feat: add "isclose" method for Vector, Box3D and LabeledBox3D

tensorbay/geometry/box.py

@@ -407,6 +407,25 @@ def _line_intersect(length1: float, length2: float, midpoint_distance: float) ->
         intersect_length = min(line1_max, line2_max) - max(line1_min, line2_min)
         return intersect_length if intersect_length > 0 else 0
 
+    def _allclose(self, other: _B3, *, rel_tol: float = 1e-09, abs_tol: float = 0.0) -> bool:
+        """Determine whether this 3D box is close to another in value.
+
+        Arguments:
+            other: The other object to compare.
+            rel_tol: Maximum difference for being considered "close", relative to the
+                     magnitude of the input values
+            abs_tol: Maximum difference for being considered "close", regardless of the
+                     magnitude of the input values
+
+        Returns:
+            A bool value indicating whether this vector is close to another.
+
+        """
+        # pylint: disable=protected-access
+        return self._size._allclose(
+            other.size, rel_tol=rel_tol, abs_tol=abs_tol
+        ) and self._transform._allclose(other.transform, rel_tol=rel_tol, abs_tol=abs_tol)
+
     def _loads(self, contents: Dict[str, Dict[str, float]]) -> None:
         self._size = Vector3D.loads(contents["size"])
         self._transform = Transform3D.loads(contents)

tensorbay/geometry/tests/test_box.py

@@ -6,7 +6,7 @@
 import pytest
 from quaternion import quaternion
 
-from ...utility import UserSequence
+from ...utility import UserSequence, allclose
 from .. import Box2D, Box3D, Transform3D, Vector2D, Vector3D
 
 _DATA_2D = {"xmin": 1.0, "ymin": 2.0, "xmax": 3.0, "ymax": 4.0}
@@ -116,10 +116,13 @@ def test_rmul(self):
         assert box3d.__rmul__(transform) == Box3D(
             size=(1, 1, 1), translation=[2, 0, 0], rotation=quaternion(-1, 0, 0, 0)
         )
-        assert box3d.__rmul__(quaternion_1) == Box3D(
-            size=(1, 1, 1),
-            translation=[1.7999999999999996, 2, 2.6],
-            rotation=quaternion(-2, 1, 4, -3),
+        assert allclose(
+            box3d.__rmul__(quaternion_1),
+            Box3D(
+                size=(1, 1, 1),
+                translation=[1.7999999999999996, 2, 2.6],
+                rotation=quaternion(-2, 1, 4, -3),
+            ),
         )
         assert box3d.__rmul__(1) == NotImplemented
 

tensorbay/geometry/tests/test_vector.py

@@ -125,6 +125,11 @@ def test_abs(self):
         assert abs(Vector(1, 1)) == 1.4142135623730951
         assert abs(Vector(1, 1, 1)) == 1.7320508075688772
 
+    def test__allclose(self):
+        assert Vector(1, 2)._allclose(Vector2D(1.000000000001, 2))
+        assert Vector(1, 2, 3)._allclose(Vector3D(1.000000000001, 2, 2.999999999996))
+        assert not Vector(1, 2, 3)._allclose(Vector3D(1.100000000001, 2, 2.999999999996))
+
     def test_repr_head(self):
         vector = Vector(1, 2)
         assert vector._repr_head() == "Vector2D(1, 2)"

tensorbay/geometry/transform.py

@@ -23,7 +23,9 @@
 
 with warnings.catch_warnings():
     warnings.simplefilter("ignore")
-    from quaternion import as_rotation_matrix, from_rotation_matrix, quaternion, rotate_vectors
+    from quaternion import as_rotation_matrix, from_rotation_matrix
+    from quaternion import isclose as quaternion_isclose
+    from quaternion import quaternion, rotate_vectors
 
 _T = TypeVar("_T", bound="Transform3D")
 
