Merge branch 'master' into upgrade-numpy

.gitignore

@@ -41,3 +41,5 @@ tests/test_data/tmp
 .vscode
 tests/test_data/1obj_*.txt
 tests/test_data/mot16_scenario_*.txt
+
+.ipynb_checkpoints

README.md

@@ -76,12 +76,11 @@ Make sure that you can run `python -c "import argoverse"` in python, and you are
 * Some visualizations may require `mayavi`. See instructions on how to install Mayavi [here](https://docs.enthought.com/mayavi/mayavi/installation.html).
 
 ### (optional) Stereo tutorial dependencies
-* You will need to install four dependencies to run the [stereo tutorial](https://github.com/argoai/argoverse-api/blob/master/demo_usage/competition_stereo_tutorial.ipynb):
+* You will need to install three dependencies to run the [stereo tutorial](https://github.com/argoai/argoverse-api/blob/master/demo_usage/competition_stereo_tutorial.ipynb):
 
     * **Open3D**: See instructions on how to install [here](https://github.com/intel-isl/Open3D).
     * **OpenCV contrib**: See instructions on how to install [here](https://pypi.org/project/opencv-contrib-python).
     * **Plotly**: See instructions on how to install [here](https://github.com/plotly/plotly.py).
-    * **Numba**: See instructions on how to install [here](http://numba.pydata.org/).
 
 ### (optional) Remake the object-oriented label folders
 * The `track_labels_amodal` folders contains object-oriented labels (in contrast to per-frame labels in `per_sweep_annotations_amodal` folders. Run following script to remake `track_labels_amodal` folders and fix existing issues:

argoverse/evaluation/detection/utils.py

@@ -412,8 +412,8 @@ def calc_ap(gt_ranked: np.ndarray, recalls_interp: np.ndarray, ninst: int) -> Tu
     """
     tp = gt_ranked
 
-    cumulative_tp = np.cumsum(tp, dtype=np.int)
-    cumulative_fp = np.cumsum(~tp, dtype=np.int)
+    cumulative_tp = np.cumsum(tp, dtype=int)
+    cumulative_fp = np.cumsum(~tp, dtype=int)
     cumulative_fn = ninst - cumulative_tp
 
     precisions = cumulative_tp / (cumulative_tp + cumulative_fp + np.finfo(float).eps)

argoverse/utils/make_att_files.py

@@ -115,7 +115,7 @@ def save_bev_img(
             )
             cv2.line(img, p1, p2, color=color)
 
-    kernel = np.ones((5, 5), np.float)
+    kernel = np.ones((5, 5), float)
     img = cv2.dilate(img, kernel, iterations=1)
     cv2.putText(
         img,