class TestOnlyPrimitiveBuilder(unittest.TestCase):
def setUp(self):
self.builder = XVIZBuilder()
def test_polyline(self):
verts = [0., 0., 0., 4., 0., 0., 4., 3., 0.]
self.builder.timestamp(1.0)
self.builder.primitive('/test/polyline')\
.polyline(verts)\
.id('1')\
.style({
'stroke_color': [255, 0, 0]
})
expected = {
'timestamp': 1.0,
'primitives': {
'/test/polyline': {
'polylines': [{
'base': {
'style': {
'stroke_color': [255, 0, 0],
},
'object_id': '1'
},
'vertices': verts
}]
}
}
}
data = self.builder.get_data().to_object()
assert json.dumps(data, sort_keys=True) == json.dumps(expected,
sort_keys=True)
def dump_sequence(self, output_path, seq_id):
sink = DirectorySource(output_path)
writer = XVIZGLBWriter(sink,
image_encoding='JPEG',
use_xviz_extension=False)
writer.write_message(self.get_metadata(seq_id))
for frame_idx in trange(self._loader.sequence_sizes[seq_id]):
builder = XVIZBuilder(self._metadata,
update_type=StateUpdate.UpdateType.SNAPSHOT)
idx_tuple = (seq_id, frame_idx)
timestamp = self._loader.timestamp(idx_tuple) / 1e6
self.add_pose(builder, idx_tuple, timestamp)
self.add_lidars(builder, idx_tuple)
self.add_cameras(builder, idx_tuple)
self.add_objects(builder, idx_tuple)
builder.time_series("/vehicle/autonomy_state")\
.timestamp(timestamp)\
.value("autonomous")
data = builder.get_message()
writer.write_message(data)
writer.close()
class TestUIPrimitiveBuilder(unittest.TestCase):
def setUp(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
def test_null(self):
builder = XVIZUIPrimitiveBuilder(None, None)
data = builder.stream('/test').get_data()
assert data is None
def test_treetable(self):
TEST_COLUMNS = [{
'display_text': 'Name',
'type': 'STRING'
}] # FIXME: type is in lower case in XVIZ
self.builder.ui_primitives('/test').treetable(TEST_COLUMNS)
data = self.builder.get_data().to_object()
expected = {
'/test': {
'treetable': {
'columns': TEST_COLUMNS,
# 'nodes': [] # FIXME: nodes are no serialized
}
}
}
assert json.dumps(data['ui_primitives'],
sort_keys=True) == json.dumps(expected,
sort_keys=True)
class TestPoseBuilder(unittest.TestCase):
def setUp(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
def test_single_pose(self):
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
}
}
data = self.builder.get_data().to_object()
assert json.dumps(data, sort_keys=True) == json.dumps(expected,
sort_keys=True)
def test_multiple_poses(self):
self.builder.pose('/vehicle-pose-2')\
.timestamp(2.0)\
.map_origin(4.4, 5.5, 6.6)\
.position(44., 55., 66.)\
.orientation(0.44, 0.55, 0.66)
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE,
"/vehicle-pose-2": {
'timestamp': 2.0,
'map_origin': {
'longitude': 4.4,
'latitude': 5.5,
'altitude': 6.6
},
'position': [44., 55., 66.],
'orientation': [0.44, 0.55, 0.66]
}
}
}
data = self.builder.get_data().to_object()
assert json.dumps(data, sort_keys=True) == json.dumps(expected,
sort_keys=True)
def test_single_entry(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
self.builder.time_series('/test')\
.timestamp(20.)\
.value(1.)
expected = [{
'timestamp': 20.,
'streams': ['/test'],
'values': {
'doubles': [1.]
}
}]
data = self.builder.get_data().to_object()
assert json.dumps(data['time_series'],
sort_keys=True) == json.dumps(expected,
sort_keys=True)
class TestTimeSeriesBuilder(unittest.TestCase):
def setUp(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
def test_null(self):
builder = XVIZTimeSeriesBuilder(None)
data = builder.stream('/test').get_data()
assert not data
def test_single_entry(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
self.builder.time_series('/test')\
.timestamp(20.)\
.value(1.)
expected = [{
'timestamp': 20.,
'streams': ['/test'],
'values': {
'doubles': [1.]