@@ -154,6 +156,27 @@ def _mul_vector(self, other: Iterable[float]) -> Vector3D:
         # __radd__ is used to ensure the shape of the input object.
         return self._translation.__radd__(rotate_vectors(self._rotation, other))
 
+    def _allclose(self, other: object, *, rel_tol: float = 1e-09, abs_tol: float = 0.0) -> bool:
+        """Determine whether this 3D transform is close to another in value.
+
+        Arguments:
+            other: The other object to compare.
+            rel_tol: Maximum difference for being considered "close", relative to the
+                     magnitude of the input values
+            abs_tol: Maximum difference for being considered "close", regardless of the
+                     magnitude of the input values
+
+        Returns:
+            A bool value indicating whether this vector is close to another.
+
+        """
+        if not isinstance(other, self.__class__):
+            return False
+
+        return self._translation._allclose(  # pylint: disable=protected-access
+            other.translation, rel_tol=rel_tol, abs_tol=abs_tol
+        ) and all(quaternion_isclose(self._rotation, other.rotation))
+
     def _loads(self, contents: Dict[str, Dict[str, float]]) -> None:
         self._translation = Vector3D.loads(contents["translation"])
         rotation_contents = contents["rotation"]

tensorbay/geometry/vector.py

@@ -15,7 +15,9 @@
 """
 
 from itertools import zip_longest
-from math import hypot, sqrt
+from math import hypot
+from math import isclose as math_isclose
+from math import sqrt
 from sys import version_info
 from typing import Dict, Iterable, Optional, Sequence, Tuple, Type, TypeVar, Union
 
@@ -180,6 +182,35 @@ def __abs__(self) -> float:
     def _repr_head(self) -> str:
         return f"{self.__class__.__name__}{self._data}"
 
+    def _allclose(
+        self, other: Iterable[float], *, rel_tol: float = 1e-09, abs_tol: float = 0.0
+    ) -> bool:
+        """Determine whether this vector is close to another in value.
+
+        Arguments:
+            other: The other object to compare.
+            rel_tol: Maximum difference for being considered "close", relative to the
+                     magnitude of the input values
+            abs_tol: Maximum difference for being considered "close", regardless of the
+                     magnitude of the input values
+
+        Raises:
+            TypeError: When other have inconsistent dimension.
+
+        Returns:
+            A bool value indicating whether this vector is close to another.
+
+        """
+        try:
+            return all(
+                math_isclose(i, j, rel_tol=rel_tol, abs_tol=abs_tol)
+                for i, j in zip_longest(self._data, other)
+            )
+        except TypeError as error:
+            raise TypeError(
+                f"The other object must have the dimension of {self._DIMENSION}"
+            ) from error
+
     @staticmethod
     def loads(contents: Dict[str, float]) -> _T:
         """Loads a :class:`Vector` from a dict containing coordinates of the vector.

tensorbay/label/basic.py

@@ -143,6 +143,7 @@ class _LabelBase(AttrsMixin, TypeMixin[LabelType], ReprMixin):
     _label_attrs: Tuple[str, ...] = ("category", "attributes", "instance")
 
     _repr_attrs = _label_attrs
+    _support_allclose = True
 
     _AttributeType = Dict[str, Union[str, int, float, bool, List[Union[str, int, float, bool]]]]
 

tensorbay/label/tests/test_label_box.py

@@ -7,6 +7,7 @@
 from quaternion import quaternion
 
 from ...geometry import Transform3D, Vector3D
+from ...utility import allclose
 from .. import Box2DSubcatalog, Box3DSubcatalog, LabeledBox2D, LabeledBox3D
 
 
@@ -156,13 +157,16 @@ def test_rmul(self):
             instance="12345",
         )
 
