Visual-Behavior · thibo73800 · Aug 17, 2022 · Aug 16, 2022
diff --git a/aloscene/__init__.py b/aloscene/__init__.py
@@ -18,6 +18,8 @@
 
 from .renderer import Renderer
 
+from typing import Union
+
 
 def batch_list(tensors):
     return SpatialAugmentedTensor.batch_list(tensors)
@@ -30,7 +32,7 @@ def render(
     views: list,
     renderer: str = "cv",
     size=None,
-    record_file: str = None,
+    record_file: Union[str, None] = None,
     fps=30,
     grid_size=None,
     skip_views=False,

diff --git a/aloscene/bounding_boxes_2d.py b/aloscene/bounding_boxes_2d.py
@@ -71,7 +71,7 @@ def __new__(
         x,
         boxes_format: str,
         absolute: bool,
-        labels: Union[dict, Labels] = None,
+        labels: Union[dict, Labels, None] = None,
         frame_size=None,
         names=("N", None),
         *args,
@@ -102,7 +102,7 @@ def __new__(
     def __init__(self, x, *args, **kwargs):
         super().__init__(x)
 
-    def append_labels(self, labels: Labels, name: str = None):
+    def append_labels(self, labels: Labels, name: Union[str, None] = None):
         """Attach a set of labels to the boxes. The attached set of labels are supposed to be equal to the
         number of points. In other words, the N dimensions must match in both tensor.
         Parameters
@@ -342,7 +342,7 @@ def rel_pos(self):
         tensor.frame_size = None
         return tensor
 
-    def get_with_format(self, boxes_format: str) :
+    def get_with_format(self, boxes_format: str):
         """Set boxes into the desired format (Inplace operation)
         Parameters
         ----------
@@ -425,7 +425,13 @@ def area(self) -> torch.Tensor:
 
     _GLOBAL_COLOR_SET = np.random.uniform(0, 1, (300, 3))
 
-    def get_view(self, frame: Tensor = None, size: tuple = None, labels_set: str = None, **kwargs):
+    def get_view(
+        self,
+        frame: Union[Tensor, None] = None,
+        size: Union[tuple, None] = None,
+        labels_set: Union[str, None] = None,
+        **kwargs,
+    ):
         """Create a view of the boxes a frame
         Parameters
         ----------
@@ -890,7 +896,7 @@ def _spatial_shift(self, shift_y: float, shift_x: float, **kwargs):
 
         return n_boxes
 
-    def as_boxes(self, boxes) :
+    def as_boxes(self, boxes):
         """Convert the current boxes state into the given `boxes` state, following the same `boxes_format`, the same
         `frame_size` (if any) and the same `padded_size` (if any).
         Parameters
@@ -915,7 +921,7 @@ def as_boxes(self, boxes) :
 
         return n_boxes
 
-    def remove_padding(self) :
+    def remove_padding(self):
         """This method can be usefull when one use a padded Frame but only want to learn on the non-padded area.
         Thefore the target points will remain unpadded while keeping information about the real padded size.
         Thus, this method will simply remove the memorized padded information.

diff --git a/aloscene/bounding_boxes_3d.py b/aloscene/bounding_boxes_3d.py
@@ -40,7 +40,7 @@ class BoundingBoxes3D(aloscene.tensors.AugmentedTensor):
     """
 
     @staticmethod
-    def __new__(cls, x, labels: Union[dict, Labels] = None, names=("N", None), *args, **kwargs):
+    def __new__(cls, x, labels: Union[dict, Labels, None] = None, names=("N", None), *args, **kwargs):
         tensor = super().__new__(cls, x, *args, names=names, **kwargs)
         assert tensor.shape[-1] == 7
         tensor.add_child("labels", labels, align_dim=["N"], mergeable=True)
@@ -441,7 +441,7 @@ def giou3d_with(self, boxes2, enclosing_type="smallest", ret_iou3d=False) -> Uni
         """
         return self.giou3d(self, boxes2, enclosing_type, ret_iou3d)
 
-    def get_view(self, frame, size: tuple = None, mode: str = "3D", **kwargs) -> View:
+    def get_view(self, frame, size: Union[tuple, None] = None, mode: str = "3D", **kwargs) -> View:
         """Create a View instance from a Frame
 
