def test_json_metadata_writer(self):
builder = self._get_metadata_builder()
expected = {
"type": "xviz/metadata",
"data": {
"version": "2.0.0",
"streams": {
"/image/camera": {
"category": "PRIMITIVE",
"primitive_type": "IMAGE",
},
"/vehicle_pose": {
"category": "POSE",
},
"/point/lidar": {
"category": "PRIMITIVE",
"primitive_type": "POINT",
"stream_style": {
"radius_pixels": 1.0,
},
"coordinate": "VEHICLE_RELATIVE",
},
},
},
}
source = xi.MemorySource(latest_only=True)
writer = xi.XVIZJsonWriter(source)
writer.write_message(builder.get_message())
data = source.read()
data = json.loads(data.decode('ascii'))
assert data == expected
writer.close()
def test_glb_metadata_writer(self):
builder = self._get_metadata_builder()
source = xi.MemorySource(latest_only=True)
writer = xi.XVIZGLBWriter(source)
writer.write_message(builder.get_message())
data = source.read()
# because json encoding of dict is not necessarily deterministic (different
# order of iteration of keys), we decode the json and check for dict equality
expected_prefix = b'glTF\x02\x00\x00\x00\xec\x01\x00\x00\xd0\x01\x00\x00JSON'
expected_json = {
"asset": {
"version": "2",
},
"buffers": [{
"byteLength": 0,
}],
"bufferViews": [],
"accessors": [],
"images": [],
"meshes": [],
"extensions": {
"AVS_xviz": {
"type": "xviz/metadata",
"data": {
"version": "2.0.0",
"streams": {
"/vehicle_pose": {
"category": "POSE",
},
"/image/camera": {
"category": "PRIMITIVE",
"primitive_type": "IMAGE",
},
"/point/lidar": {
"category": "PRIMITIVE",
"primitive_type": "POINT",
"stream_style": {
"radius_pixels": 1,
},
"coordinate": "VEHICLE_RELATIVE",
},
},
},
},
},
"extensionsUsed": [
"AVS_xviz",
],
}
expected_suffix = b'\x00\x00\x00\x00BIN\x00'
assert data.startswith(expected_prefix)
assert data.endswith(expected_suffix)
data_json = json.loads(
data[len(expected_prefix):-len(expected_suffix)].decode('ascii'))
assert data_json == expected_json
def test_json_normal_writer(self):
builder = xb.XVIZBuilder()
builder.pose()\
.timestamp(2.000000000001)\
.map_origin(4.4, 5.5, 6.6)\
.position(44., 55., 66.)\
.orientation(0.44, 0.55, 0.66)
builder.primitive('/test_primitive').circle([0, 0, 0], 2)
expected = {
"type": "xviz/state_update",
"data": {
"update_type":
"INCREMENTAL",
"updates": [{
"timestamp": 2.0,
"poses": {
"/vehicle_pose": {
"timestamp": 2.0,
"map_origin": {
"longitude": 4.4,
"latitude": 5.5,
"altitude": 6.6
},
"position": [44.0, 55.0, 66.0],
"orientation": [0.44, 0.55, 0.66]
}
},
"primitives": {
"/test_primitive": {
"circles": [{
"center": [0.0, 0.0, 0.0],
"radius": 2.0
}]
}
}
}]
}
}
expected = json.dumps(expected, separators=(',', ':')).encode('ascii')
source = xi.MemorySource(latest_only=True)
writer = xi.XVIZJsonWriter(source)
writer.write_message(builder.get_message())
data = source.read()
assert data == expected
writer.close()
def test_protobuf_normal_writer(self):
builder = self._get_builder(circle=True)
source = xi.MemorySource(latest_only=True)
