def test_from_strings(self):
"""Test creation from strings"""
strings = ["none", "none", "twoFold"]
sym = ObjectSymmetry.from_strings(strings)
expected_sym = ObjectSymmetry(SymmetryType.none, SymmetryType.none,
SymmetryType.twoFold)
self.assertEqual(sym, expected_sym)
def test_is_valid(self):
"""Test the is_valid function"""
self.assertTrue(
ObjectSymmetry.is_valid(SymmetryType.cylindrical,
SymmetryType.twoFold,
SymmetryType.twoFold))
self.assertFalse(
ObjectSymmetry.is_valid(SymmetryType.none,
SymmetryType.cylindrical,
SymmetryType.fourFold))
def test_creation(self):
"""Test basic functionality: default creation, general creation, and
attribute access."""
sym = ObjectSymmetry()
self.assertEqual(sym.x_symmetry, SymmetryType.none)
self.assertEqual(sym.y_symmetry, SymmetryType.none)
self.assertEqual(sym.z_symmetry, SymmetryType.none)
sym = ObjectSymmetry(SymmetryType.twoFold, SymmetryType.twoFold,
SymmetryType.fourFold)
self.assertEqual(sym.x_symmetry, SymmetryType.twoFold)
self.assertEqual(sym.y_symmetry, SymmetryType.twoFold)
self.assertEqual(sym.z_symmetry, SymmetryType.fourFold)
def __init__(self,
id,
project_type="bounding_box",
bounds=None,
voxels=None,
meshes=None,
pose=None,
category="unknown",
symmetry=None,
score=-1,
evaluated=True):
"""
Constructor. Preferred method of creation is one of the factory methods:
gen_bounding_box_object, gen_voxels_object, or gen_meshes_object.
For this constructor, representation is selected based on the <project_type>:
bounding box track: bounds is used
voxels track: voxels and bounds are used
mesh track: meshes and bounds are used
Inputs:
id (string) - Unique identifier for the object
project_type (string) - Specifies the project type to construct (valid
values are "bounding_box", "voxels", or "meshes")
bounds (Box3d) - Object bounding box in local coordinates
voxels (VoxelGrid) - Object voxel shape in local coordinates
meshes (GltfModel) - Object mesh shape and appearance in local coordinates
pose (Pose3) - Transforms object from local coordinates to world coordinates
category (string) - Object category (e.g., chair, bookcase, etc.)
symmetry (ObjectSymmetry) - Object symmetry description
score (float) - Detection score
evaluated (Boolean) - Indicates whether this object will be used in
evaluation metric. Only relevant for ground truth scenes.
Exceptions:
ValueError - if project_type is not one of the allowed values.
"""
# ensure id is unicode string, idiom below is python2/3 compatible
self._id = id.decode('UTF-8') if hasattr(id, 'decode') else id
self._project_type = project_type
self.pose = pose if pose is not None else Pose3()
self.category = category
self.symmetry = symmetry if symmetry is not None else ObjectSymmetry()
self.score = score
self.evaluated = evaluated
if project_type == "bounding_box":
self.bounds = bounds
self.voxels = None
self.meshes = None
elif project_type == "voxels":
self.bounds = bounds
self.voxels = voxels
self.meshes = None
elif project_type == "meshes":
self.bounds = bounds
self.voxels = None
self.meshes = meshes
else:
raise ValueError("Invalid project_type: " + project_type)
def test_xml(self):
"""Test converting to and from xml."""
s = b"<symmetry><x>twoFold</x><y>cylindrical</y><z>twoFold</z></symmetry>"
expected_sym = ObjectSymmetry(SymmetryType.twoFold,
SymmetryType.cylindrical,
SymmetryType.twoFold)
# xml -> object
xml = ET.fromstring(s)
sym = ObjectSymmetry.from_xml(xml)
print("sym=", sym)
print("expected=", expected_sym)
self.assertEqual(sym, expected_sym)
# object -> xml
xml = sym.to_xml()
self.assertEqual(ET.tostring(xml), s)
def test_setting(self):
"""Test setting elements."""
po = ProjectObject.gen_meshes_object(id="-1", meshes=self.meshes)
po.pose = self.pose
po.category = "table"
po.symmetry = ObjectSymmetry.example()
po.score = 0.23
self.assertTrue(isinstance(po.pose, Pose3))
self.assertAlmostEqual(po.pose, self.pose)
self.assertTrue(isinstance(po.meshes, GltfModel))
self.assertTrue(isinstance(po.category, "".__class__))
self.assertTrue(isinstance(po.symmetry, ObjectSymmetry))
self.assertEqual(po.category, "table")
self.assertEqual(po.id, "-1")
self.assertEqual(po.symmetry, ObjectSymmetry.example())
self.assertAlmostEqual(po.score, 0.23)
def example(cls, id="1"):
"""Create a simple ProjectObject of project_type = meshes."""
meshes = GltfModel.example()
pose = Pose3(t=Vector3(1, 2, 3))
symmetry = ObjectSymmetry.example()
return cls.gen_meshes_object(id=id,
pose=pose,
category="chair",
meshes=meshes,
symmetry=symmetry,
score=0.57)
def _parse_xml(base_elem):
"""
Parse the xml of an <element> tag, extracting the ProjectObject attributes.
Inputs:
base_elem (ET.Element) - An Element with tag "element" and appropriate
sub-elements.
Return:
tuple (id, pose, category, bounds, symmetry, score, evaluated)
ProjectObject attributes (see constructor for details).
Exceptions:
ValueError - If base_elem is not <element> or if none of its children is <id>.
"""
# verify base_elem tag is 'element'
if base_elem.tag != "element":
raise ValueError('Expected tag to be "element"')
# defaults
proxy = ProjectObject(1)
category = proxy.category
pose = proxy.pose
symmetry = proxy.symmetry
score = proxy.score
evaluated = proxy.evaluated
for elem in base_elem:
if elem.tag == "id":
id = elem.text
elif elem.tag == "pose":
pose = Pose3.from_xml(elem)
elif elem.tag == "category":
category = elem.text
elif (elem.tag == "bounds"):
# Note: Boxe3d.from_xml expects tag to be 'box3d'
elem_temp = deepcopy(elem)
elem_temp.tag = "box3d"
bounds = Box3d.from_xml(elem_temp)
elif elem.tag == "symmetry":
symmetry = ObjectSymmetry.from_xml(elem)
elif elem.tag == "detectionScore":
score = float(elem.text)
elif elem.tag == "evaluated":
evaluated = bool(elem.text)
if id is None:
raise ValueError("XML is missing required <id> tag.")
return (id, pose, category, bounds, symmetry, score, evaluated)
def test_constructor(self):
"""
Test constructor.
"""
po = ProjectObject(id="1",
project_type="bounding_box",
bounds=self.bounds)
self.assertTrue(isinstance(po.pose, Pose3))
self.assertTrue(isinstance(po.category, "".__class__))
po.pose.assert_almost_equal(Pose3())
self.assertTrue(po.bounds.almost_equal(self.bounds))
self.assertIs(po.meshes, None)
self.assertIs(po.voxels, None)
self.assertTrue(po.category == "unknown")
self.assertEqual(po.id, "1")
self.assertEqual(po.symmetry, ObjectSymmetry())
self.assertAlmostEqual(po.score, -1)