         Parameters

diff --git a/aloscene/camera_calib.py b/aloscene/camera_calib.py
@@ -1,5 +1,5 @@
 # from __future__ import annotations
-from typing import Tuple
+from typing import Tuple, Union
 from aloscene.tensors.augmented_tensor import AugmentedTensor
 import aloscene
 
@@ -48,10 +48,10 @@ class CameraIntrinsic(AugmentedTensor):
     def __new__(
         cls,
         x=None,
-        focal_length: float = None,
-        plane_size: tuple = None,
-        principal_point: tuple = None,
-        skew: tuple = None,
+        focal_length: Union[float, None] = None,
+        plane_size: Union[tuple, None] = None,
+        principal_point: Union[tuple, None] = None,
+        skew: Union[float, None] = None,
         *args,
         names=(None, None),
         **kwargs,

diff --git a/aloscene/depth.py b/aloscene/depth.py
@@ -9,6 +9,7 @@
 from aloscene.renderer import View
 from aloscene.utils.depth_utils import coords2rtheta, add_colorbar
 import numpy as np
+from typing import Union
 
 from aloscene.io.depth import load_depth
 
@@ -35,7 +36,7 @@ class Depth(aloscene.tensors.SpatialAugmentedTensor):
     def __new__(
         cls,
         x,
-        occlusion: Mask = None,
+        occlusion: Union[Mask, None] = None,
         is_absolute=True,
         is_planar=True,
         scale=None,
@@ -166,7 +167,7 @@ def encode_absolute(
 
         return n_depth
 
-    def append_occlusion(self, occlusion: Mask, name: str = None):
+    def append_occlusion(self, occlusion: Mask, name: Union[str, None] = None):
         """Attach an occlusion mask to the depth tensor.
 
         Parameters
@@ -207,7 +208,9 @@ def __get_view__(
 
         return View(depth_color, title=title)
 
-    def as_points3d(self, camera_intrinsic: aloscene.CameraIntrinsic = None, projection=None, distortion=None):
+    def as_points3d(
+        self, camera_intrinsic: Union[aloscene.CameraIntrinsic, None] = None, projection=None, distortion=None
+    ):
         """Compute the 3D coordinates of points 2D points based on their respective depth.
 
         Parameters
@@ -292,7 +295,10 @@ def as_points3d(self, camera_intrinsic: aloscene.CameraIntrinsic = None, project
         return aloscene.Points3D(points_3d, names=target_names, device=self.device)
 
     def as_disp(
-        self, camera_side: str = None, baseline: float = None, camera_intrinsic: aloscene.CameraIntrinsic = None
+        self,
+        camera_side: Union[str, None] = None,
+        baseline: Union[float, None] = None,
+        camera_intrinsic: Union[aloscene.CameraIntrinsic, None] = None,
     ):
         """Create a disparity augmented tensor from the current Depth augmented tensor.
         To use this method, one must know the target `camera_side` ("left" or "right"). Also, if not set on the
@@ -344,7 +350,9 @@ def as_disp(
         )
         return disp
 
-    def as_euclidean(self, camera_intrinsic: aloscene.CameraIntrinsic = None, projection=None, distortion=None):
+    def as_euclidean(
+        self, camera_intrinsic: Union[aloscene.CameraIntrinsic, None] = None, projection=None, distortion=None
+    ):
         """Create a new Depth augmented tensor whose data is the euclidean depth (distance) from camera to world points.
         To use this method, we must know intrinsic matrix of camera, projection model and distortion coefficient
         (if exists).
@@ -384,7 +392,9 @@ def as_euclidean(self, camera_intrinsic: aloscene.CameraIntrinsic = None, projec
         euclidean.is_planar = False
         return euclidean
 
-    def as_planar(self, camera_intrinsic: aloscene.CameraIntrinsic = None, projection=None, distortion=None):
+    def as_planar(
+        self, camera_intrinsic: Union[aloscene.CameraIntrinsic, None] = None, projection=None, distortion=None
+    ):
         """Create a new planar depth augmented tensor from the euclidean depth between camera to world points with
         corresponding depth. To use this method, we must know intrinsic matrix of camera, projection model and
         distortion coefficient (if exists).