}
}]
data = self.builder.get_data().to_object()
assert json.dumps(data['time_series'],
sort_keys=True) == json.dumps(expected,
sort_keys=True)
def test_multiple_entries(self):
self.builder.time_series('/test')\
.timestamp(20.)\
.value(1.)
self.builder.time_series('/foo')\
.timestamp(20.)\
.value(2.)
expected = [{
'timestamp': 20.,
'streams': ['/test', '/foo'],
'values': {
'doubles': [1., 2.]
}
}]
data = self.builder.get_data().to_object()
assert json.dumps(data['time_series'],
sort_keys=True) == json.dumps(expected,
sort_keys=True)
def visualize_detections(builder: XVIZBuilder,
visualizer_frame: str,
targets: Target3DArray,
calib: TransformSet,
stream_prefix: str,
id_prefix="",
tags=None,
text_offset=None):
'''
Add detection results to xviz builder
'''
# change frame to the same
if targets.frame != visualizer_frame:
targets = calib.transform_objects(targets, frame_to=visualizer_frame)
stream_prefix = stream_prefix.rstrip("/")
for box in targets:
vertices = box.corners[[0, 1, 3, 2, 0]]
builder.primitive(stream_prefix + "/objects")\
.polygon(vertices.tolist())\
.id(box.tid64)\
.style({"height": box.dimension[2]})\
.classes([box.tag.mapping(t).name for t in box.tag.labels])
builder.primitive(stream_prefix + "/label")\
.text("#" + box.tid64)\
.position(box.position if text_offset is None else box.position + text_offset)
builder.primitive(stream_prefix + "/tracking_point")\
.circle(box.position, 0.2)\
.id(box.tid64)
class TestPrimitiveBuilder(unittest.TestCase):
def setUp(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
def test_image(self):
data = bytes(b'12345')
self.builder.primitive('/camera/1')\
.image(data)
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'primitives': {
'/camera/1': {
'images': [{
'data': 'MTIzNDU='
}]
}
}
}
assert self.builder.get_data().to_object() == expected
def test_polygon(self):
verts = [0., 0., 0., 4., 0., 0., 4., 3., 0.]
self.builder.primitive('/test/polygon')\
.polygon(verts)\
.id('1')\
.style({
'fill_color': [255, 0, 0]
})
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'primitives': {
'/test/polygon': {
'polygons': [{
'base': {
'style': {
'fill_color': [255, 0, 0],
},
'object_id': '1'
},
'vertices': verts
}]
}
}
}
data = self.builder.get_data().to_object()
assert json.dumps(data, sort_keys=True) == json.dumps(expected,
sort_keys=True)
def setUp(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
class TestVariableBuilder(unittest.TestCase):
def setUp(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
def test_null(self):
builder = XVIZVariableBuilder(None, None)
data = builder.stream('/test').get_data()
assert data is None
def test_int32s_variable(self):
self.builder.variable('/test_var').values([1, 2, 3])
self.builder.variable('/test_var').values([1, 2, 3]).id('id-1')
data = self.builder.get_data().to_object()
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'variables': {
'/test_var': {
'variables': [{
'values': {
'int32s': [1, 2, 3]
}
}, {
'base': {
'object_id': 'id-1'
},
'values': {
'int32s': [1, 2, 3]
}
}]
}
}
}
assert data == expected
def test_doubles_variable(self):
self.builder.variable('/test_var').values([1.0, 2.0, 3.0])
self.builder.variable('/test_var').values([1.0, 2.0, 3.0]).id('id-1')
data = self.builder.get_data().to_object()
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'variables': {
'/test_var': {
'variables': [{
'values': {
'doubles': [1.0, 2.0, 3.0]
}
}, {
'base': {
'object_id': 'id-1'
},
'values': {
'doubles': [1.0, 2.0, 3.0]
}
}]
}
}
}
assert data == expected
def test_strings_variable(self):
self.builder.variable('/test_var').values(['a', 'b'])
self.builder.variable('/test_var').values(['a', 'b']).id('id-1')
data = self.builder.get_data().to_object()
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'variables': {
'/test_var': {
'variables': [{
'values': {
'strings': ['a', 'b']
}
}, {
'base': {
'object_id': 'id-1'
},
'values': {
'strings': ['a', 'b']
}
}]
}
}
}
assert data == expected
def test_bools_variable(self):
self.builder.variable('/test_var').values([True, False])
self.builder.variable('/test_var').values([True, False]).id('id-1')
data = self.builder.get_data().to_object()
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'variables': {
'/test_var': {
'variables': [{
'values': {
'bools': [True, False]
}
}, {
'base': {
'object_id': 'id-1'
},
'values': {
'bools': [True, False]
}
}]
}
}
}
assert data == expected
class TestFutureInstanceBuilder(unittest.TestCase):
def setUp(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
def test_primitives(self):
verts = [1., 0., 0., 1., 1., 0., 1., 1., 1.]
