def test_trajectories_read(self):
content = [
'# timestamp, device_id, qw, qx, qy, qz, tx, ty, tz',
'0, cam0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0',
' 0, cam1, 0.5, 0.5, 0.5, 0.5, 4.0, 2.0, -2.0',
' 100, cam2, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0'
]
with open(self._temp_filepath, 'wt') as f:
f.write(kapture_linesep.join(content))
device_ids = {'cam0', 'cam1', 'cam2'}
trajectories = csv.trajectories_from_file(self._temp_filepath,
device_ids)
self.assertIsInstance(trajectories, kapture.Trajectories)
self.assertEqual(2, len(trajectories.keys())) # timestamps
self.assertEqual(3,
len(trajectories.key_pairs())) # timestamp x devices
self.assertIn(0, trajectories)
self.assertIn(100, trajectories)
self.assertIn('cam0', trajectories[0])
self.assertIn('cam1', trajectories[0])
pose = kapture.PoseTransform(r=[0.5, 0.5, 0.5, 0.5], t=[4., 2., -2.])
self.assertAlmostEqual(trajectories[(0, 'cam1')].r_raw, pose.r_raw)
self.assertAlmostEqual(trajectories[(0, 'cam1')].t_raw, pose.t_raw)
def test_sensors_read(self):
formatted_expected = kapture_linesep.join([
'# sensor_id, name, sensor_type, [sensor_params]+',
'cam0, cam0, camera, SIMPLE_PINHOLE, 640, 480, 100, 320, 240',
'cam1, cam1, camera, SIMPLE_PINHOLE, 640, 480, 100, 320, 240', ''
])
with open(self._temp_filepath, 'wt') as f:
f.write(formatted_expected)
sensors = csv.sensors_from_file(self._temp_filepath)
self.assertIsInstance(sensors, kapture.Sensors)
self.assertEqual(len(sensors), 2)
self.assertIn('cam0', sensors)
self.assertIn('cam1', sensors)
self.assertEqual('cam0', sensors['cam0'].name)
self.assertEqual('cam1', sensors['cam1'].name)
self.assertEqual(kapture.SENSOR_TYPE_CAMERA,
sensors['cam0'].sensor_type)
self.assertEqual(kapture.SENSOR_TYPE_CAMERA,
sensors['cam1'].sensor_type)
self.assertEqual(6, len(sensors['cam1'].sensor_params))
self.assertListEqual(
sensors['cam0'].sensor_params,
['SIMPLE_PINHOLE', '640', '480', '100', '320', '240'])
def setUp(self):
self._tempdir = tempfile.TemporaryDirectory()
self._sensors_filepath = path.join(self._tempdir.name, 'sensors.txt')
sensors_content = [
'# sensor_id, name, sensor_type, [sensor_params]+',
'gps1, gps_01, gnss, EPSG:4326',
'gps2, gps_02, gnss, EPSG:4326',
]
with open(self._sensors_filepath, 'wt') as f:
f.write(kapture_linesep.join(sensors_content))
self._gnss_filepath = path.join(self._tempdir.name, 'records_gnss.txt')
gnss_content = [
'# timestamp, device_id, x, y, z, utc, dop',
'0, gps1, 28.099134, 49.38892, 8.0, 514850398, 3.0',
' 1, gps1, 29.099134, 50.38892, 9.0, 514850399, 2.0',
' 1, gps2, 29.099134, 50.38892, 9.0, 514850399, 2.0',
' 2, gps1, 30.099134, 51.38892, 10.0, 514850400, 1.0'
]
with open(self._gnss_filepath, 'wt') as f:
f.write(kapture_linesep.join(gnss_content))
def test_last_line_small_file(self):
content = kapture_linesep.join([
csv.KAPTURE_FORMAT_1,
'# timestamp, device_id, qw, qx, qy, qz, tx, ty, tz',
'0001, cam0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0',
'0002, cam1, 0.5, 0.5, 0.5, 0.5, 4.0, 2.0, -2.0'
])
last_line = '1000, cam2, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0'
with open(self._temp_filepath, 'wt') as fw:
fw.write(content)
fw.write(kapture_linesep + last_line)
with open(self._temp_filepath, 'r') as fr:
line = csv.get_last_line(fr)
self.assertEqual(line, last_line)
def test_rig_write(self):
rigs = kapture.Rigs()
rigs['rig1', 'cam0'] = kapture.PoseTransform()
rigs['rig1', 'cam1'] = kapture.PoseTransform(r=[0.5, 0.5, 0.5, 0.5])
content_expected = kapture_linesep.join([
csv.KAPTURE_FORMAT_1,
'# rig_id, sensor_id, qw, qx, qy, qz, tx, ty, tz',
'rig1, cam0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0',
'rig1, cam1, 0.5, 0.5, 0.5, 0.5, 0.0, 0.0, 0.0', ''
])
csv.rigs_to_file(self._temp_filepath, rigs)
with open(self._temp_filepath, 'rt') as f:
content_actual = ''.join(f.readlines())
self.assertEqual(content_expected, content_actual)
def test_sensors_write(self):
cam0 = kapture.Camera(name='cam0',
camera_type='SIMPLE_PINHOLE',
camera_params=[640, 480, 100, 320, 240])
cam1 = kapture.Camera(name='cam1',
camera_type='SIMPLE_PINHOLE',
camera_params=[640, 480, 100, 320, 240])
formatted_expected = kapture_linesep.join([
csv.KAPTURE_FORMAT_1,
'# sensor_id, name, sensor_type, [sensor_params]+',
'cam0, cam0, camera, SIMPLE_PINHOLE, 640, 480, 100, 320, 240',
'cam1, cam1, camera, SIMPLE_PINHOLE, 640, 480, 100, 320, 240', ''
])
sensors = kapture.Sensors()
sensors['cam0'] = cam0
sensors['cam1'] = cam1
csv.sensors_to_file(self._temp_filepath, sensors)
with open(self._temp_filepath, 'rt') as f:
formatted_actual = ''.join(f.readlines())
self.assertEqual(formatted_actual, formatted_expected)
def setUp(self):
self._tempdir = tempfile.TemporaryDirectory()
self._observations_expected_filepath = path.join(
self._tempdir.name, 'expected', 'observations.txt')
self._observations_actual_filepath = path.join(self._tempdir.name,
'actual',
'observations.txt')
# creates ground truth couple data/file
self._observations_expected = kapture.Observations({
0: [('image1.jpg', 0), ('image2.jpg', 0)],
2: [('image1.jpg', 2), ('image2.jpg', 3)]
})
self._observations_csv_expected = csv.KAPTURE_FORMAT_1 + kapture_linesep
self._observations_csv_expected += kapture_linesep.join([
"# point3d_id, [image_path, feature_id]*",
"0, image1.jpg, 0, image2.jpg, 0",
"2, image1.jpg, 2, image2.jpg, 3"
]) + kapture_linesep
os.makedirs(path.dirname(self._observations_expected_filepath),
exist_ok=True)
with open(self._observations_expected_filepath, 'wt') as file:
file.write(self._observations_csv_expected)