diff --git a/aloscene/disparity.py b/aloscene/disparity.py
@@ -1,6 +1,7 @@
 import numpy as np
 import matplotlib
 import torch
+from typing import Union
 
 import aloscene
 from aloscene import Mask
@@ -31,9 +32,9 @@ class Disparity(aloscene.tensors.SpatialAugmentedTensor):
     def __new__(
         cls,
         x,
-        occlusion: Mask = None,
+        occlusion: Union[Mask, None] = None,
         disp_format="unsigned",
-        png_negate: bool = None,
+        png_negate: Union[bool, None] = None,
         *args,
         names=("C", "H", "W"),
         **kwargs,
@@ -58,7 +59,7 @@ def __new__(
     def __init__(self, x, *args, **kwargs):
         super().__init__(x)
 
-    def append_occlusion(self, occlusion: Mask, name: str = None):
+    def append_occlusion(self, occlusion: Mask, name: Union[str, None] = None):
         """Attach an occlusion mask to the frame.
 
         Parameters
@@ -136,7 +137,7 @@ def unsigned(self):
         disp = torch.absolute(disp)
         return disp
 
-    def signed(self, camera_side: str = None):
+    def signed(self, camera_side: Union[str, None] = None):
         """
         Returns a copy of disparity map in signed disparity format
         """
@@ -154,10 +155,10 @@ def signed(self, camera_side: str = None):
 
     def as_depth(
         self,
-        baseline: float = None,
-        focal_length: float = None,
-        camera_side: float = None,
-        camera_intrinsic: aloscene.CameraIntrinsic = None,
+        baseline: Union[float, None] = None,
+        focal_length: Union[float, None] = None,
+        camera_side: Union[float, None] = None,
+        camera_intrinsic: Union[aloscene.CameraIntrinsic, None] = None,
         max_depth=np.inf,
     ):
         """Return a Depth augmented tensor based on the given `baseline` & `focal_length`.

diff --git a/aloscene/flow.py b/aloscene/flow.py
@@ -1,3 +1,4 @@
+from typing import Union
 import aloscene
 from aloscene import Mask
 from aloscene.io.flow import load_flow
@@ -17,7 +18,7 @@ class Flow(aloscene.tensors.SpatialAugmentedTensor):
     """
 
     @staticmethod
-    def __new__(cls, x, occlusion: Mask = None, *args, names=("C", "H", "W"), **kwargs):
+    def __new__(cls, x, occlusion: Union[Mask, None] = None, *args, names=("C", "H", "W"), **kwargs):
         if isinstance(x, str):
             # load flow from path
             x = load_flow(x)
@@ -29,7 +30,7 @@ def __new__(cls, x, occlusion: Mask = None, *args, names=("C", "H", "W"), **kwar
     def __init__(self, x, *args, **kwargs):
         super().__init__(x)
 
-    def append_occlusion(self, occlusion: Mask, name: str = None):
+    def append_occlusion(self, occlusion: Mask, name: Union[str, None] = None):
         """Attach an occlusion mask to the frame.
 
         Parameters

diff --git a/aloscene/frame.py b/aloscene/frame.py
@@ -92,15 +92,15 @@ class Frame(aloscene.tensors.SpatialAugmentedTensor):
     def __new__(
         cls,
         x,
-        boxes2d: Union[dict, BoundingBoxes2D] = None,
-        boxes3d: Union[dict, BoundingBoxes3D] = None,
-        labels: Union[dict, Labels] = None,
-        flow: Union[dict, Flow] = None,
-        segmentation: Union[dict, Mask] = None,
-        disparity: Union[dict, Disparity] = None,
-        points2d: Union[dict, Points2D] = None,
-        points3d: Union[dict, Points3D] = None,
-        depth: Union[dict, Depth] = None,
+        boxes2d: Union[dict, BoundingBoxes2D, None] = None,
+        boxes3d: Union[dict, BoundingBoxes3D, None] = None,
+        labels: Union[dict, Labels, None] = None,
+        flow: Union[dict, Flow, None] = None,
+        segmentation: Union[dict, Mask, None] = None,
+        disparity: Union[dict, Disparity, None] = None,
+        points2d: Union[dict, Points2D, None] = None,
+        points3d: Union[dict, Points3D, None] = None,
+        depth: Union[dict, Depth, None] = None,
         normalization="255",
         mean_std=None,
         names=("C", "H", "W"),
@@ -152,7 +152,7 @@ def save(self, tgt_path: str):
         """
         torchvision.utils.save_image(self.cpu().norm01().as_tensor(), tgt_path)
 
