def test_preprocess_output_keys(self):
height, width = (240, 320)
input_dict = self._get_input_dict(height, width)
output_dict = preprocessor.preprocess(
inputs=input_dict,
images_points_correspondence_fn=self._image_correspondence_fn,
output_keys=[standard_fields.InputDataFields.camera_image],
image_preprocess_fn_dic=None)
self.assertIn(standard_fields.InputDataFields.camera_image,
output_dict)
self.assertEqual(len(output_dict.keys()), 1)
def test_preprocess_output_shapes(self):
height, width = (240, 320)
input_dict = self._get_input_dict(height, width)
object_keys = preprocessor._OBJECT_KEYS
output_keys = [
standard_fields.InputDataFields.camera_intrinsics,
standard_fields.InputDataFields.camera_rotation_matrix,
standard_fields.InputDataFields.camera_translation,
standard_fields.InputDataFields.point_positions,
standard_fields.InputDataFields.num_valid_points,
standard_fields.InputDataFields.object_class_points,
standard_fields.InputDataFields.object_center_points,
standard_fields.InputDataFields.object_height_points,
standard_fields.InputDataFields.object_width_points,
standard_fields.InputDataFields.object_rotation_matrix_points,
standard_fields.InputDataFields.object_length_points,
standard_fields.InputDataFields.object_instance_id_points,
]
output_dict = preprocessor.preprocess(
inputs=input_dict,
images_points_correspondence_fn=self._image_correspondence_fn,
image_preprocess_fn_dic=None)
for key in output_keys:
self.assertIn(key, output_dict)
self.assertEqual(
output_dict[
standard_fields.InputDataFields.camera_intrinsics].shape,
(3, 3))
self.assertEqual(
output_dict[
standard_fields.InputDataFields.camera_rotation_matrix].shape,
(3, 3))
self.assertEqual(
output_dict[
standard_fields.InputDataFields.camera_translation].shape,
(3, ))
self.assertEqual(
output_dict[standard_fields.InputDataFields.point_positions].shape,
(100, 3))
self.assertEqual(
output_dict[
standard_fields.InputDataFields.num_valid_points].numpy(), 100)
self.assertEqual(
output_dict[
standard_fields.InputDataFields.object_class_points].shape,
(100, ))
self.assertEqual(
output_dict[
standard_fields.InputDataFields.object_center_points].shape,
(100, 3))
self.assertEqual(
output_dict[
standard_fields.InputDataFields.object_height_points].shape,
(100, 1))
self.assertEqual(
output_dict[
standard_fields.InputDataFields.object_width_points].shape,
(100, 1))
self.assertEqual(
output_dict[
standard_fields.InputDataFields.object_length_points].shape,
(100, 1))
self.assertEqual(
output_dict[standard_fields.InputDataFields.
object_rotation_matrix_points].shape, (100, 3, 3))
self.assertEqual(
output_dict[standard_fields.InputDataFields.
object_instance_id_points].shape, (100, ))
for key in object_keys:
self.assertEqual(output_dict[key].shape[0], 2)
def test_preprocess_missing_input_raises(self):
with self.assertRaises(ValueError):
empty_input = {}
preprocessor.preprocess(inputs=empty_input)