writer = xi.XVIZProtobufWriter(source)
writer.write_message(builder.get_message())
data = source.read()
expected = b'glTF\x02\x00\x00\x004\x02\x00\x00\x18\x02\x00\x00JSON{"asset":{"version":"2"'\
b'},"buffers":[{"byteLength":0}],"bufferViews":[],"accessors":[],"image":[],"meshes":'\
b'[],"extensions":{"AVS_xviz":{"type":"#xviz/state_update","data":{"update_type":"#IN'\
b'CREMENTAL","updates":[{"timestamp":2.000000000001,"poses":{"/vehicle_pose":{"timest'\
b'amp":2.000000000001,"map_origin":{"longitude":4.4,"latitude":5.5,"altitude":6.6},"p'\
b'osition":[44.0,55.0,66.0],"orientation":[0.44,0.55,0.66]}},"primitives":{"/test_pri'\
b'mitive":{"circles":[{"center":[0.0,0.0,0.0],"radius":2.0}]}}}]}}},"extensionsUsed":'\
b'["AVS_xviz"]}\x00\x00\x00\x00\x00\x00BIN\x00'
def test_message_index(self):
metadata_builder = self._get_metadata_builder()
builder = self._get_builder(circle=True)
expected = {
'timing': [[2.000000000001, 2.000000000001, 0, '2-frame']],
}
source = xi.MemorySource()
data = source._data # save a reference to dict since it gets deleted after close
writer = xi.XVIZJsonWriter(source)
writer.write_message(metadata_builder.get_message())
writer.write_message(builder.get_message())
writer.close()
data = json.loads(data['0-frame.json'].decode('ascii'))
assert data == expected
def test_protobuf_normal_writer(self):
builder = self._get_builder(circle=True)
source = xi.MemorySource(latest_only=True)
writer = xi.XVIZProtobufWriter(source)
writer.write_message(builder.get_message())
data = source.read()
expected = b'PBE1\n\x11xviz/state_update\x12\xd1\x01\n\'type.googleapis.com/xviz.v2.State'\
b'Update\x12\xa5\x01\x08\x02\x12\xa0\x01\t\xcc\x08\x00\x00\x00\x00\x00@\x12k\n\r/vehi'\
b'cle_pose\x12Z\t\xcc\x08\x00\x00\x00\x00\x00@\x12\x1b\t\x9a\x99\x99\x99\x99\x99\x11@'\
b'\x11\x00\x00\x00\x00\x00\x00\x16@\x19ffffff\x1a@\x1a\x18\x00\x00\x00\x00\x00\x00F@' \
b'\x00\x00\x00\x00\x00\x80K@\x00\x00\x00\x00\x00\x80P@"\x18)\\\x8f\xc2\xf5(\xdc?\x9a' \
b'\x99\x99\x99\x99\x99\xe1?\x1f\x85\xebQ\xb8\x1e\xe5?\x1a(\n\x0f/test_primitive\x12' \
b'\x15"\x13\x12\x0c\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1d\x00\x00\x00@'
assert data == expected
def test_glb_polyline_writer(self):
builder = self._get_builder(polyline=True)
source = xi.MemorySource(latest_only=True)
writer = xi.XVIZGLBWriter(source)
writer.write_message(builder.get_message())
data = source.read()
expected = b'glTF\x02\x00\x00\x00\xac\x02\x00\x00x\x02\x00\x00JSON{"asset":{"version":"2"'\
b'},"buffers":[{"byteLength":24}],"bufferViews":[{"buffer":0,"byteOffset":0,"byteLeng'\
b'th":24}],"accessors":[{"bufferView":0,"type":"VEC3","componentType":5126,"count":2}'\
b'],"images":[],"meshes":[],"extensions":{"AVS_xviz":{"type":"xviz/state_update","dat'\
b'a":{"update_type":"INCREMENTAL","updates":[{"timestamp":2.000000000001,"poses":{"/v'\
b'ehicle_pose":{"timestamp":2.000000000001,"map_origin":{"longitude":4.4,"latitude":5'\