-    def append_labels(self, labels: Labels, name: str = None):
+    def append_labels(self, labels: Labels, name: Union[str, None] = None):
         """Attach a set of labels to the frame. This can be usefull for classification
         or multi label classification. The rank of the label must be >= 1
 
@@ -172,7 +172,7 @@ def append_labels(self, labels: Labels, name: str = None):
         """
         self._append_child("labels", labels, name)
 
-    def append_boxes2d(self, boxes: BoundingBoxes2D, name: str = None):
+    def append_boxes2d(self, boxes: BoundingBoxes2D, name: Union[str, None] = None):
         """Attach a set of BoundingBoxes2D to the frame.
 
         Parameters
@@ -197,7 +197,7 @@ def append_boxes2d(self, boxes: BoundingBoxes2D, name: str = None):
         """
         self._append_child("boxes2d", boxes, name)
 
-    def append_points2d(self, points: Points2D, name: str = None):
+    def append_points2d(self, points: Points2D, name: Union[str, None] = None):
         """Attach a set of points to the frame.
 
         Parameters
@@ -210,7 +210,7 @@ def append_points2d(self, points: Points2D, name: str = None):
         """
         self._append_child("points2d", points, name)
 
-    def append_points3d(self, points_3d: Points3D, name: str = None):
+    def append_points3d(self, points_3d: Points3D, name: Union[str, None] = None):
         """Attach a set of points to the frame.
 
         Parameters
@@ -223,7 +223,7 @@ def append_points3d(self, points_3d: Points3D, name: str = None):
         """
         self._append_child("points3d", points_3d, name)
 
-    def append_boxes3d(self, boxes_3d: BoundingBoxes3D, name: str = None):
+    def append_boxes3d(self, boxes_3d: BoundingBoxes3D, name: Union[str, None] = None):
         """Attach BoundingBoxes3D to the frame
 
         Parameters
@@ -247,7 +247,7 @@ def append_boxes3d(self, boxes_3d: BoundingBoxes3D, name: str = None):
         """
         self._append_child("boxes3d", boxes_3d, name)
 
-    def append_flow(self, flow, name: str = None):
+    def append_flow(self, flow, name: Union[str, None] = None):
         """Attach a flow to the frame.
 
         Parameters
@@ -266,7 +266,7 @@ def append_flow(self, flow, name: str = None):
         """
         self._append_child("flow", flow, name)
 
-    def append_disparity(self, disparity, name: str = None):
+    def append_disparity(self, disparity, name: Union[str, None] = None):
         """Attach a disparity map to the frame.
 
         Parameters
@@ -285,7 +285,7 @@ def append_disparity(self, disparity, name: str = None):
         """
         self._append_child("disparity", disparity, name)
 
-    def append_depth(self, depth, name: str = None):
+    def append_depth(self, depth, name: Union[str, None] = None):
         """Attach a depth map to the frame.
 
         Parameters
@@ -304,7 +304,7 @@ def append_depth(self, depth, name: str = None):
         """
         self._append_child("depth", depth, name)
 
-    def append_segmentation(self, segmentation: Mask, name: str = None):
+    def append_segmentation(self, segmentation: Mask, name: Union[str, None] = None):
         """Attach a segmentation to the frame.
 
         Parameters
@@ -318,7 +318,7 @@ def append_segmentation(self, segmentation: Mask, name: str = None):
         """
         self._append_child("segmentation", segmentation, name)
 
-    def append_pose(self, pose: Pose, name: str = None):
+    def append_pose(self, pose: Pose, name: Union[str, None] = None):
         """Attach a pose to the frame.
 
         Parameters
@@ -331,7 +331,7 @@ def append_pose(self, pose: Pose, name: str = None):
         """
         self._append_child("pose", pose, name)
 
-    def append_scene_flow(self, scene_flow: SceneFlow, name: str = None):
+    def append_scene_flow(self, scene_flow: SceneFlow, name: Union[str, None] = None):
         """Attach a scene flow to the frame.
 
         Parameters