-        assert labeledbox3d.__rmul__(quaternion_1) == LabeledBox3D(
-            size=size,
-            translation=[1.7999999999999996, 2, 2.6],
-            rotation=[-2, 1, 4, -3],
-            category="cat",
-            attributes={"gender": "male"},
-            instance="12345",
+        assert allclose(
+            labeledbox3d.__rmul__(quaternion_1),
+            LabeledBox3D(
+                size=size,
+                translation=[1.7999999999999996, 2, 2.6],
+                rotation=[-2, 1, 4, -3],
+                category="cat",
+                attributes={"gender": "male"},
+                instance="12345",
+            ),
         )
 
         assert labeledbox3d.__rmul__(1) == NotImplemented

tensorbay/utility/__init__.py

@@ -13,6 +13,7 @@
     EqMixin,
     KwargsDeprecated,
     MatrixType,
+    allclose,
     common_loads,
     locked,
 )
@@ -42,6 +43,7 @@
     "UserMutableMapping",
     "UserMutableSequence",
     "UserSequence",
+    "allclose",
     "attr",
     "attr_base",
     "camel",

tensorbay/utility/attr.py

@@ -10,6 +10,7 @@
 :class:`Field` is a class describing the attr related fields.
 
 """
+from math import isclose as math_isclose
 from sys import version_info
 from typing import (
     Any,
@@ -64,6 +65,7 @@ def __init__(
     ) -> None:
         self.loader: _Callable
         self.dumper: _Callable
+        self.allclose: Callable[[Any, Any, float, float], bool]
 
         self.is_dynamic = is_dynamic
         self.default = default
@@ -94,6 +96,7 @@ def __init__(self, key: Optional[str]) -> None:
         self.loader: _Callable
         self.dumper: _Callable
         self.key = key
+        self.allclose: Callable[[Any, Any, float, float], bool]
 
 
 class AttrsMixin:
@@ -109,6 +112,7 @@ class AttrsMixin:
 
     def __init_subclass__(cls) -> None:
         type_ = cls.__annotations__.pop(_ATTRS_BASE, None)
+        support_allclose = getattr(cls, "_support_allclose", False)
         if type_:
             cls._attrs_base.loader = type_._loads  # pylint: disable=protected-access
             cls._attrs_base.dumper = type_.dumps
@@ -122,6 +126,8 @@ def __init_subclass__(cls) -> None:
             field = getattr(cls, name, None)
             if isinstance(field, Field):
                 field.loader, field.dumper = _get_operators(type_)
+                if support_allclose:
+                    field.allclose = _get_allclose(type_)
                 if hasattr(field, "key_converter"):
                     field.key = field.key_converter(name)
                 attrs_fields[name] = field
@@ -200,6 +206,32 @@ def _dumps(self) -> Dict[str, Any]:
             _key_dumper(field.key, contents, field.dumper(value))
         return contents
 
+    def _allclose(self, other: object, *, rel_tol: float = 1e-09, abs_tol: float = 0.0) -> bool:
+        """Determine whether this instance is close to another in value.
+
+        Arguments:
+            other: The other instance to compare.
+            rel_tol: Maximum difference for being considered "close", relative to the
+                     magnitude of the input values
+            abs_tol: Maximum difference for being considered "close", regardless of the
+                     magnitude of the input values
+
+        Returns:
+            A bool value indicating whether this instance is close to another.
+
+        """
+        result = True
+
+        for name, field in self._attrs_fields.items():
+            if not hasattr(self, name):
+                continue
+
+            result = result and field.allclose(  # type: ignore[call-arg]
+                getattr(self, name), getattr(other, name), rel_tol=rel_tol, abs_tol=abs_tol
+            )
+
+        return result
+
 
 def attr(
     *,
@@ -292,6 +324,43 @@ def _get_origin_in_3_6(annotation: Any) -> Any:
 _get_origin = _get_origin_in_3_6 if version_info < (3, 7) else _get_origin_in_3_7
 
