def test_dataset_splitting(split):
dataset_config = get_config(CFG_MULTI_TEST).DATASET
dataset_config.defrost()
dataset_config.SPLIT = split
if not PointNavDatasetV1.check_config_paths_exist(dataset_config):
pytest.skip("Test skipped as dataset files are missing.")
scenes = PointNavDatasetV1.get_scenes_to_load(config=dataset_config)
assert (len(scenes) >
0), "Expected dataset contains separate episode file per scene."
dataset_config.CONTENT_SCENES = scenes[:PARTIAL_LOAD_SCENES]
full_dataset = make_dataset(id_dataset=dataset_config.TYPE,
config=dataset_config)
full_episodes = {(ep.scene_id, ep.episode_id)
for ep in full_dataset.episodes}
dataset_config.CONTENT_SCENES = scenes[:PARTIAL_LOAD_SCENES // 2]
split1_dataset = make_dataset(id_dataset=dataset_config.TYPE,
config=dataset_config)
split1_episodes = {(ep.scene_id, ep.episode_id)
for ep in split1_dataset.episodes}
dataset_config.CONTENT_SCENES = scenes[PARTIAL_LOAD_SCENES //
2:PARTIAL_LOAD_SCENES]
split2_dataset = make_dataset(id_dataset=dataset_config.TYPE,
config=dataset_config)
split2_episodes = {(ep.scene_id, ep.episode_id)
for ep in split2_dataset.episodes}
assert full_episodes == split1_episodes.union(
split2_episodes), "Split dataset is not equal to full dataset"
assert (len(split1_episodes.intersection(split2_episodes)) == 0
), "Intersection of split datasets is not the empty set"
def test_multiple_files_scene_path():
dataset_config = get_config(CFG_MULTI_TEST).DATASET
if not PointNavDatasetV1.check_config_paths_exist(dataset_config):
pytest.skip("Test skipped as dataset files are missing.")
scenes = PointNavDatasetV1.get_scenes_to_load(config=dataset_config)
assert (
len(scenes) > 0
), "Expected dataset contains separate episode file per scene."
dataset_config.defrost()
dataset_config.CONTENT_SCENES = scenes[:PARTIAL_LOAD_SCENES]
dataset_config.SCENES_DIR = os.path.join(
os.getcwd(), DEFAULT_SCENE_PATH_PREFIX
)
dataset_config.freeze()
partial_dataset = make_dataset(
id_dataset=dataset_config.TYPE, config=dataset_config
)
assert (
len(partial_dataset.scene_ids) == PARTIAL_LOAD_SCENES
), "Number of loaded scenes doesn't correspond."
print(partial_dataset.episodes[0].scene_id)
assert os.path.exists(
partial_dataset.episodes[0].scene_id
), "Scene file {} doesn't exist using absolute path".format(
partial_dataset.episodes[0].scene_id
)
def test_demo_notebook():
config = habitat.get_config("configs/tasks/pointnav_mp3d.yaml")
config.defrost()
config.DATASET.SPLIT = "val"
if not PointNavDatasetV1.check_config_paths_exist(config.DATASET):
pytest.skip(
"Please download the Matterport3D PointNav val dataset and Matterport3D val scenes"
)
else:
pytest.main(["--nbval-lax", "notebooks/habitat-api-demo.ipynb"])
def test_single_pointnav_dataset():
dataset_config = get_config().DATASET
if not PointNavDatasetV1.check_config_paths_exist(dataset_config):
pytest.skip("Test skipped as dataset files are missing.")
scenes = PointNavDatasetV1.get_scenes_to_load(config=dataset_config)
assert (len(scenes) >
0), "Expected dataset contains separate episode file per scene."
dataset = PointNavDatasetV1(config=dataset_config)
assert len(dataset.episodes) > 0, "The dataset shouldn't be empty."
assert (len(
dataset.scene_ids) == 2), "The test dataset scenes number is wrong."
check_json_serializaiton(dataset)
def test_demo_notebook():
config = habitat.get_config("configs/tasks/pointnav_rgbd.yaml")
config.defrost()
config.DATASET.SPLIT = "val"
if not PointNavDatasetV1.check_config_paths_exist(config.DATASET):
pytest.skip("Please download the habitat test scenes")
else:
pytest.main([
"--nbval-lax",
"notebooks/relative_camera_views_transform_and_warping_demo.ipynb",
])
def test_multiple_files_pointnav_dataset(cfg_path: str):
dataset_config = get_config(cfg_path).DATASET
if not PointNavDatasetV1.check_config_paths_exist(dataset_config):
pytest.skip("Test skipped as dataset files are missing.")
scenes = PointNavDatasetV1.get_scenes_to_load(config=dataset_config)
assert (len(scenes) >
0), "Expected dataset contains separate episode file per scene."
dataset_config.defrost()
dataset_config.CONTENT_SCENES = scenes
dataset_config.freeze()
partial_dataset = make_dataset(id_dataset=dataset_config.TYPE,
config=dataset_config)
check_json_serializaiton(partial_dataset)
def test_multiple_files_pointnav_dataset():
dataset_config = get_config(CFG_MULTI_TEST).DATASET
if not PointNavDatasetV1.check_config_paths_exist(dataset_config):
pytest.skip("Test skipped as dataset files are missing.")
