def test_get_future_for_sample(self): mock_samples = [{'token': '1', 'timestamp': 0, 'anns': ['1', '1b']}, {'token': '2', 'timestamp': 1e6}, {'token': '3', 'timestamp': 2e6}, {'token': '4', 'timestamp': 3e6}, {'token': '5', 'timestamp': 4e6}] nusc = MockNuScenes(self.multiagent_mock_annotations, mock_samples) helper = PredictHelper(nusc) future = helper.get_future_for_sample("1", 3, False) answer = {'1': np.array([[1, 1], [2, 2], [3, 3]]), '2': np.array([[7, 7], [8, 8], [9, 9]])} for k in answer: np.testing.assert_equal(answer[k], future[k]) future_in_sample = helper.get_future_for_sample("1", 3, True) answer_in_sample = {'1': np.array([[-1, 1], [-2, 2], [-3, 3]]), '2': np.array([[-1, 1], [-2, 2], [-3, 3]])} for k in answer_in_sample: np.testing.assert_allclose(answer_in_sample[k], future_in_sample[k])
def test_raises_error_when_seconds_negative(self) -> None: mock_samples = [{'token': '1', 'timestamp': 0, 'anns': ['1', '1b']}] nusc = MockNuScenes(self.mock_annotations, mock_samples) helper = PredictHelper(nusc) with self.assertRaises(ValueError): helper.get_future_for_agent('1', '1', -1, False) with self.assertRaises(ValueError): helper.get_past_for_agent('1', '1', -1, False) with self.assertRaises(ValueError): helper.get_past_for_sample('1', -1, False) with self.assertRaises(ValueError): helper.get_future_for_sample('1', -1, False)
def test_get_no_data_when_seconds_0(self): mock_samples = [{'token': '1', 'timestamp': 0, 'anns': ['1']}] nusc = MockNuScenes(self.mock_annotations, mock_samples) helper = PredictHelper(nusc) np.testing.assert_equal(helper.get_future_for_agent('1', '1', 0, False), np.array([])) np.testing.assert_equal(helper.get_past_for_agent('1', '1', 0, False), np.array([])) np.testing.assert_equal(helper.get_future_for_sample('1', 0, False), np.array([])) np.testing.assert_equal(helper.get_past_for_sample('1', 0, False), np.array([]))