 
+def _get_allclose(annotation: Any) -> Callable[[Any, Any, float, float], bool]:
+    """Get attr allclose methods by annotations.
+
+     AttrsMixin has three operating types which are classified by attr annotation.
+        1. builtin types, like str, int, None
+        2. tensorbay custom class, like tensorbay.label.Classification
+        3. tensorbay custom class list or NameList, like List[tensorbay.label.LabeledBox2D]
+
+    Arguments:
+        annotation: Type of the attr.
+
+    Returns:
+        The ``_allclose`` methods of the annotation.
+
+    """
+    origin = _get_origin(annotation)
+    if isinstance(origin, type) and issubclass(origin, Sequence):
+        type_ = annotation.__args__[0]
+        return lambda self, other, rel_tol=1e-09, abs_tol=0.0: all(  # type: ignore[misc]
+            _get_allclose(type_)(i, j, rel_tol=rel_tol, abs_tol=abs_tol)  # type: ignore[call-arg]
+            for i, j in zip(self, other)
+        )
+
+    type_ = annotation
+
+    mod = getattr(type_, "__module__", None)
+    if mod in _BUILTINS:
+        if type_ in (int, float):
+            return math_isclose  # type: ignore[return-value]
+        return _eq_allclose  # type: ignore[return-value]
+    return type_._allclose  # type: ignore[no-any-return]  # pylint: disable=protected-access
+
+
+def _eq_allclose(object_1: object, object_2: object, **_: float) -> bool:
+    return object_1 == object_2
+
+
 def _get_operators(annotation: Any) -> Tuple[_Callable, _Callable]:
     """Get attr operating methods by annotations.
 

tensorbay/utility/common.py

@@ -20,6 +20,7 @@
 from typing import Any, Callable, DefaultDict, Optional, Sequence, Tuple, Type, TypeVar, Union
 
 import numpy as np
+from typing_extensions import Protocol
 
 _T = TypeVar("_T")
 _Callable = TypeVar("_Callable", bound=Callable[..., Any])
@@ -45,6 +46,53 @@ def common_loads(object_class: Type[_T], contents: Any) -> _T:
     return obj
 
 
+class _A(Protocol):  # pylint: disable=too-few-public-methods
+    def _allclose(self, other: "_A", *, rel_tol: float = 1e-09, abs_tol: float = 0.0) -> bool:
+        """Tell if all the data is close to the other object.
+
+        Arguments:
+            other: The other object.
+            rel_tol: Maximum difference for being considered "close", relative to the
+                     magnitude of the input values
+            abs_tol: Maximum difference for being considered "close", regardless of the
+                     magnitude of the input values
+        """
+
+
+def allclose(object_1: _A, object_2: _A, *, rel_tol: float = 1e-09, abs_tol: float = 0.0) -> bool:
+    """Determine whether object_1 is close to object_2 in value.
+
+    Arguments:
+        object_1: The first object to compare.
+        object_2: The second object to compare.
+        rel_tol: Maximum difference for being considered "close", relative to the
+                 magnitude of the input values
+        abs_tol: Maximum difference for being considered "close", regardless of the
+                 magnitude of the input values
+
+    Returns:
+        A bool value indicating whether object_1 is close to object_2.
+
+    """
+    try:
+        # pylint: disable=protected-access
+        if issubclass(object_1.__class__, object_2.__class__) and hasattr(object_1, "_allclose"):
+            print(1)
+            return object_1._allclose(object_2, rel_tol=rel_tol, abs_tol=abs_tol)
+        if issubclass(object_2.__class__, object_1.__class__) and hasattr(object_2, "_allclose"):
+            print(2)
+            return object_2._allclose(object_1, rel_tol=rel_tol, abs_tol=abs_tol)
+
+        if hasattr(object_1, "_allclose"):
+            print(3)
+            return object_1._allclose(object_2, rel_tol=rel_tol, abs_tol=abs_tol)
+        print(4)
+        return object_2._allclose(object_1, rel_tol=rel_tol, abs_tol=abs_tol)
+    except Exception:  # pylint: disable=broad-except
+        print(5)
+        return False
+
+
 class EqMixin:  # pylint: disable=too-few-public-methods
     """A mixin class to support __eq__() method.