def dump_sequence(self, output_path, seq_id):
sink = DirectorySource(output_path)
writer = XVIZGLBWriter(sink,
image_encoding='JPEG',
use_xviz_extension=False)
writer.write_message(self.get_metadata(seq_id))
for frame_idx in trange(self._loader.sequence_sizes[seq_id]):
builder = XVIZBuilder(self._metadata,
update_type=StateUpdate.UpdateType.SNAPSHOT)
idx_tuple = (seq_id, frame_idx)
timestamp = self._loader.timestamp(idx_tuple) / 1e6
self.add_pose(builder, idx_tuple, timestamp)
self.add_lidars(builder, idx_tuple)
self.add_cameras(builder, idx_tuple)
self.add_objects(builder, idx_tuple)
builder.time_series("/vehicle/autonomy_state")\
.timestamp(timestamp)\
.value("autonomous")
data = builder.get_message()
writer.write_message(data)
writer.close()
class TestTimeSeriesBuilder(unittest.TestCase):
def setUp(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
def test_null(self):
builder = XVIZTimeSeriesBuilder(None)
data = builder.stream('/test').get_data()
assert not data
def test_single_entry(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
self.builder.time_series('/test')\
.timestamp(20.)\
.value(1.)
expected = [{
'timestamp': 20.,
'streams': ['/test'],
'values': {
'doubles': [1.]
}
}]
data = self.builder.get_data().to_object()
assert json.dumps(data['time_series'],
sort_keys=True) == json.dumps(expected,
sort_keys=True)
def test_multiple_entries(self):
self.builder.time_series('/test')\
.timestamp(20.)\
.value(1.)
self.builder.time_series('/foo')\
.timestamp(20.)\
.value(2.)
expected = [{
'timestamp': 20.,
'streams': ['/test', '/foo'],
'values': {
'doubles': [1., 2.]
}
}]
data = self.builder.get_data().to_object()
assert json.dumps(data['time_series'],
sort_keys=True) == json.dumps(expected,
sort_keys=True)