self.builder.future_instance('/test/future_circle', 1.0)\
.circle([1., 0., 0.], 2)
self.builder.future_instance('/test/future_text', 1.0)\
.text('testing')\
.position([1., 1., 0.])
self.builder.future_instance('/test/future_stadium', 1.0)\
.stadium([1., 0., 0.], [1., 1., 0.], 2)
self.builder.future_instance('/test/future_points', 1.0)\
.points([1., 1., 1.])
self.builder.future_instance('/test/future_polyline', 1.0)\
.polyline([1., 1., 1.])
self.builder.future_instance('/test/future_polygon', 1.0)\
.polygon(verts)\
.id('1')
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'future_instances': {
'/test/future_circle': {
'timestamps': [1.0],
'primitives': [{
'circles': [{
'center': [1., 0., 0.],
'radius': 2.0
}]
}]
},
'/test/future_text': {
'timestamps': [1.0],
'primitives': [{
'texts': [{
'text': 'testing',
'position': [1., 1., 0.]
}]
}]
},
'/test/future_stadium': {
'timestamps': [1.0],
'primitives': [{
'stadiums': [{
'start': [1., 0., 0.],
'end': [1., 1., 0.],
'radius': 2.0
}]
}]
},
'/test/future_points': {
'timestamps': [1.0],
'primitives': [{
'points': [{
'points': [1., 1., 1.]
}]
}]
},
'/test/future_polyline': {
'timestamps': [1.0],
'primitives': [{
'polylines': [{
'vertices': [1., 1., 1.]
}]
}]
},
'/test/future_polygon': {
'timestamps': [1.0],
'primitives': [{
'polygons': [{
'base': {
'object_id': '1'
},
'vertices': verts
}]
}]
}
}
}
data = self.builder.get_data().to_object()
assert data == expected
def test_multiple_inserts(self):
verts = [1., 0., 0., 1., 1., 0., 1., 1., 1.]
# TODO test style({'fill_color': [255, 0, 0]})
self.builder.future_instance('/test/future_polygon', 1.0)\
.polygon(verts)\
.id('1')
self.builder.future_instance('/test/future_polygon', 1.1)\
.polygon(verts)\
.id('1')
self.builder.future_instance('/test/future_polygon', 1.0)\
.polygon(verts)\
.id('2')
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'future_instances': {
'/test/future_polygon': {
'timestamps': [1.0, 1.1],
'primitives': [{
'polygons': [{
'base': {
'object_id': '1'
},
'vertices': verts
}, {
'base': {
'object_id': '2'
},
'vertices': verts
}]
}, {
'polygons': [{
'base': {
'object_id': '1'
},
'vertices': verts
}]
}]
}
}
}
data = self.builder.get_data().to_object()
assert data == expected
def test_multiple_inserts_reverse_order(self):
verts = [1., 0., 0., 1., 1., 0., 1., 1., 1.]
