def test_can_be_compared_without_loading_images(self):
images = []
for idx in range(10):
img = CountedImage(
pixels=np.random.uniform(0, 255, (32, 32, 3)),
image_group='test',
metadata=make_metadata(idx),
)
img.save()
images.append(img)
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL)
collection.save()
collection = ic.ImageCollection(
images=images,
timestamps=[1.2 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL)
collection.save()
CountedImage.instance_count = 0
# Load all the entities
all_entities = list(ic.ImageCollection.objects.all())
self.assertEqual(len(all_entities), 2)
self.assertNotEqual(all_entities[0], all_entities[1])
self.assertEqual(CountedImage.instance_count, 0)
# Check actually reading the images loads them
_ = all_entities[0].images[0]
self.assertEqual(CountedImage.instance_count, 10)
all_entities[0].delete()
all_entities[1].delete()
def test_infers_properties_from_mono_images(self):
images = [make_image(idx, depth=None) for idx in range(10)]
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL)
self.assertEqual(images[0].image_group, collection.image_group)
self.assertFalse(collection.is_depth_available)
self.assertTrue(collection.is_normals_available)
self.assertFalse(collection.is_stereo_available)
self.assertTrue(collection.is_labels_available)
self.assertFalse(collection.is_masks_available)
self.assertEqual(collection.camera_intrinsics,
images[0].metadata.intrinsics)
self.assertIsNone(collection.stereo_offset)
self.assertIsNone(collection.right_camera_intrinsics)
images = [
make_image(idx,
normals=None,
metadata=make_metadata(
idx,
labelled_objects=[
imeta.MaskedObject(
('class_1', ), 152, 239, 14, 78,
tf.Transform(location=(123, -45, 23),
rotation=(0.5, 0.23, 0.1)),
'LabelledObject-18569',
np.random.choice((True, False),
size=(78, 14)))
])) for idx in range(10)
]
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL)
self.assertTrue(collection.is_depth_available)
self.assertFalse(collection.is_normals_available)
self.assertFalse(collection.is_stereo_available)
self.assertTrue(collection.is_labels_available)
self.assertTrue(collection.is_masks_available)
self.assertEqual(collection.camera_intrinsics,
images[0].metadata.intrinsics)
self.assertIsNone(collection.stereo_offset)
self.assertIsNone(collection.right_camera_intrinsics)
def test_stores_and_loads_stereo(self):
images = []
for idx in range(10):
img = make_stereo_image(idx)
img.save()
images.append(img)
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL,
is_depth_available=True,
is_normals_available=True,
is_stereo_available=False,
is_labels_available=True,
is_masks_available=False,
camera_intrinsics=images[0].metadata.intrinsics,
stereo_offset=images[0].left_camera_pose.find_relative(
images[0].right_camera_pose),
right_camera_intrinsics=images[0].right_metadata.intrinsics,
dataset='TestSequences',
sequence_name='Sequence1',
trajectory_id='simple-motion')
collection.save()
# Load all the entities
all_entities = list(ic.ImageCollection.objects.all())
self.assertGreaterEqual(len(all_entities), 1)
self.assertEqual(all_entities[0], collection)
all_entities[0].delete()
def test_framerate_returns_average_time_interval_between_frames(self):
images = [make_image(idx, depth=None) for idx in range(10)]
collection = ic.ImageCollection(
images=images,
timestamps=[3.2 + 0.25 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL)
self.assertEqual(0.25, collection.average_timestep)
def test_chooses_a_default_trajectory_id(self):
images = [make_image(idx, depth=None) for idx in range(10)]
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL,
dataset='TestData',
sequence_name='Sequence1')
self.assertEqual('TestData:Sequence1', collection.trajectory_id)
def test_required_fields_are_required(self):
images = []
for idx in range(10):
img = make_image(idx)
img.save()
images.append(img)
# Missing sequence type
collection = ic.ImageCollection(
images=images, timestamps=[1.1 * idx for idx in range(10)])
with self.assertRaises(ValidationError):
collection.save()
# Missing images
collection = ic.ImageCollection(
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL)
with self.assertRaises(ValidationError):
collection.save()
# Missing timestamps
collection = ic.ImageCollection(
images=images, sequence_type=ImageSequenceType.SEQUENTIAL)
with self.assertRaises(ValidationError):
collection.save()
# blank image_group
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL,
)
collection.image_group = None # Explicitly clear because it is inferred by the constructor
with self.assertRaises(ValidationError):
collection.save()
# Empty images and timestamps
collection = ic.ImageCollection(
images=[],
timestamps=[],
sequence_type=ImageSequenceType.SEQUENTIAL)
with self.assertRaises(ValidationError):
collection.save()
def test_get_columns_returns_column_list(self):
images = [make_image(idx, depth=None) for idx in range(10)]
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL)
self.assertEqual({
'dataset',
'sequence_name',
'trajectory_id',
}, collection.get_columns())
def test_get_properties_returns_only_requested_columns_that_exist(self):
