def test_xml(self):
"""
Test conversion to and from xml. This is just a basic functionality
test of a round trip from Pose3 to xml and back.
"""
pose = Pose3(t=Vector3(1.5, 2.6, 3.7),
R=np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]]))
pose_xml = pose.to_xml()
self.assertEqual(pose_xml.tag, 'pose')
pose_rt = Pose3.from_xml(pose_xml)
pose.assert_almost_equal(pose_rt)
def _parse_xml(base_elem):
"""
Parse the xml of an <element> tag, extracting the ProjectObject attributes.
Inputs:
base_elem (ET.Element) - An Element with tag "element" and appropriate
sub-elements.
Return:
tuple (id, pose, category, bounds, symmetry, score, evaluated)
ProjectObject attributes (see constructor for details).
Exceptions:
ValueError - If base_elem is not <element> or if none of its children is <id>.
"""
# verify base_elem tag is 'element'
if base_elem.tag != "element":
raise ValueError('Expected tag to be "element"')
# defaults
proxy = ProjectObject(1)
category = proxy.category
pose = proxy.pose
symmetry = proxy.symmetry
score = proxy.score
evaluated = proxy.evaluated
for elem in base_elem:
if elem.tag == "id":
id = elem.text
elif elem.tag == "pose":
pose = Pose3.from_xml(elem)
elif elem.tag == "category":
category = elem.text
elif (elem.tag == "bounds"):
# Note: Boxe3d.from_xml expects tag to be 'box3d'
elem_temp = deepcopy(elem)
elem_temp.tag = "box3d"
bounds = Box3d.from_xml(elem_temp)
elif elem.tag == "symmetry":
symmetry = ObjectSymmetry.from_xml(elem)
elif elem.tag == "detectionScore":
score = float(elem.text)
elif elem.tag == "evaluated":
evaluated = bool(elem.text)
if id is None:
raise ValueError("XML is missing required <id> tag.")
return (id, pose, category, bounds, symmetry, score, evaluated)