_cache, memoize
-from mos4d.config import MOS4DConfig, DataConfig, OdometryConfig
-from mos4d.odometry import Odometry
+from mos4d.config import DataConfig, MOS4DConfig, OdometryConfig
 from mos4d.datasets import dataset_factory, sequence_dataloaders
+from mos4d.odometry import Odometry
+from mos4d.utils.cache import get_cache, memoize
 
 
 def collate_fn(batch):

src/mos4d/datasets/nuscenes.py

@@ -25,9 +25,10 @@
 import sys
 from pathlib import Path
 from typing import List
+
+import numpy as np
 from nuscenes.utils.geometry_utils import transform_matrix
 from pyquaternion import Quaternion
-import numpy as np
 
 
 class NuScenesDataset:

src/mos4d/minkunet.py

@@ -22,8 +22,8 @@
 # Please cite "4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural
 # Networks", CVPR'19 (https://arxiv.org/abs/1904.08755) if you use any part
 # of the code.
-import torch.nn as nn
 import MinkowskiEngine as ME
+import torch.nn as nn
 
 
 class BasicBlock(nn.Module):

src/mos4d/mos4d.py

@@ -2,11 +2,12 @@
 # @file      mos4d.py
 # @author    Benedikt Mersch     [mersch@igg.uni-bonn.de]
 # Copyright (c) 2022 Benedikt Mersch, all rights reserved
-import torch
-import torch.nn as nn
 import copy
-import numpy as np
+
 import MinkowskiEngine as ME
+import numpy as np
+import torch
+import torch.nn as nn
 from pytorch_lightning import LightningModule
 
 from mos4d.minkunet import CustomMinkUNet14

src/mos4d/odometry.py

@@ -21,11 +21,11 @@
 # SOFTWARE.
 
 import numpy as np
-from mos4d.config import DataConfig, OdometryConfig
-
 from kiss_icp.config import KISSConfig
 from kiss_icp.kiss_icp import KissICP
 
+from mos4d.config import DataConfig, OdometryConfig
+
 
 def parse_config(config_data: DataConfig, config_odometry: OdometryConfig):
     kiss_config = KISSConfig()

src/mos4d/pipeline.py

@@ -22,22 +22,22 @@
 
 import os
 import time
+from collections import deque
 from pathlib import Path
 from typing import Optional
-from collections import deque
-import torch
-import numpy as np
-from tqdm.auto import trange
 
+import numpy as np
+import torch
 from kiss_icp.pipeline import OdometryPipeline
+from tqdm.auto import trange
 
+from mos4d.config import load_config
+from mos4d.metrics import get_confusion_matrix
 from mos4d.mos4d import MOS4DNet
 from mos4d.odometry import Odometry
-from mos4d.metrics import get_confusion_matrix
-from mos4d.utils.visualizer import MOS4DVisualizer, StubVisualizer
 from mos4d.utils.pipeline_results import MOSPipelineResults
 from mos4d.utils.save import KITTIWriter, StubWriter
-from mos4d.config import load_config
+from mos4d.utils.visualizer import MOS4DVisualizer, StubVisualizer
 
 
 def prob_to_log_odds(prob):

src/mos4d/training_module.py

@@ -20,24 +20,18 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-import torch
 import numpy as np
-
+import torch
 from pytorch_lightning import LightningModule
-from mos4d.mos4d import MOS4DNet
+
 from mos4d.config import MOS4DConfig
+from mos4d.metrics import get_confusion_matrix, get_iou, get_precision, get_recall
+from mos4d.mos4d import MOS4DNet
 from mos4d.utils.augmentation import (
-    rotate_point_cloud,
     random_flip_point_cloud,
     random_scale_point_cloud,
     rotate_perturbation_point_cloud,
-)
-
-from mos4d.metrics import (
-    get_confusion_matrix,
-    get_iou,
-    get_precision,
-    get_recall,
+    rotate_point_cloud,
 )
 
 

src/mos4d/utils/pipeline_results.py

@@ -21,15 +21,10 @@
 # SOFTWARE.
 
 import numpy as np
+from kiss_icp.metrics import absolute_trajectory_error, sequence_error
 from kiss_icp.tools.pipeline_results import PipelineResults
-from kiss_icp.metrics import sequence_error, absolute_trajectory_error
-from mos4d.metrics import (
-    get_stats,
-    get_iou,
-    get_recall,
-    get_f1,
-    get_precision,
-)
+
+from mos4d.metrics import get_f1, get_iou, get_precision, get_recall, get_stats
 
 
 class MOSPipelineResults(PipelineResults):