dataset = 'my dataset'
sequence_name = 'this is a sequence'
trajectory_id = 'trajectory 6'
images = [make_image(idx, depth=None) for idx in range(10)]
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL,
dataset=dataset,
sequence_name=sequence_name,
trajectory_id=trajectory_id)
self.assertEqual({'dataset': dataset},
collection.get_properties({'dataset',
'not_a_column'}))
def test_iterates_over_timestamps_and_images_in_timestamp_order(self):
pairs = [(10 - 0.8 * idx, make_image(idx, depth=None))
for idx in range(10)]
collection = ic.ImageCollection(
images=[pair[1] for pair in pairs],
timestamps=[pair[0] for pair in pairs],
sequence_type=ImageSequenceType.SEQUENTIAL)
pairs = sorted(pairs, key=itemgetter(0))
prev_timestamp = None
for idx, (timestamp, image) in enumerate(collection):
self.assertEqual(pairs[idx][0], timestamp)
self.assertEqual(pairs[idx][1], image)
if prev_timestamp is not None:
self.assertGreater(timestamp, prev_timestamp)
prev_timestamp = timestamp
def test_get_properties_returns_the_value_of_all_columns(self):
dataset = 'my dataset'
sequence_name = 'this is a sequence'
trajectory_id = 'trajectory 6'
images = [make_image(idx, depth=None) for idx in range(10)]
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL,
dataset=dataset,
sequence_name=sequence_name,
trajectory_id=trajectory_id)
self.assertEqual(
{
'dataset': dataset,
'sequence_name': sequence_name,
'trajectory_id': trajectory_id
}, collection.get_properties())
def test_load_minimal_returns_object_without_images(self):
images = []
for idx in range(10):
img = CountedImage(
pixels=np.random.uniform(0, 255, (32, 32, 3)),
image_group='test',
metadata=make_metadata(idx),
)
img.save()
images.append(img)
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL)
collection.save()
collection_id = collection.pk
sequence_type = collection.sequence_type
image_group = collection.image_group
is_depth_available = collection.is_depth_available
is_normals_available = collection.is_normals_available
is_stereo_available = collection.is_stereo_available
is_labels_available = collection.is_labels_available
is_masks_available = collection.is_masks_available
camera_intrinsics = collection.camera_intrinsics
del images
del img
del collection
CountedImage.instance_count = 0
collection = ic.ImageCollection.load_minimal(collection_id)
self.assertEqual(0, CountedImage.instance_count)
self.assertEqual(sequence_type, collection.sequence_type)
self.assertEqual(image_group, collection.image_group)
self.assertEqual(is_depth_available, collection.is_depth_available)
self.assertEqual(is_normals_available, collection.is_normals_available)
self.assertEqual(is_stereo_available, collection.is_stereo_available)
self.assertEqual(is_labels_available, collection.is_labels_available)
self.assertEqual(is_masks_available, collection.is_masks_available)
self.assertEqual(camera_intrinsics, collection.camera_intrinsics)
self.assertEqual([], collection.images)
self.assertEqual([], collection.timestamps)
def test_stores_and_loads_mono_args(self):
images = []
for idx in range(10):
img = make_image(idx)
img.save()
images.append(img)
collection = ic.ImageCollection(images,
[1.1 * idx for idx in range(10)],
ImageSequenceType.SEQUENTIAL, True,
True, False, True, False,
images[0].metadata.intrinsics)
collection.save()
# Load all the entities
all_entities = list(ic.ImageCollection.objects.all())
self.assertGreaterEqual(len(all_entities), 1)
self.assertEqual(all_entities[0], collection)
all_entities[0].delete()
def test_infers_properties_from_stereo_images(self):
images = [make_stereo_image(idx, depth=None) for idx in range(10)]
collection = ic.ImageCollection(
images=images,
timestamps=[1.1 * idx for idx in range(10)],
sequence_type=ImageSequenceType.SEQUENTIAL)
self.assertEqual(images[0].image_group, collection.image_group)
self.assertFalse(collection.is_depth_available)
self.assertTrue(collection.is_normals_available)
self.assertTrue(collection.is_stereo_available)
self.assertTrue(collection.is_labels_available)
self.assertFalse(collection.is_masks_available)
self.assertEqual(collection.camera_intrinsics,
images[0].metadata.intrinsics)
self.assertEqual(
collection.stereo_offset, images[0].left_camera_pose.find_relative(
images[0].right_camera_pose))
self.assertEqual(collection.right_camera_intrinsics,
images[0].right_metadata.intrinsics)
def test_constructor_works_with_mixed_args(self):
images = [make_image(idx, depth=None) for idx in range(10)]
arguments = [('images', images),
('timestamps', [1.1 * idx for idx in range(10)]),
('sequence_type', ImageSequenceType.SEQUENTIAL),
('image_group', images[0].image_group),
('is_depth_available', True),
('is_normals_available', False),
('is_stereo_available', False),
('is_labels_available', False),
('is_masks_available', True),
('camera_intrinsics', images[0].metadata.intrinsics)]
for idx in range(len(arguments) + 1):
collection = ic.ImageCollection(
*(v for _, v in arguments[:idx]),
**{k: v
for k, v in arguments[idx:]})
# Check it got assigned correctly
for name, value in arguments:
self.assertEqual(value, getattr(collection, name))