def example(cls):
"""Create a simple ProjectObjectDict."""
pose1 = Pose3()
pose2 = Pose3(t=Vector3(2, 2, 0))
pose3 = Pose3(t=Vector3(4, 2, 0))
# Be explicit about unicode literal in case this code is called from python 2
data_path = parutil.get_dir_path(
u"sumo/threedee/test_data")
model1 = GltfModel.load_from_glb(os.path.join(data_path, "bed.glb"))
model2 = GltfModel.load_from_glb(os.path.join(data_path, "bed.glb"))
model3 = GltfModel.load_from_glb(os.path.join(data_path, "bed.glb"))
obj1 = ProjectObject.gen_meshes_object(
meshes=model1, id="1", pose=pose1, category="bed"
)
obj2 = ProjectObject.gen_meshes_object(
meshes=model2, id="2", pose=pose2, category="chair"
)
obj3 = ProjectObject.gen_meshes_object(
meshes=model3, id="3", pose=pose3, category="bed"
)
project_object_dict = ProjectObjectDict()
project_object_dict[obj1.id] = obj1
project_object_dict[obj2.id] = obj2
project_object_dict[obj3.id] = obj3
return project_object_dict
def convert_element(self, element, target_type):
"""
Convert <element> to <target_type> track. Makes a copy of the element.
Inputs:
element (ProjectObject) - element to convert
target_type (string) - destination project type
Return
new_element (ProjectObject) - converted element
See above for allowed conversions.
"""
if (element.project_type, target_type) not in self.allowed_conversions:
raise ValueError("Invalid target_type ({}) for element with type \
{}".format(target_type, element.project_type))
source_type = element.project_type
if target_type == "bounding_box":
if source_type == "voxels":
bounds = element.voxels.bounds()
elif source_type == "meshes":
bounds = ComputeBbox().from_gltf_object(element.meshes)
else:
raise ValueError(
"Invalid target type") # this should not be possible
new_element = ProjectObject.gen_bounding_box_object(
id=element.id,
bounds=bounds,
pose=deepcopy(element.pose),
category=element.category,
symmetry=element.symmetry,
score=element.score,
evaluated=element.evaluated)
elif target_type == "voxels":
voxelizer = Voxelizer()
voxels = voxelizer.run(element.meshes)
new_element = ProjectObject.gen_voxels_object(
id=element.id,
bounds=voxels.bounds(),
voxels=voxels,
pose=deepcopy(element.pose),
category=element.category,
symmetry=element.symmetry,
score=element.score,
evaluated=element.evaluated)
else:
raise ValueError(
"Invalid target type") # this should not be possible
return new_element
def test_voxel_io(self):
"""Test reading and writing voxel objects."""
points = np.array([[0.1, 0.1, 0.1], [1.1, 1.1, 1.1], [1.3, 1.2, 1.4]])
vg = VoxelGrid(0.5, min_corner=Vector3f(0, 0, 0), points=points)
po = ProjectObject.gen_voxels_object(id="foobar",
voxels=vg,
pose=self.pose,
category="chair")
self.assertIsInstance(self.temp_directory, str)
po_xml = po.save(self.temp_directory)
po2 = ProjectObject.load("voxels", po_xml, self.temp_directory)
self.assertTrue(po2.almost_equal(po))
def test_meshes_io(self):
"""Test reading and writing gltf objects."""
po = ProjectObject(
id="foobar",
project_type="meshes",
meshes=self.meshes,
pose=self.pose,
category="chair",
)
object_xml = po.save(self.temp_directory)
po2 = ProjectObject.load("meshes", object_xml, self.temp_directory)
self.assertTrue(po2.almost_equal(po))
def test_bounding_box_io(self):
"""
Save and load a bounding_box project. Also try overwriting the
project (should fail).
"""
project_scene = ProjectScene(project_type="bounding_box")
bounds = Box3d([-0.5, -0.5, -0.5], [0.5, 0.5, 0.5])
po = ProjectObject(id="1", bounds=bounds, category="chair")
project_scene.elements["1"] = po
# test saving
project_scene.save(path=self.temp_directory, project_name="test")
xml_path = os.path.join(self.temp_directory, "test", "test.xml")
self.assertTrue(os.path.isfile(xml_path))
# test overwriting
self.assertRaises(OSError,
project_scene.save,
path=self.temp_directory,
project_name="test")
# test loading
project_scene = ProjectScene.load(path=self.temp_directory,
project_name="test")
self.assertIsInstance(project_scene, ProjectScene)
self.assertIsInstance(project_scene.elements, ProjectObjectDict)
# ::: TODO: improve check with equality test on project_scene
# Check bounding box for the first ProjectObject
po = project_scene.elements["1"]
self.assertTrue(po.bounds.almost_equal(bounds, atol=0.01))
self.assertEqual(po.category, "chair")
def test_xml(self):
"""Test converting to and from xml."""
