def test_set_extrinsics(self):
lidar_1 = Lidar("test")
lidar_1.set_extrinsics()
assert lidar_1.extrinsics == Transform3D()
lidar_2 = Lidar("test")
lidar_2.set_extrinsics(_TRANSLATION, _ROTATION)
assert lidar_2.extrinsics == Transform3D(_TRANSLATION, _ROTATION)
def test_import_cloud_files_to_fusiondataset(self, accesskey, url, config_name):
gas_client = GAS(access_key=accesskey, url=url)
try:
cloud_client = gas_client.get_cloud_client(config_name)
except ResourceNotExistError:
pytest.skip(f"skip this case because there's no {config_name} config")
auth_data = cloud_client.list_auth_data("tests")[:5]
dataset_name = get_dataset_name()
dataset_client = gas_client.create_dataset(dataset_name, True, config_name=config_name)
dataset = FusionDataset(name=dataset_name)
segment = dataset.create_segment("Segment1")
lidar = Lidar("LIDAR")
segment.sensors.add(lidar)
for data in auth_data:
data.label.classification = Classification("cat", attributes={"color": "red"})
frame = Frame()
frame["LIDAR"] = data
segment.append(frame)
dataset_client = gas_client.upload_dataset(dataset, jobs=5)
dataset_client.commit("import data")
segment1 = FusionSegment("Segment1", client=dataset_client)
assert len(segment1) == len(segment)
assert segment1[0]["LIDAR"].path == segment[0]["LIDAR"].path.split("/")[-1]
assert segment1[0]["LIDAR"].label.classification.category == "cat"
assert segment1[0]["LIDAR"].label.classification.attributes["color"] == "red"
assert len(auth_data) == len(segment)
gas_client.delete_dataset(dataset_name)
def test_loads(self):
sensors = Sensors.loads(_SENSORS_DATA)
assert sensors[_LIDAR_DATA["name"]] == Lidar.loads(_LIDAR_DATA)
assert sensors[_RADAR_DATA["name"]] == Radar.loads(_RADAR_DATA)
assert sensors[_CAMERA_DATA["name"]] == Camera.loads(_CAMERA_DATA)
assert sensors[_FISHEYE_CAMERA_DATA["name"]] == FisheyeCamera.loads(
_FISHEYE_CAMERA_DATA)
def test_dumps(self):
sensors = Sensors()
sensors.add(Lidar.loads(_LIDAR_DATA))
sensors.add(Radar.loads(_RADAR_DATA))
sensors.add(Camera.loads(_CAMERA_DATA))
sensors.add(FisheyeCamera.loads(_FISHEYE_CAMERA_DATA))
assert sensors.dumps() == _SENSORS_DATA
def _load_sensors(calib_path: str) -> Sensors:
try:
import yaml # pylint: disable=import-outside-toplevel
except ModuleNotFoundError as error:
raise ModuleImportError(module_name=error.name,
package_name="pyyaml") from error
sensors = Sensors()
lidar = Lidar("LIDAR")
lidar.set_extrinsics()
sensors.add(lidar)
with open(os.path.join(calib_path, "extrinsics.yaml"),
"r",
encoding="utf-8") as fp:
extrinsics = yaml.load(fp, Loader=yaml.FullLoader)
for camera_calibration_file in glob(os.path.join(calib_path,
"[0-9]*.yaml")):
with open(camera_calibration_file, "r", encoding="utf-8") as fp:
camera_calibration = yaml.load(fp, Loader=yaml.FullLoader)
# camera_calibration_file looks like:
# /path-to-CADC/2018_03_06/calib/00.yaml
camera_name = f"CAM{os.path.splitext(os.path.basename(camera_calibration_file))[0]}"
camera = Camera(camera_name)
camera.description = camera_calibration["camera_name"]
camera.set_extrinsics(matrix=extrinsics[f"T_LIDAR_{camera_name}"])
camera_matrix = camera_calibration["camera_matrix"]["data"]
camera.set_camera_matrix(
matrix=[camera_matrix[:3], camera_matrix[3:6], camera_matrix[6:9]])
distortion = camera_calibration["distortion_coefficients"]["data"]
camera.set_distortion_coefficients(
**dict(zip(("k1", "k2", "p1", "p2", "k3"), distortion)))
sensors.add(camera)
return sensors
def test_dumps(self):
lidar = Lidar("Lidar1")
lidar.set_extrinsics(_TRANSLATION, _ROTATION)
contents = lidar.dumps()
assert contents == _LIDAR_DATA
def test_set_rotation(self):
lidar = Lidar("test")
lidar.set_rotation(1, 2, 3, 4)
assert lidar.extrinsics.rotation == _ROTATION
def test_set_translation(self):
lidar = Lidar("test")
lidar.set_translation(x=1, y=2, z=3)
assert lidar.extrinsics.translation == _TRANSLATION
def test_init(self):
lidar = Lidar("Lidar1")
assert lidar.name == "Lidar1"