def test_import(self):
bundler_file_path = path.join(self.aachen_models_folder,
'aachen_cvpr2018_db.out')
bundler_imagelist_path = path.join(self.aachen_models_folder,
'aachen_cvpr2018_db.list.txt')
with tempfile.TemporaryDirectory() as tmpdirname:
import_bundler(bundler_file_path,
bundler_imagelist_path,
self.images_folder,
tmpdirname,
ignore_trajectories=False,
add_reconstruction=True,
force_overwrite_existing=True)
expected_kdata = kapture_from_dir(
path.join(self.aachen_folder, 'kapture/training'))
expected_kdata.sensors = self.bundler_sensors
imported_aachen_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_aachen_data,
expected_kdata))
# test without trajectories
with tempfile.TemporaryDirectory() as tmpdirname:
import_bundler(bundler_file_path,
bundler_imagelist_path,
self.images_folder,
tmpdirname,
ignore_trajectories=True,
add_reconstruction=True,
force_overwrite_existing=True)
expected_kdata = kapture_from_dir(
path.join(self.aachen_folder, 'kapture/training'))
expected_kdata.sensors = self.bundler_sensors
expected_kdata._trajectories = None
imported_aachen_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_aachen_data,
expected_kdata))
# test without points3d
with tempfile.TemporaryDirectory() as tmpdirname:
import_bundler(bundler_file_path,
bundler_imagelist_path,
self.images_folder,
tmpdirname,
ignore_trajectories=False,
add_reconstruction=False,
force_overwrite_existing=True)
expected_kdata = kapture_from_dir(
path.join(self.aachen_folder, 'kapture/training'))
expected_kdata.sensors = self.bundler_sensors
expected_kdata._points3d = None
expected_kdata._keypoints = None
expected_kdata._observations = None
imported_aachen_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_aachen_data,
expected_kdata))
def test_import_two_models(self):
nvm_path = path.join(self.aachen_models_folder, 'aachen_two_parts.nvm')
with tempfile.TemporaryDirectory() as tmpdirname:
import_nvm(nvm_path, self.images_folder, tmpdirname,
filter_list_path="", ignore_trajectories=False, add_reconstruction=True,
force_overwrite_existing=True)
expected_kdata = kapture_from_dir(path.join(self.aachen_folder, 'kapture/training'))
imported_aachen_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_aachen_data, expected_kdata))
# test without trajectories
with tempfile.TemporaryDirectory() as tmpdirname:
import_nvm(nvm_path, self.images_folder, tmpdirname,
filter_list_path="", ignore_trajectories=True, add_reconstruction=True,
force_overwrite_existing=True)
expected_kdata = kapture_from_dir(path.join(self.aachen_folder, 'kapture/training'))
expected_kdata._trajectories = None
imported_aachen_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_aachen_data, expected_kdata))
# test without points3d
with tempfile.TemporaryDirectory() as tmpdirname:
import_nvm(nvm_path, self.images_folder, tmpdirname,
filter_list_path="", ignore_trajectories=False, add_reconstruction=False,
force_overwrite_existing=True)
expected_kdata = kapture_from_dir(path.join(self.aachen_folder, 'kapture/training'))
expected_kdata._points3d = None
expected_kdata._keypoints = None
expected_kdata._observations = None
imported_aachen_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_aachen_data, expected_kdata))
# test with filter list
with tempfile.TemporaryDirectory() as tmpdirname:
import_nvm(nvm_path, self.images_folder, tmpdirname,
filter_list_path=self.filter, ignore_trajectories=True, add_reconstruction=False,
force_overwrite_existing=True)
imported_aachen_data = kapture_from_dir(tmpdirname)
