def test_WithBoundingBox(self):
bbox = RegionOfInterest(30, 40, 210, 302)
species_id = SingleSpeciesId(
bbox,
[SpeciesScore(3, 0.4), SpeciesScore(2, 0.3)])
SpeciesSelectionModule.speciesIdCallback(
SpeciesIDResponse(3, [species_id]), self.module)
self.checkSignalUpdate(3)
d = self.module.GetOutputDict()
self.assertEquals(d['state'], State.CANDIDATES_ARRIVED)
self.assertEquals(d['name'], 'SpeciesSelection')
foundBbox = d['bbox']
self.assertEquals(foundBbox['x_offset'], 30)
self.assertEquals(foundBbox['y_offset'], 40)
self.assertEquals(foundBbox['height'], 210)
self.assertEquals(foundBbox['width'], 302)
self.assertEquals(len(d['species_hits']), 3)
self.checkSpeciesInfo(self.speciesInfo[3], d['species_hits'][0])
self.checkSpeciesInfo(self.speciesInfo[2], d['species_hits'][1])
self.checkSpeciesInfo(SpeciesSelectionModule.UNKNOWN_SPECIES,
d['species_hits'][2])
self.assertEquals(d['user_chose'], False)
self.assertEquals(d['idx'], 0)
def RequestCallback(requestMsg, selector, publisher, nSpecies):
'''Callback for a SpeciesIDRequest that chooses a random set of species.
Inputs:
selector - RandomSpeciesSelector to handle the random picks
publisher - object to publish the response on
nSpecies - number of species to respond with
'''
response = SpeciesIDResponse()
response.image_id = requestMsg.image_id
for region in requestMsg.regions:
singleId = SingleSpeciesId()
singleId.bounding_box = region.bounding_box
for speciesId in selector.ChooseNSpecies(nSpecies):
singleId.best_species.append(
SpeciesScore(species_id=speciesId, score=0.0))
response.answers.append(singleId)
response.header.stamp = rospy.Time.now()
publisher.publish(response)
def test_singleHit(self):
# Should go straight to displaying the species info
species_id = SingleSpeciesId(None, [SpeciesScore(2, 0.4)])
SpeciesSelectionModule.speciesIdCallback(
SpeciesIDResponse(3, [species_id]), self.module)
self.checkSignalUpdate(3)
d = self.module.GetOutputDict()
self.assertEquals(d['state'], State.SPECIES_INFO_DISPLAYING)
self.assertEquals(d['name'], 'SpeciesSelection')
self.checkSpeciesInfo(self.speciesInfo[2], d['species'])
self.assertEquals(d['user_chose'], False)
def test_confidentScore(self):
# A score was high enough to be confident, so we should just
# display the info
species_id = SingleSpeciesId(None, [SpeciesScore(0, 0.8)])
SpeciesSelectionModule.speciesIdCallback(
SpeciesIDResponse(3, [species_id]), self.module)
self.checkSignalUpdate(3)
d = self.module.GetOutputDict()
self.assertEquals(d['state'], State.SPECIES_INFO_DISPLAYING)
self.assertEquals(d['name'], 'SpeciesSelection')
self.checkSpeciesInfo(self.speciesInfo[0], d['species'])
self.assertEquals(d['user_chose'], False)
def test_onlyOneValidScore(self):
# Only one of the scores is above the min threshold, so we display
species_id = SingleSpeciesId(
None,
[SpeciesScore(0, 0.3), SpeciesScore(3, 0.05)])
SpeciesSelectionModule.speciesIdCallback(
SpeciesIDResponse(3, [species_id]), self.module)
self.checkSignalUpdate(3)
d = self.module.GetOutputDict()
self.assertEquals(d['state'], State.SPECIES_INFO_DISPLAYING)
self.assertEquals(d['name'], 'SpeciesSelection')
self.checkSpeciesInfo(self.speciesInfo[0], d['species'])
self.assertEquals(d['user_chose'], False)
def test_noBoundingBoxMultipleHits(self):
species_id = SingleSpeciesId(
None,
[SpeciesScore(2, 0.4), SpeciesScore(3, 0.3)])
SpeciesSelectionModule.speciesIdCallback(
SpeciesIDResponse(3, [species_id]), self.module)
self.checkSignalUpdate(3)
d = self.module.GetOutputDict()
self.assertEquals(d['state'], State.CANDIDATES_ARRIVED)
self.assertEquals(d['name'], 'SpeciesSelection')
self.assertTrue('bbox' not in d.keys())
self.assertEquals(len(d['species_hits']), 3)
self.checkSpeciesInfo(self.speciesInfo[2], d['species_hits'][0])
self.checkSpeciesInfo(self.speciesInfo[3], d['species_hits'][1])
self.checkSpeciesInfo(SpeciesSelectionModule.UNKNOWN_SPECIES,
d['species_hits'][2])
self.assertEquals(d['user_chose'], False)
self.assertEquals(d['idx'], 0)
def setUp(self):
TestCandidateArrival.setUp(self)
# An initial image has already arrived
SpeciesSelectionModule.imageCallback(ImageCaptured(3, None),
self.module)
self.signalMock.reset_mock()
# The ID was made with 3 results
species_id = SingleSpeciesId(
None,
[SpeciesScore(0, 0.5),
SpeciesScore(3, 0.4),
SpeciesScore(2, 0.3)])
SpeciesSelectionModule.speciesIdCallback(
SpeciesIDResponse(3, [species_id]), self.module)
# Make sure State.CANDIDATES_ARRIVED worked
self.module.GetOutputDict()
self.signalMock.reset_mock()
def test_differentImageId(self):
SpeciesSelectionModule.speciesIdCallback(
SpeciesIDResponse(4, [SingleSpeciesId(None, [])]), self.module)
self.assertFalse(self.signalMock.called)
def test_imageResponseBeforeImage(self):
SpeciesSelectionModule.speciesIdCallback(
SpeciesIDResponse(3, [SingleSpeciesId(None, [])]), self.module)
self.assertFalse(self.signalMock.called)