def test_loading_image_lidar(data_loader: ArgoverseTrackingLoader) -> None:
camera = CAMERA_LIST[0]
log = "1"
image_1 = data_loader.get_image_at_timestamp(0, camera, log)
image_2 = data_loader.get_image_list_sync(camera, log, load=True)[0]
image_3 = data_loader.get_image(0, camera, log)
image_4 = data_loader.get_image_sync(0, camera, log)
assert np.array_equal(image_1, image_2) and np.array_equal(
image_1, image_3) and np.array_equal(image_1, image_4)
lidar_0 = data_loader.get_lidar(0, log)
lidar_gt = np.array([
[0.0, 0.0, 5.0],
[1.0, 0.0, 5.0],
[2.0, 0.0, 5.0],
[3.0, 0.0, 5.0],
[4.0, 0.0, 5.0],
[5.0, 0.0, 5.0],
[6.0, 0.0, 5.0],
[7.0, 0.0, 5.0],
[8.0, 0.0, 5.0],
[9.0, 0.0, 5.0],
])
assert np.array_equal(lidar_0, lidar_gt)
def make_grid_ring_camera(argoverse_data: ArgoverseTrackingLoader,
idx: int) -> Tuple[plt.Figure, plt.Axes]:
f, ax = plt.subplots(3, 3, figsize=(20, 15))
camera = "ring_front_left"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[0, 0].imshow(img_vis)
ax[0, 0].set_title("Ring Front Left")
ax[0, 0].axis("off")
camera = "ring_front_center"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[0, 1].imshow(img_vis)
ax[0, 1].set_title("Right Front Center")
ax[0, 1].axis("off")
camera = "ring_front_right"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[0, 2].imshow(img_vis)
ax[0, 2].set_title("Ring Front Right")
ax[0, 2].axis("off")
camera = "ring_side_left"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[1, 0].imshow(img_vis)
ax[1, 0].set_title("Ring Side Left")
ax[1, 0].axis("off")
ax[1, 1].axis("off")
camera = "ring_side_right"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[1, 2].imshow(img_vis)
ax[1, 2].set_title("Ring Side Right")
ax[1, 2].axis("off")
camera = "ring_rear_left"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[2, 0].imshow(img_vis)
ax[2, 0].set_title("Ring Rear Left")
ax[2, 0].axis("off")
ax[2, 1].axis("off")
camera = "ring_rear_right"
img = argoverse_data.get_image_sync(idx, camera=camera)
objects = argoverse_data.get_label_object(idx)
calib = argoverse_data.get_calibration(camera)
img_vis = Image.fromarray(show_image_with_boxes(img, objects, calib))
ax[2, 2].imshow(img_vis)
ax[2, 2].set_title("Ring Rear Right")
ax[2, 2].axis("off")
return f, ax