s = """<element><id>floor1</id><category>floor</category><bounds>\
<corner1>0., 0., 0.</corner1><corner2>0., 0., 0.</corner2></bounds>\
<pose><translation>-131.596614 , -39.9279011, 92.1260558</translation>\
<rotation><c1>1., 0., 0.</c1><c2>0., 1., 0.</c2><c3>0., 0., 1.</c3></rotation>\
</pose><symmetry><x>twoFold</x><y>twoFold</y><z>fourFold</z></symmetry>\
<detectionScore>0.23</detectionScore><evaluated>True</evaluated></element>"""
object_xml = ET.fromstring(s)
(id, pose, category, bounds, symmetry, score, evaluated) = \
ProjectObject._parse_xml(object_xml)
project_object = ProjectObject.gen_bounding_box_object(
id, bounds, pose, category, symmetry, score, evaluated)
object_xml2 = project_object._to_xml()
self.assertEqual(ET.tostring(object_xml2, encoding="unicode"), s)
def load(cls, project_type, base_elem, path=None):
"""
Factory method to create a ProjectObjectDict by reading it from disk and
xml.
Note: If project_type of contained ProjectObjects is bounding_box,
no file is read and <path> is not used.
Note: Assumes tag of base element has been verified by caller.
Inputs:
project_type (string) - Specifies the project type to construct (valid
values are "bounding_box", "voxels", or "meshes")
base_elem - An Element with appropriate sub-elements (objects).
path (string) - Path to project directory.
Return:
New ProjectObjectDict
Exceptions:
ValueError - If sub-elements are not ProjectObjects.
"""
# loop over sub-elements, converting and adding to new dict
project_object_dict = ProjectObjectDict()
for elem in base_elem:
if elem.tag == "element":
po = ProjectObject.load(project_type, elem, path)
project_object_dict[po.id] = po
return project_object_dict
def test_factory_methods(self):
"""Test the gen_<X> methods for the 3 project_types"""
po = ProjectObject.gen_bounding_box_object(id="1", bounds=self.bounds)
self.assertEqual(po.project_type, "bounding_box")
self.assertAlmostEqual(po.bounds, self.bounds)
self.assertEqual(po.id, "1")
po = ProjectObject.gen_voxels_object(id="2", voxels=self.voxels)
self.assertEqual(po.project_type, "voxels")
self.assertAlmostEqual(po.voxels.bounds(), self.voxels.bounds())
self.assertEqual(po.id, "2")
po = ProjectObject.gen_meshes_object(id="3", meshes=self.meshes)
self.assertEqual(po.project_type, "meshes")
self.assertEqual(po.meshes.num_primitive_meshes(),
self.meshes.num_primitive_meshes())
self.assertEqual(po.id, "3")
def test_bounding_box_io(self):
"""
Test reading and writing a bounding_box object.
"""
s = """<element><id>floor1</id><category>floor</category><bounds>\
<corner1>0., 0., 0.</corner1><corner2>0., 0., 0.</corner2></bounds>\
<pose><translation>-131.596614 , -39.9279011, 92.1260558</translation>\
<rotation><c1>1., 0., 0.</c1><c2>0., 1., 0.</c2><c3>0., 0., 1.</c3></rotation>\
</pose><symmetry><x>twoFold</x><y>twoFold</y><z>fourFold</z></symmetry>\
<detectionScore>0.23</detectionScore><evaluated>True</evaluated></element>"""
object_xml = ET.fromstring(s)
project_object = ProjectObject.load("bounding_box", object_xml)
object_xml2 = project_object.save("bounding_box")
self.assertEqual(ET.tostring(object_xml2, encoding="unicode"), s)
def test_init(self):
"""Test common construction."""
po = ProjectObject.example()
self.assertTrue(isinstance(po.pose, Pose3))
self.assertTrue(isinstance(po.meshes, GltfModel))
self.assertEqual(po.meshes.num_primitive_meshes(), 1)
self.assertEqual(po.meshes.num_nodes(), 1)
self.assertEqual(po.meshes.num_buffers(), 1)
self.assertEqual(po.meshes.num_images(), 2)
self.assertTrue(isinstance(po.category, "".__class__))
self.assertTrue(isinstance(po.symmetry, ObjectSymmetry))
self.assertEqual(po.category, "chair")
self.assertEqual(po.id, "1")
self.assertAlmostEqual(po.score, 0.57)
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)
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 test_almost_equal(self):
object1 = ProjectObject.example(id="foobar")
self.assertTrue(object1.almost_equal(object1))
object2 = ProjectObject.example(id="not_foobar")
self.assertFalse(object1.almost_equal(object2))
def test_transform_pose(self):
po = ProjectObject(id="1", bounds=self.bounds, pose=Pose3())
po2 = po.transform_pose(self.pose)
self.assertTrue(po2.pose.almost_equal(self.pose))