def __init__(
self,
size: Iterable[float],
translation: Iterable[float] = (0, 0, 0),
rotation: Transform3D.RotationType = (1, 0, 0, 0),
*,
transform_matrix: Optional[MatrixType] = None,
category: Optional[str] = None,
attributes: Optional[Dict[str, Any]] = None,
instance: Optional[str] = None,
):
Box3D.__init__(self, size, translation, rotation, transform_matrix=transform_matrix)
_LabelBase.__init__(self, category, attributes, instance)
def test_rmul(self):
transform = Transform3D([1, 2, 3], quaternion(0, 1, 0, 0))
quaternion_1 = quaternion(1, 2, 3, 4)
box3d = Box3D(size=(1, 1, 1), translation=[1, 2, 3], rotation=quaternion(0, 1, 0, 0))
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 box3d.__rmul__(1) == NotImplemented
def test_init(self):
translation = Vector3D(1, 2, 3)
rotation = quaternion(0, 1, 0, 0)
size = Vector3D(1, 2, 3)
box3d = Box3D(size, translation, rotation)
assert box3d.translation == translation
assert box3d.rotation == rotation
assert box3d.size == size
def __rmul__(self: _T, other: Transform3D) -> _T:
if isinstance(other, (Transform3D, quaternion)):
labeled_box_3d = Box3D.__rmul__(self, other)
if hasattr(self, "category"):
labeled_box_3d.category = self.category
if hasattr(self, "attributes"):
labeled_box_3d.attributes = self.attributes
if hasattr(self, "instance"):
labeled_box_3d.instance = self.instance
return labeled_box_3d
return NotImplemented # type: ignore[unreachable]
def test_iou(self):
box3d_1 = Box3D(size=[1, 1, 1])
box3d_2 = Box3D(size=[2, 2, 2])
assert Box3D.iou(box3d_1, box3d_2) == 0.125
def test_dumps(self):
box3d = Box3D(Vector3D(1, 2, 3), Vector3D(1, 2, 3), quaternion(0, 1, 0, 0))
assert box3d.dumps() == _DATA_3D
def test_loads(self):
box3d = Box3D.loads(_DATA_3D)
assert box3d.translation == Vector3D(1, 2, 3)
assert box3d.rotation == quaternion(0, 1, 0, 0)
assert box3d.size == Vector3D(1, 2, 3)
def test_line_intersect(self):
assert Box3D._line_intersect(4, 4, 1) == 3.0
def test_eq(self):
box3d_1 = Box3D((1, 1, 1))
box3d_2 = Box3D((1, 1, 1))
box3d_3 = Box3D(size=(1, 1, 1), translation=[1, 2, 3])
assert (box3d_1 == box3d_2) == True
assert (box3d_1 == box3d_3) == False