refactor: change the arguments of "set_rotation" in sensor and transform

Author: Lee-000

tensorbay/geometry/tests/test_transform.py

@@ -115,13 +115,16 @@ def test_set_translation(self):
     def test_set_rotation(self):
         transform = Transform3D()
 
-        transform.set_rotation([0, 1, 0, 0])
+        transform.set_rotation(0, 1, 0, 0)
         assert transform.rotation == quaternion(0, 1, 0, 0)
 
         quaternion_1 = quaternion(0, 1, 0, 0)
-        transform.set_rotation(quaternion_1)
+        transform.set_rotation(rotation=quaternion_1)
         assert transform.rotation == quaternion_1
 
+        with pytest.raises(TypeError):
+            transform.set_rotation([0, 1, 0, 0])
+
     def test_as_matrix(self):
         matrix = np.array([[1, 0, 0, 1], [0, -1, 0, 2], [0, 0, -1, 3], [0, 0, 0, 1]])
         transform = Transform3D([1, 2, 3], [0, 1, 0, 0])

tensorbay/geometry/transform.py

@@ -264,26 +264,38 @@ def set_translation(self, x: float, y: float, z: float) -> None:
         """
         self._translation = Vector3D(x, y, z)
 
-    def set_rotation(self, rotation: RotationType) -> None:
+    def set_rotation(
+        self,
+        w: Optional[float] = None,
+        x: Optional[float] = None,
+        y: Optional[float] = None,
+        z: Optional[float] = None,
+        *,
+        rotation: Optional[quaternion] = None,
+    ) -> None:
         """Set the rotation of the transform.
 
         Arguments:
-            rotation: Rotation in a sequence of [w, x, y, z] or numpy quaternion.
+            w: The w componet of the roation quaternion.
+            x: The x componet of the roation quaternion.
+            y: The y componet of the roation quaternion.
+            z: The z componet of the roation quaternion.
+            rotation: Rotation in numpy quaternion.
 
         Examples:
             >>> transform = Transform3D([1, 1, 1], [1, 0, 0, 0])
-            >>> transform.set_rotation([0, 1, 0, 0])
+            >>> transform.set_rotation(0, 1, 0, 0)
             >>> transform
             Transform3D(
               (translation): Vector3D(1, 1, 1),
               (rotation): quaternion(0, 1, 0, 0)
             )
 
         """
-        if isinstance(rotation, quaternion):
+        if rotation:
             self._rotation = quaternion(rotation)
-        else:
-            self._rotation = quaternion(*rotation)
+            return
+        self._rotation = quaternion(w, x, y, z)
 
     def as_matrix(self) -> np.ndarray:
         """Return the transform as a 4x4 transform matrix.

tensorbay/sensor/sensor.py

@@ -30,6 +30,7 @@
 
 """
 
+import warnings
 from typing import Any, Dict, Iterable, List, Optional, Tuple, Type, TypeVar, Union
 
 from ..geometry import Transform3D
@@ -45,6 +46,10 @@
 )
 from .intrinsics import CameraIntrinsics
 
+with warnings.catch_warnings():
+    warnings.simplefilter("ignore")
+    from quaternion import quaternion
+
 _T = TypeVar("_T", bound="Sensor")
 
 
@@ -234,14 +239,26 @@ def set_translation(self, x: float, y: float, z: float) -> None:
             self.extrinsics = Transform3D()
         self.extrinsics.set_translation(x, y, z)
 
-    def set_rotation(self, rotation: Transform3D.RotationType) -> None:
+    def set_rotation(
+        self,
+        w: Optional[float] = None,
+        x: Optional[float] = None,
+        y: Optional[float] = None,
+        z: Optional[float] = None,
+        *,
+        rotation: Optional[quaternion] = None,
+    ) -> None:
         """Set the rotation of the sensor.
 
         Arguments:
-            rotation: Rotation in a sequence of [w, x, y, z] or numpy quaternion.
+            w: The w componet of the roation quaternion.
+            x: The x componet of the roation quaternion.
+            y: The y componet of the roation quaternion.
+            z: The z componet of the roation quaternion.
+            rotation: Rotation in numpy quaternion.
 
         Examples:
-            >>> sensor.set_rotation([2, 3, 4, 5])
+            >>> sensor.set_rotation(2, 3, 4, 5)
             >>> sensor
             Lidar("Lidar1")(
                 (extrinsics): Transform3D(
@@ -253,7 +270,7 @@ def set_rotation(self, rotation: Transform3D.RotationType) -> None:
         """
         if not hasattr(self, "extrinsics"):
             self.extrinsics = Transform3D()
-        self.extrinsics.set_rotation(rotation)
+        self.extrinsics.set_rotation(w, x, y, z, rotation=rotation)
 
 
 @TypeRegister(SensorType.LIDAR)

tensorbay/sensor/tests/test_sensor.py

@@ -110,7 +110,7 @@ def test_set_translation(self):
 
     def test_set_rotation(self):
         lidar = Lidar("test")
-        lidar.set_rotation([1, 2, 3, 4])
+        lidar.set_rotation(1, 2, 3, 4)
         assert lidar.extrinsics.rotation == _ROTATION
 
     def test_dumps(self):
@@ -141,7 +141,7 @@ def test_set_translation(self):
 
     def test_set_rotation(self):
         radar = Radar("test")
-        radar.set_rotation([1, 2, 3, 4])
+        radar.set_rotation(1, 2, 3, 4)
         assert radar.extrinsics.rotation == _ROTATION
 
     def test_dumps(self):
@@ -172,7 +172,7 @@ def test_set_translation(self):
 
     def test_set_rotation(self):
         camera = Camera("test")
-        camera.set_rotation([1, 2, 3, 4])
+        camera.set_rotation(1, 2, 3, 4)
         assert camera.extrinsics.rotation == _ROTATION
 
     def test_set_camera_matrix(self):
@@ -221,7 +221,7 @@ def test_set_translation(self):
 
     def test_set_rotation(self):
         fisheye_camera = FisheyeCamera("test")
-        fisheye_camera.set_rotation([1, 2, 3, 4])
+        fisheye_camera.set_rotation(1, 2, 3, 4)
         assert fisheye_camera.extrinsics.rotation == _ROTATION
 
     def test_dumps(self):