From 1f37f7185bd397a4af330baef7ccfbb33e61af27 Mon Sep 17 00:00:00 2001
From: ch-sa <christoph.sager@gmail.com>
Date: Sat, 5 Feb 2022 12:39:45 +0100
Subject: [PATCH] Fix point cloud getter

 - fixes a bug introduced by PointCloudManager refactoring
 - black formatting
 - bump version

Closes: #60
---
 labelCloud/__init__.py                |  2 +-
 labelCloud/control/bbox_controller.py | 13 +++++++------
 labelCloud/control/controller.py      |  2 +-
 labelCloud/utils/math3d.py            |  4 ++--
 labelCloud/view/viewer.py             |  2 +-
 5 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/labelCloud/__init__.py b/labelCloud/__init__.py
index 4910b9e..ed9d4d8 100644
--- a/labelCloud/__init__.py
+++ b/labelCloud/__init__.py
@@ -1 +1 @@
-__version__ = "0.7.3"
+__version__ = "0.7.4"
diff --git a/labelCloud/control/bbox_controller.py b/labelCloud/control/bbox_controller.py
index 38e16a3..767d459 100644
--- a/labelCloud/control/bbox_controller.py
+++ b/labelCloud/control/bbox_controller.py
@@ -12,6 +12,7 @@
 from ..model.bbox import BBox
 from ..utils import oglhelper
 from .config_manager import config
+from .pcd_manager import PointCloudManger
 
 if TYPE_CHECKING:
     from ..view.gui import GUI
@@ -52,10 +53,10 @@ class BoundingBoxController(object):
     STD_SCALING = config.getfloat("LABEL", "std_scaling")
 
     def __init__(self) -> None:
-        self.view = None
-        self.bboxes = []
+        self.view: Optional[GUI] = None
+        self.bboxes: List[BBox] = []
         self.active_bbox_id = -1  # -1 means zero bboxes
-        self.pcdc = None
+        self.pcd_manager: Optional[PointCloudManger] = None
 
     # GETTERS
     def has_active_bbox(self) -> bool:
@@ -208,7 +209,7 @@ def rotate_with_mouse(
         self, x_angle: float, y_angle: float
     ) -> None:  # TODO: Make more intuitive
         # Get bbox perspective
-        pcd_z_rotation = self.pcdc.get_pointcloud().rot_z
+        pcd_z_rotation = self.pcd_manager.pointcloud.rot_z
         bbox_z_rotation = self.get_active_bbox().get_z_rotation()
         total_z_rotation = pcd_z_rotation + bbox_z_rotation
 
@@ -224,7 +225,7 @@ def translate_along_x(self, distance: float = None, left: bool = False) -> None:
         distance = distance or config.getfloat("LABEL", "std_translation")
         if left:
             distance *= -1
-        cosz, sinz, bu = self.pcdc.get_perspective()
+        cosz, sinz, bu = self.pcd_manager.get_perspective()
         self.get_active_bbox().set_x_translation(
             self.get_active_bbox().center[0] + distance * cosz
         )
@@ -237,7 +238,7 @@ def translate_along_y(self, distance: float = None, forward: bool = False) -> No
         distance = distance or config.getfloat("LABEL", "std_translation")
         if forward:
             distance *= -1
-        cosz, sinz, bu = self.pcdc.get_perspective()
+        cosz, sinz, bu = self.pcd_manager.get_perspective()
         self.get_active_bbox().set_x_translation(
             self.get_active_bbox().center[0] + distance * bu * -sinz
         )
diff --git a/labelCloud/control/controller.py b/labelCloud/control/controller.py
index 09e37e6..9f117cb 100644
--- a/labelCloud/control/controller.py
+++ b/labelCloud/control/controller.py
@@ -43,7 +43,7 @@ def startup(self, view: "GUI") -> None:
         self.drawing_mode.set_view(self.view)
         self.align_mode.set_view(self.view)
         self.view.glWidget.set_bbox_controller(self.bbox_controller)
-        self.bbox_controller.pcdc = self.pcd_manager
+        self.bbox_controller.pcd_manager = self.pcd_manager
 
         # Read labels from folders
         self.pcd_manager.read_pointcloud_folder()
diff --git a/labelCloud/utils/math3d.py b/labelCloud/utils/math3d.py
index 2ef6759..4eebc53 100644
--- a/labelCloud/utils/math3d.py
+++ b/labelCloud/utils/math3d.py
@@ -158,8 +158,8 @@ def get_line_perpendicular(
     b = m * -line_end[0] + line_end[1]
 
     # Calculate line perpendicular parallel to x-y-plane
-    intersection_x = (point[0] + m * (point[1] - b)) / (1 + m ** 2)
-    intersection_y = (m * point[0] + m ** 2 * point[1] + b) / (1 + m ** 2)
+    intersection_x = (point[0] + m * (point[1] - b)) / (1 + m**2)
+    intersection_y = (m * point[0] + m**2 * point[1] + b) / (1 + m**2)
     dir_vector = (
         point[0] - intersection_x,
         point[1] - intersection_y,
diff --git a/labelCloud/view/viewer.py b/labelCloud/view/viewer.py
index 9a508e9..6923ce5 100644
--- a/labelCloud/view/viewer.py
+++ b/labelCloud/view/viewer.py
@@ -164,7 +164,7 @@ def circular_mask(arr_length, center, radius) -> np.ndarray:
     dx = np.arange(arr_length)
     return (dx[np.newaxis, :] - center) ** 2 + (
         dx[:, np.newaxis] - center
-    ) ** 2 < radius ** 2
+    ) ** 2 < radius**2
 
 
 # Returns the minimum (closest) depth for a specified radius around the center