def test_finds_no_small_objects_sequence_in_a_tar_file(self):
environment = 'scandinavian_house'
trajectory_id = 'rgbd_dataset_freiburg1_360'
sequence_name, sequence_data = self.make_sequence_json(
trajectory_id=trajectory_id,
map_name=environment,
min_object_volume=0.015)
sequence_zip = self.temp_folder / (sequence_name + '.tar.gz')
with self.sequences_file.open('w') as fp:
json.dump({sequence_name: sequence_data}, fp)
sequence_zip.touch(exist_ok=True)
results = ndds.load_sequences(self.temp_folder)
self.assertEqual(1, len(results))
self.assertEqual(trajectory_id, results[0].trajectory_id)
self.assertEqual(environment, results[0].environment)
self.assertEqual(TimeOfDay.DAY, results[0].time_of_day)
self.assertEqual(ndds.QualityLevel.NO_SMALL_OBJECTS,
results[0].quality_level)
self.assertEqual(sequence_name, results[0].sequence_name)
self.assertEqual(self.temp_folder, results[0].path)
# clean up
self.sequences_file.unlink()
sequence_zip.unlink()
def test_finds_min_quality_sequence_in_a_tar_file(self):
environment = 'scandinavian_house'
trajectory_id = 'rgbd_dataset_freiburg1_360'
sequence_name, sequence_data = self.make_sequence_json(
trajectory_id=trajectory_id,
map_name=environment,
# All 3 settings should be reduced
texture_bias=15,
disable_reflections=True,
min_object_volume=0.015)
sequence_zip = self.temp_folder / (sequence_name + '.tar.gz')
with self.sequences_file.open('w') as fp:
json.dump({sequence_name: sequence_data}, fp)
sequence_zip.touch(exist_ok=True)
results = ndds.load_sequences(self.temp_folder)
self.assertEqual(1, len(results))
self.assertEqual(trajectory_id, results[0].trajectory_id)
self.assertEqual(environment, results[0].environment)
self.assertEqual(TimeOfDay.DAY, results[0].time_of_day)
self.assertEqual(ndds.QualityLevel.MIN_QUALITY,
results[0].quality_level)
self.assertEqual(sequence_name, results[0].sequence_name)
self.assertEqual(self.temp_folder, results[0].path)
# clean up
self.sequences_file.unlink()
sequence_zip.unlink()
def test_finds_sequence_without_quality_settings_as_max(self):
environment = 'scandinavian_house'
trajectory_id = 'rgbd_dataset_freiburg1_360'
sequence_name, sequence_data = self.make_sequence_json(
trajectory_id=trajectory_id, map_name=environment)
# Remove keys for the quality settings from the sequence data. Maximum quality should be assumed.
del sequence_data['texture_bias']
del sequence_data['disable_reflections']
del sequence_data['min_object_volume']
sequence_zip = self.temp_folder / (sequence_name + '.tar.gz')
with self.sequences_file.open('w') as fp:
json.dump({sequence_name: sequence_data}, fp)
sequence_zip.touch(exist_ok=True)
results = ndds.load_sequences(self.temp_folder)
self.assertEqual(1, len(results))
self.assertEqual(trajectory_id, results[0].trajectory_id)
self.assertEqual(environment, results[0].environment)
self.assertEqual(TimeOfDay.DAY, results[0].time_of_day)
self.assertEqual(ndds.QualityLevel.MAX_QUALITY,
results[0].quality_level)
self.assertEqual(sequence_name, results[0].sequence_name)
self.assertEqual(self.temp_folder, results[0].path)
# clean up
self.sequences_file.unlink()
sequence_zip.unlink()
def test_skips_sequence_with_unknown_trajectory(self):
environment = 'scandinavian_house'
trajectory_id = 'rgbd_dataset_freiburg1_360'
sequence_name_1, sequence_data_1 = self.make_sequence_json(
trajectory_id=trajectory_id, map_name=environment)
sequence_name_2, sequence_data_2 = self.make_sequence_json(
trajectory_id='MH_04_404', map_name=environment)
sequence_1_zip = self.temp_folder / (sequence_name_1 + '.tar.gz')
sequence_2_zip = self.temp_folder / (sequence_name_2 + '.tar.gz')
with self.sequences_file.open('w') as fp:
json.dump(
{
sequence_name_1: sequence_data_1,
sequence_name_2: sequence_data_2
}, fp)
sequence_1_zip.touch(exist_ok=True)
sequence_2_zip.touch(exist_ok=True)
results = ndds.load_sequences(self.temp_folder)
self.assertEqual(1, len(results))
self.assertEqual(trajectory_id, results[0].trajectory_id)
self.assertEqual(environment, results[0].environment)
self.assertEqual(TimeOfDay.DAY, results[0].time_of_day)
self.assertEqual(ndds.QualityLevel.MAX_QUALITY,
results[0].quality_level)
self.assertEqual(sequence_name_1, results[0].sequence_name)
self.assertEqual(self.temp_folder, results[0].path)
# clean up
self.sequences_file.unlink()
sequence_1_zip.unlink()
sequence_2_zip.unlink()
def test_finds_max_quality_sequence_in_a_folder(self):
environment = 'scandinavian_house'
trajectory_id = 'rgbd_dataset_freiburg1_360'
sequence_name, sequence_data = self.make_sequence_json(
trajectory_id=trajectory_id, map_name=environment)
sequence_path = self.temp_folder / sequence_name
with self.sequences_file.open('w') as fp:
json.dump({sequence_name: sequence_data}, fp)
sequence_path.mkdir(exist_ok=True)
results = ndds.load_sequences(self.temp_folder)
self.assertEqual(1, len(results))
self.assertEqual(trajectory_id, results[0].trajectory_id)
self.assertEqual(environment, results[0].environment)
self.assertEqual(TimeOfDay.DAY, results[0].time_of_day)
self.assertEqual(ndds.QualityLevel.MAX_QUALITY,
results[0].quality_level)
self.assertEqual(sequence_name, results[0].sequence_name)
self.assertEqual(self.temp_folder, results[0].path)
# clean up
self.sequences_file.unlink()
shutil.rmtree(sequence_path)
def test_raises_exception_if_no_sequences_file(self):
if self.sequences_file.exists():
self.sequences_file.unlink()
with self.assertRaises(FileNotFoundError):
ndds.load_sequences(self.temp_folder)