self.assertTrue(len(imported_aachen_data.records_camera.key_pairs()) == 2)
images_set = {image_path for _, _, image_path in kapture.flatten(imported_aachen_data.records_camera)}
self.assertTrue('db/1045.jpg' in images_set)
self.assertFalse('db/4446.jpg' in images_set)
self.assertTrue('db/1135.jpg' in images_set)
self.assertIsNone(imported_aachen_data.trajectories)
self.assertIsNone(imported_aachen_data.points3d)
def test_import_t265_rosbag(self):
# rosbag was trimmed with
# filter LocOffice_2019-03-21-15-57-04.bag trimmed_bag.bag "t.secs <= 1553180224 and t.nsecs <= 460916281"
self.importer.import_multi_camera(odometry_topic=TOPIC_ODOMETRY,
image_topics=[
'/camera/fisheye1/image_raw',
'/camera/fisheye2/image_raw'
],
camera_identifiers=self.camera_ids,
save_all_positions=False,
find_image_position=True)
rig_id = list(self.importer._rigs.keys())[0]
self.importer.save_to_kapture(rig_id)
rosbag_kapture_data = kcsv.kapture_from_dir(
self.ros_sample_kapture_path)
imported_data = kcsv.kapture_from_dir(self.kapture_path)
self.assertEqual(len(imported_data.trajectories),
len(rosbag_kapture_data.records_camera),
"one pose per image pair")
self.assertTrue(equal_kapture(rosbag_kapture_data, imported_data),
"Imported kapture ok")
images_path = kapture.io.records.get_image_fullpath(self.kapture_path)
images_files = []
for root, dirs, files in os.walk(images_path):
for name in files:
images_files.append(path.join(root, name))
self.assertEqual(len(images_files), 6)
# Check the files exist
for image_file in images_files:
self.assertTrue(path.isfile(image_file),
f"Image file {image_file} exist")
def test_import(self):
expected_kdata = kapture_from_dir(self.kapture_gt_folder)
with tempfile.TemporaryDirectory() as tmpdirname:
import_7scenes(d7scenes_path=self.d7s_gt_folder,
kapture_dir_path=tmpdirname,
force_overwrite_existing=True)
imported_kdata = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_kdata, expected_kdata))
def test_import_sequence(self):
kapture_gt_dirpath = path.join(self.kapture_gt_rootpath, 'seq-01')
import_7scenes(d7scenes_path=self.d7scenes_rootpath + '/seq-01',
kapture_dir_path=self._tempdir.name,
force_overwrite_existing=True)
imported_kdata = kapture_from_dir(self._tempdir.name)
expected_kdata = kapture_from_dir(kapture_gt_dirpath)
self.assertTrue(equal_kapture(imported_kdata, expected_kdata))
def test_import_with_intrinsics(self):
with tempfile.TemporaryDirectory() as tmpdirname:
queries_with_intrinsics_path = path.join(self.query_folder, 'day_time_queries_with_intrinsics.txt')
import_image_list([queries_with_intrinsics_path], self.images_folder, tmpdirname,
force_overwrite_existing=True)
expected_kdata = kapture_from_dir(self.kapture_query_path)
imported_aachen_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_aachen_data, expected_kdata))
def test_import_query(self):
kapture_gt_dirpath = path.join(self.kapture_gt_rootpath, 'query')
import_7scenes(d7scenes_path=self.d7scenes_rootpath,
kapture_dir_path=self._tempdir.name,
force_overwrite_existing=True,
partition='query')
imported_kdata = kapture_from_dir(self._tempdir.name)
expected_kdata = kapture_from_dir(kapture_gt_dirpath)
self.assertTrue(equal_kapture(imported_kdata, expected_kdata))
def test_import_both(self):
kapture_gt_dirpath = path.join(self.kapture_gt_rootpath, 'both')
import_7scenes(d7scenes_path=self.d7scenes_rootpath,
kapture_dir_path=self._tempdir.name,
force_overwrite_existing=True,
images_import_method=TransferAction.copy)
imported_kdata = kapture_from_dir(self._tempdir.name)