scenes = PointNavDatasetV1.get_scenes_to_load(config=dataset_config)
assert (len(scenes) >
0), "Expected dataset contains separate episode file per scene."
dataset_config.defrost()
dataset_config.CONTENT_SCENES = scenes[:PARTIAL_LOAD_SCENES]
dataset_config.freeze()
partial_dataset = make_dataset(id_dataset=dataset_config.TYPE,
config=dataset_config)
assert (len(partial_dataset.scene_ids) == PARTIAL_LOAD_SCENES
), "Number of loaded scenes doesn't correspond."
check_json_serializaiton(partial_dataset)
def test_demo_notebook():
config = habitat.get_config("configs/tasks/pointnav_mp3d.yaml")
config.defrost()
config.DATASET.SPLIT = "val"
if not PointNavDatasetV1.check_config_paths_exist(config.DATASET):
pytest.skip(
"Please download the Matterport3D PointNav val dataset and Matterport3D val scenes"
)
else:
pytest.main(["--nbval-lax", "notebooks/habitat-api-demo.ipynb"])
# NB: Force a gc collect run as it can take a little bit for
# the cleanup to happen after the notebook and we get
# a double context crash!
gc.collect()
def test_demo_notebook():
config = habitat.get_config("configs/tasks/pointnav_rgbd.yaml")
config.defrost()
config.DATASET.SPLIT = "val"
if not PointNavDatasetV1.check_config_paths_exist(config.DATASET):
pytest.skip("Please download the habitat test scenes")
else:
pytest.main([
"--nbval-lax",
"notebooks/relative_camera_views_transform_and_warping_demo.ipynb",
])
# NB: Force a gc collect run as it can take a little bit for
# the cleanup to happen after the notebook and we get
# a double context crash!
gc.collect()
def _load_test_data():
configs = []
datasets = []
for i in range(NUM_ENVS):
config = get_config(CFG_TEST)
if not PointNavDatasetV1.check_config_paths_exist(config.DATASET):
pytest.skip("Please download Habitat test data to data folder.")
datasets.append(
habitat.make_dataset(id_dataset=config.DATASET.TYPE,
config=config.DATASET))
config.defrost()
config.SIMULATOR.SCENE = datasets[-1].episodes[0].scene_id
if not os.path.exists(config.SIMULATOR.SCENE):
pytest.skip("Please download Habitat test data to data folder.")
config.freeze()
configs.append(config)
return configs, datasets
def test_pointnav_episode_generator():
config = get_config(CFG_TEST)
config.defrost()
config.DATASET.SPLIT = "val"
config.ENVIRONMENT.MAX_EPISODE_STEPS = 500
config.freeze()
if not PointNavDatasetV1.check_config_paths_exist(config.DATASET):
pytest.skip("Test skipped as dataset files are missing.")
with habitat.Env(config) as env:
env.seed(config.SEED)
random.seed(config.SEED)
generator = pointnav_generator.generate_pointnav_episode(
sim=env.sim,
shortest_path_success_distance=config.TASK.SUCCESS_DISTANCE,
shortest_path_max_steps=config.ENVIRONMENT.MAX_EPISODE_STEPS,
)
episodes = []
for i in range(NUM_EPISODES):
episode = next(generator)
episodes.append(episode)
for episode in pointnav_generator.generate_pointnav_episode(
sim=env.sim,
num_episodes=NUM_EPISODES,
shortest_path_success_distance=config.TASK.SUCCESS_DISTANCE,
shortest_path_max_steps=config.ENVIRONMENT.MAX_EPISODE_STEPS,
geodesic_to_euclid_min_ratio=0,
):
episodes.append(episode)
assert len(episodes) == 2 * NUM_EPISODES
env.episode_iterator = iter(episodes)
for episode in episodes:
check_shortest_path(env, episode)
dataset = habitat.Dataset()
dataset.episodes = episodes
assert (
dataset.to_json()
), "Generated episodes aren't json serializable."
def test_visualizations_example():
if not PointNavDatasetV1.check_config_paths_exist(
config=habitat.get_config().DATASET):
pytest.skip("Please download Habitat test data to data folder.")
visualization_examples.main()
def test_readme_example():
if not PointNavDatasetV1.check_config_paths_exist(
config=habitat.get_config().DATASET):
pytest.skip("Please download Habitat test data to data folder.")
example()
def test_shortest_path_follower_example():
if not PointNavDatasetV1.check_config_paths_exist(
config=habitat.get_config().DATASET):
pytest.skip("Please download Habitat test data to data folder.")
shortest_path_follower_example.main()
def test_register_new_sensors_and_measures():
if not PointNavDatasetV1.check_config_paths_exist(
config=habitat.get_config().DATASET):
pytest.skip("Please download Habitat test data to data folder.")
register_new_sensors_and_measures.main()
def test_new_actions():
if not PointNavDatasetV1.check_config_paths_exist(
config=habitat.get_config().DATASET):
pytest.skip("Please download Habitat test data to data folder.")
new_actions.main()