Improve type hinting slightly

Author: roshambo919

avstack/calibration.py

@@ -1,10 +1,15 @@
 from __future__ import annotations
 
 import json
+from typing import Union
 
 import numpy as np
 
-from avstack.geometry.refchoc import ReferenceDecoder, ReferenceFrame
+from avstack.geometry.refchoc import (
+    PassiveReferenceFrame,
+    ReferenceDecoder,
+    ReferenceFrame,
+)
 
 
 class CalibrationEncoder(json.JSONEncoder):
@@ -161,7 +166,7 @@ def allclose(self, other: RadarCalibration):
 class CameraCalibration(Calibration):
     def __init__(
         self,
-        reference: ReferenceFrame,
+        reference: Union[PassiveReferenceFrame, ReferenceFrame],
         P: np.ndarray,
         img_shape: tuple,
         focal_length: float = None,

avstack/modules/tracking/base.py

@@ -1,5 +1,5 @@
 import datetime
-from typing import List
+from typing import List, Union
 
 import numpy as np
 
@@ -95,7 +95,12 @@ def tracks_active(self):
         return DataContainer(self.frame, self.timestamp, trks_active, self.name)
 
     @apply_hooks
-    def __call__(self, detections, platform: ReferenceFrame, **kwargs):
+    def __call__(
+        self,
+        detections,
+        platform: Union[PassiveReferenceFrame, ReferenceFrame],
+        **kwargs,
+    ):
         if not isinstance(detections, DataContainer):
             raise ValueError(
                 f"Detections are {type(detections)}, must be DataContainer"

avstack/modules/tracking/tracker3d.py

@@ -11,7 +11,6 @@
 from .base import _TrackingAlgorithm
 from .tracks import (
     BasicBoxTrack3D,
-    BasicJointBoxTrack,
     XyzFromRazelRrtTrack,
     XyzFromRazelTrack,
     XyzFromXyzTrack,
@@ -251,7 +250,7 @@ def track(self, detections, platform, **kwargs):
                         lone_3d_to_det_map[i_det - len(fused_detections)]
                     ]
                     self.tracks.append(
-                        BasicJointBoxTrack(self.timestamp, None, d3d, platform, o3d)
+                        BasicJointBoxTrack3D(self.timestamp, None, d3d, platform, o3d)
                     )
             # ----- unassigned from the 2D to 2D step
             for i_det in assign_sol_3.unassigned_rows:
@@ -262,13 +261,13 @@ def track(self, detections, platform, **kwargs):
                         obj_types_3d[lone_fused_to_det_map[i_det][1]],
                     )
                     self.tracks.append(
-                        BasicJointBoxTrack(self.timestamp, d2d, d3d, platform, o2d)
+                        BasicJointBoxTrack3D(self.timestamp, d2d, d3d, platform, o2d)
                     )
                 else:
                     d2d = lone_2d[i_det - len(lone_fused)]
                     o2d = obj_types_2d[lone_2d_to_det_map[i_det - len(lone_fused)]]
                     self.tracks.append(
-                        BasicJointBoxTrack(self.timestamp, d2d, None, platform, o2d)
+                        BasicJointBoxTrack3D(self.timestamp, d2d, None, platform, o2d)
                     )
 
             # -- prune dead tracks

tests/modules/fusion/test_fusion.py

@@ -40,7 +40,7 @@ def test_ci_fusion_base_naive_bayes():
     assert np.allclose(P_f, P)
 
 
-def test_fusion_into_boxtrack():
+def test_fusion_into_BoxTrack3D():
     tracks = get_n_tracks(n_tracks=4)
     fuser = fusion.CovarianceIntersectionFusionToBox()
     fused_out = fuser(tracks)