b'.5,"altitude":6.6},"position":[44.0,55.0,66.0],"orientation":[0.44,0.55,0.66]}},"pr'\
b'imitives":{"/test_primitive":{"polylines":[{"vertices":"#/accessors/0"}]}}}]}}},"ex'\
b'tensionsUsed":["AVS_xviz"]} \x18\x00\x00\x00BIN\x00\x00\x00\x80?\x00\x00\x80?\x00'\
b'\x00\x80?\x00\x00\x00@\x00\x00\x00@\x00\x00\x00@'
assert data == expected
def test_glb_polygon_writer(self):
builder = self._get_builder(polygon=True)
source = xi.MemorySource(latest_only=True)
writer = xi.XVIZGLBWriter(source)
writer.write_message(builder.get_message())
data = source.read()
expected = b'glTF\x02\x00\x00\x00\xf0\x02\x00\x00\x98\x02\x00\x00JSON{"asset":{"version":'\
b'"2"},"buffers":[{"byteLength":60}],"bufferViews":[{"buffer":0,"byteOffset":0,"byteL'\
b'ength":60}],"accessors":[{"bufferView":0,"type":"VEC3","componentType":5126,"count"'\
b':5}],"images":[],"meshes":[],"extensions":{"AVS_xviz":{"type":"xviz/state_update","'\
b'data":{"update_type":"INCREMENTAL","updates":[{"timestamp":2.000000000001,"poses":{'\
b'"/vehicle_pose":{"timestamp":2.000000000001,"map_origin":{"longitude":4.4,"latitude'\
b'":5.5,"altitude":6.6},"position":[44.0,55.0,66.0],"orientation":[0.44,0.55,0.66]}},'\
b'"primitives":{"/test_primitive":{"polygons":[{"base":{"style":{"height":2.0}},"vert'\
b'ices":"#/accessors/0"}]}}}]}}},"extensionsUsed":["AVS_xviz"]} <\x00\x00\x00BIN\x00'\
b'\x00\x00\x80?\x00\x00\x80?\x00\x00\x80?\x00\x00\x00@\x00\x00\x00@\x00\x00\x00@\x00'\
b'\x00@@\x00\x00@@\x00\x00@@\x00\x00\x80@\x00\x00\x80@\x00\x00\x80@\x00\x00\x80?\x00'\
b'\x00\x80?\x00\x00\x80?'
assert data == expected
def test_glb_point_cloud_writer(self):
builder = self._get_builder(points=True)
source = xi.MemorySource(latest_only=True)
writer = xi.XVIZGLBWriter(source)
writer.write_message(builder.get_message())
data = source.read()
expected = b'glTF\x02\x00\x00\x00D\x03\x00\x00\xf8\x02\x00\x00JSON{"asset":{"version":"2"'\
b'},"buffers":[{"byteLength":48}],"bufferViews":[{"buffer":0,"byteOffset":0,"byteLeng'\
b'th":36},{"buffer":0,"byteOffset":36,"byteLength":12}],"accessors":[{"bufferView":0,'\
b'"type":"VEC3","componentType":5126,"count":3},{"bufferView":1,"type":"VEC4","compon'\
b'entType":5121,"count":3}],"images":[],"meshes":[],"extensions":{"AVS_xviz":{"type":'\
b'"xviz/state_update","data":{"update_type":"INCREMENTAL","updates":[{"timestamp":2.0'\
b'00000000001,"poses":{"/vehicle_pose":{"timestamp":2.000000000001,"map_origin":{"lon'\
b'gitude":4.4,"latitude":5.5,"altitude":6.6},"position":[44.0,55.0,66.0],"orientation'\
b'":[0.44,0.55,0.66]}},"primitives":{"/test_primitive":{"points":[{"points":"#/access'\
b'ors/0","colors":"#/accessors/1"}]}}}]}}},"extensionsUsed":["AVS_xviz"]} 0\x00\x00'\
b'\x00BIN\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80?\x00\x00'\
b'\x80?\x00\x00\x80?\x00\x00\x00@\x00\x00\x00@\x00\x00\x00@\xff\x00\x00\x80\x00\xff'\
b'\x00\x80\x00\x00\xff\x80'
assert data == expected
