def test_get_future_for_sample(self):
mock_samples = [{'token': '1', 'timestamp': 0, 'anns': ['1', '1b']},
{'token': '2', 'timestamp': 1e6},
{'token': '3', 'timestamp': 2e6},
{'token': '4', 'timestamp': 3e6},
{'token': '5', 'timestamp': 4e6}]
nusc = MockNuScenes(self.multiagent_mock_annotations, mock_samples)
helper = PredictHelper(nusc)
future = helper.get_future_for_sample("1", 3, False)
answer = {'1': np.array([[1, 1], [2, 2], [3, 3]]),
'2': np.array([[7, 7], [8, 8], [9, 9]])}
for k in answer:
np.testing.assert_equal(answer[k], future[k])
future_in_sample = helper.get_future_for_sample("1", 3, True)
answer_in_sample = {'1': np.array([[-1, 1], [-2, 2], [-3, 3]]),
'2': np.array([[-1, 1], [-2, 2], [-3, 3]])}
for k in answer_in_sample:
np.testing.assert_allclose(answer_in_sample[k], future_in_sample[k])
def test_raises_error_when_seconds_negative(self) -> None:
mock_samples = [{'token': '1', 'timestamp': 0, 'anns': ['1', '1b']}]
nusc = MockNuScenes(self.mock_annotations, mock_samples)
helper = PredictHelper(nusc)
with self.assertRaises(ValueError):
helper.get_future_for_agent('1', '1', -1, False)
with self.assertRaises(ValueError):
helper.get_past_for_agent('1', '1', -1, False)
with self.assertRaises(ValueError):
helper.get_past_for_sample('1', -1, False)
with self.assertRaises(ValueError):
helper.get_future_for_sample('1', -1, False)
def test_get_no_data_when_seconds_0(self):
mock_samples = [{'token': '1', 'timestamp': 0, 'anns': ['1']}]
nusc = MockNuScenes(self.mock_annotations, mock_samples)
helper = PredictHelper(nusc)
np.testing.assert_equal(helper.get_future_for_agent('1', '1', 0, False), np.array([]))
np.testing.assert_equal(helper.get_past_for_agent('1', '1', 0, False), np.array([]))
np.testing.assert_equal(helper.get_future_for_sample('1', 0, False), np.array([]))
np.testing.assert_equal(helper.get_past_for_sample('1', 0, False), np.array([]))