expected_kdata = kapture_from_dir(kapture_gt_dirpath)
self.assertTrue(equal_kapture(imported_kdata, expected_kdata))
def test_import(self):
temp_kapture_dirpath = path.join(self._tempdir.name, 'kapture')
shutil.copytree(self._kapture_dirpath, temp_kapture_dirpath)
# remove all GPS data
temp_kapture_data = kapture.io.csv.kapture_from_dir(temp_kapture_dirpath)
temp_kapture_data.records_gnss = None
for gps_id in [k for k in temp_kapture_data.sensors.keys() if k.startswith('GPS_')]:
del temp_kapture_data.sensors[gps_id]
kapture.io.csv.kapture_to_dir(temp_kapture_dirpath, temp_kapture_data)
# do the import
import_gps_from_exif(temp_kapture_dirpath)
# reload
temp_kapture_data = kapture.io.csv.kapture_from_dir(temp_kapture_dirpath)
self.assertTrue(equal_kapture(temp_kapture_data, self._kapture_data))
def test_import_without_intrinsics(self):
with tempfile.TemporaryDirectory() as tmpdirname:
queries_without_intrinsics_path = path.join(self.query_folder, 'day_time_queries_without_intrinsics.txt')
import_image_list([queries_without_intrinsics_path], self.images_folder, tmpdirname,
force_overwrite_existing=True)
expected_kdata = kapture_from_dir(self.kapture_query_path)
# set all sensors to unknown
for sensor_id in expected_kdata.sensors.keys():
sensor = expected_kdata.sensors[sensor_id]
assert isinstance(sensor, kapture.Camera)
expected_kdata.sensors[sensor_id] = kapture.Camera(kapture.CameraType.UNKNOWN_CAMERA,
sensor.camera_params[0:2])
imported_aachen_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_aachen_data, expected_kdata))
def test_import_opensfm(self) -> None:
"""
Test the import_opensfm function on small sample
"""
# convert and then load
file_operation = TransferAction.skip if self.isWindows else TransferAction.link_relative
import_opensfm(
self._opensfm_sample_path,
self._kapture_rebuilt_path,
force_overwrite_existing=False,
images_import_method=file_operation
)
kapture_data_expected = csv.kapture_from_dir(self._kapture_sample_path)
kapture_data_actual = csv.kapture_from_dir(self._kapture_rebuilt_path)
# check in detail what could be wrong
self.assertTrue(equal_sensors(kapture_data_expected.sensors, kapture_data_actual.sensors))
self.assertTrue(equal_records_gnss(kapture_data_expected.records_gnss, kapture_data_actual.records_gnss))
# check all at once
self.assertTrue(equal_kapture(kapture_data_expected, kapture_data_actual))
def test_utbm_images_rosbag_import(self) -> None:
"""
Test the import of an image rosbag
"""
# Use a small bb2 rosbag
rosbag_path = path.join(self._samples_utbm_folder,
'2018-07-13-15-17-20_1_first10_bb2.bag')
sensors = import_utbm_sensors([
path.join(self._samples_utbm_folder, 'bb2_left.yaml'),
path.join(self._samples_utbm_folder, 'bb2_right.yaml')
])
importer = RosBagImporter(rosbag_path,
None,
sensors,
self.kapture_path,
force_overwrite_existing=True)
importer.import_multi_camera(None, TOPICS_BB2, BB2_CAMERA_IDENTIFIERS,
False, False)
importer.save_to_kapture()
ros_sample_kapture_path = path.join(
self._samples_utbm_folder,
'2018-07-13-15-17-20_1_first10_bb2_kapture')
rosbag_kapture_data = kcsv.kapture_from_dir(ros_sample_kapture_path)
imported_data = kcsv.kapture_from_dir(self.kapture_path)
self.assertTrue(equal_kapture(rosbag_kapture_data, imported_data),
"Imported UTBM kapture ok")
images_path = kapture.io.records.get_image_fullpath(self.kapture_path)
images_files = []
for root, dirs, files in os.walk(images_path):
for name in files:
images_files.append(path.join(root, name))
self.assertEqual(len(images_files), 10)
# Check the files exist
for image_file in images_files:
self.assertTrue(path.isfile(image_file),
f"Image file {image_file} exist")
def test_import(self):
image_transfer_action = TransferAction.skip
with tempfile.TemporaryDirectory() as tmpdirname:
configuration = 'all'
light_range = [1, 4]
loop_range = [1]
camera_range = list(range(0, 6))
occlusion_range = [2, 3]
as_rig = False
import_virtual_gallery(self.virtual_gallery_1_0_0_folder, configuration,
light_range, loop_range, camera_range, occlusion_range, as_rig,
image_transfer_action,
tmpdirname, force_overwrite_existing=True)
expected_kdata = kapture_from_dir(path.join(self.virtual_gallery_folder, 'kapture/all'))
imported_virtual_gallery_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_virtual_gallery_data, expected_kdata))
with tempfile.TemporaryDirectory() as tmpdirname:
configuration = 'all'
light_range = [4]
loop_range = [1]
camera_range = [2]
occlusion_range = [3]
as_rig = False
import_virtual_gallery(self.virtual_gallery_1_0_0_folder, configuration,
light_range, loop_range, camera_range, occlusion_range, as_rig,
image_transfer_action,
tmpdirname, force_overwrite_existing=True)
expected_kdata = kapture_from_dir(path.join(self.virtual_gallery_folder, 'kapture/reduced'))
imported_virtual_gallery_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_virtual_gallery_data, expected_kdata))
with tempfile.TemporaryDirectory() as tmpdirname:
configuration = 'training'
light_range = [1, 4]
loop_range = [1]
camera_range = list(range(0, 6))
occlusion_range = [2, 3]
as_rig = False
import_virtual_gallery(self.virtual_gallery_1_0_0_folder, configuration,
light_range, loop_range, camera_range, occlusion_range, as_rig,
image_transfer_action,
tmpdirname, force_overwrite_existing=True)
expected_kdata = kapture_from_dir(path.join(self.virtual_gallery_folder, 'kapture/training'))
imported_virtual_gallery_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_virtual_gallery_data, expected_kdata))
with tempfile.TemporaryDirectory() as tmpdirname:
configuration = 'training'
light_range = [1, 4]
loop_range = [1]
camera_range = list(range(0, 6))
occlusion_range = [2, 3]
as_rig = True
import_virtual_gallery(self.virtual_gallery_1_0_0_folder, configuration,
light_range, loop_range, camera_range, occlusion_range, as_rig,
image_transfer_action,
tmpdirname, force_overwrite_existing=True)
expected_kdata = kapture_from_dir(path.join(self.virtual_gallery_folder, 'kapture/training'))
imported_virtual_gallery_data = kapture_from_dir(tmpdirname)
self.assertFalse(equal_kapture(imported_virtual_gallery_data, expected_kdata))
rigs_remove_inplace(imported_virtual_gallery_data.trajectories, imported_virtual_gallery_data.rigs)
self.assertTrue(equal_kapture(imported_virtual_gallery_data, expected_kdata))
with tempfile.TemporaryDirectory() as tmpdirname:
configuration = 'testing'
light_range = [1, 4]
loop_range = [1]
camera_range = list(range(0, 6))
occlusion_range = [2, 3]
as_rig = False
import_virtual_gallery(self.virtual_gallery_1_0_0_folder, configuration,
light_range, loop_range, camera_range, occlusion_range, as_rig,
image_transfer_action,
tmpdirname, force_overwrite_existing=True)
expected_kdata = kapture_from_dir(path.join(self.virtual_gallery_folder, 'kapture/testing'))
imported_virtual_gallery_data = kapture_from_dir(tmpdirname)
self.assertTrue(equal_kapture(imported_virtual_gallery_data, expected_kdata))
def test_copy_equal(self):
kapture_data_copy = copy.deepcopy(self._kapture_data)
self.assertTrue(equal_kapture(kapture_data_copy, self._kapture_data))