self.builder.future_instance('/test/future_polygon', 1.1)\
.polygon(verts)\
.id('1')
self.builder.future_instance('/test/future_polygon', 1.0)\
.polygon(verts)\
.id('1')
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'future_instances': {
'/test/future_polygon': {
'timestamps': [1.0, 1.1],
'primitives': [{
'polygons': [{
'base': {
'object_id': '1'
},
'vertices': verts
}]
}, {
'polygons': [{
'base': {
'object_id': '1'
},
'vertices': verts
}]
}]
}
}
}
data = self.builder.get_data().to_object()
assert data == expected
class TestUIPrimitiveBuilder(unittest.TestCase):
def setUp(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
def test_null(self):
builder = XVIZUIPrimitiveBuilder(None, None)
data = builder.stream('/test').get_data()
assert data is None
def test_treetable_no_rows(self):
TEST_COLUMNS = [{'display_text': 'Name', 'type': 'STRING'}]
self.builder.ui_primitives('/test').treetable(TEST_COLUMNS)
data = self.builder.get_data().to_object()
expected = {'/test': {'treetable': {'columns': TEST_COLUMNS}}}
assert data['ui_primitives'] == expected
def test_treetable_row(self):
TEST_COLUMNS = [{'display_text': 'Name', 'type': 'STRING'}]
table = self.builder.ui_primitives('/test').treetable(TEST_COLUMNS)
table.row(None, ['Test Row 1'])
data = self.builder.get_data().to_object()
expected = {
'/test': {
'treetable': {
'columns': TEST_COLUMNS,
'nodes': [{
'column_values': ['Test Row 1']
}]
}
}
}
assert data['ui_primitives'] == expected
def test_treetable_rows(self):
TEST_COLUMNS = [{'display_text': 'Name', 'type': 'STRING'}]
table = self.builder.ui_primitives('/test').treetable(TEST_COLUMNS)
table.row(None, ['Test Row 1'])
table.row(None, ['Test Row 2'])
data = self.builder.get_data().to_object()
expected = {
'/test': {
'treetable': {
'columns':
TEST_COLUMNS,
'nodes': [{
'column_values': ['Test Row 1']
}, {
'column_values': ['Test Row 2']
}]
}
}
}
assert data['ui_primitives'] == expected
def test_treetable_row_children(self):
TEST_COLUMNS = [{'display_text': 'Name', 'type': 'STRING'}]
table = self.builder.ui_primitives('/test').treetable(TEST_COLUMNS)
row1 = table.row(1, ['Test Row 1'])
row1 = row1.child(2, ['Test Row 2'])
row2 = table.row(10, ['Test Row 10'])
row2 = row2.child(20, ['Test Row 20'])
data = self.builder.get_data().to_object()
expected = {
'/test': {
'treetable': {
'columns':
TEST_COLUMNS,
'nodes': [{
'id': 1,
'column_values': ['Test Row 1']
}, {
'parent': 1,
'id': 2,
'column_values': ['Test Row 2']
}, {
'id': 10,
'column_values': ['Test Row 10']
}, {
'parent': 10,
'id': 20,
'column_values': ['Test Row 20']
}]
}
}
}
assert data['ui_primitives'] == expected
def test_treetable_row_children_creation_order(self):
TEST_COLUMNS = [{'display_text': 'Name', 'type': 'STRING'}]
table = self.builder.ui_primitives('/test').treetable(TEST_COLUMNS)
# Ensure rows can be created and references remain valid
row1 = table.row(1, ['Test Row 1'])
row2 = table.row(10, ['Test Row 10'])
# Children can be added to rows
row1.child(2, ['Test Row 2'])
row2.child(20, ['Test Row 20'])
data = self.builder.get_data().to_object()
expected = {
'/test': {
'treetable': {
'columns':
TEST_COLUMNS,
'nodes': [{
'id': 1,
'column_values': ['Test Row 1']
}, {
'parent': 1,
'id': 2,
'column_values': ['Test Row 2']
}, {
'id': 10,
'column_values': ['Test Row 10']
}, {
'parent': 10,
'id': 20,
'column_values': ['Test Row 20']
}]
}
}
}
assert data['ui_primitives'] == expected
def test_treetable_column_types(self):
TEST_COLUMNS = [{
'display_text': 'string',
'type': 'STRING'
}, {
'display_text': 'int32',
'type': 'INT32'
}, {
'display_text': 'bool',
'type': 'BOOLEAN'
}, {
'display_text': 'double',
'type': 'DOUBLE'
}]
table = self.builder.ui_primitives('/test').treetable(TEST_COLUMNS)
table.row(1, ['Test', 1, True, 3.14159])
data = self.builder.get_data().to_object()
expected = {
'/test': {
'treetable': {
'columns':
TEST_COLUMNS,
'nodes': [{
'id': 1,
'column_values': ['Test', '1', 'True', '3.14159']
}]
}
}
}
assert data['ui_primitives'] == expected
class TestPrimitiveBuilder(unittest.TestCase):
def setUp(self):
self.builder = XVIZBuilder()
setup_pose(self.builder)
def test_image(self):
data = np.array([[1, 2], [3, 4]])
data = Image.fromarray(data.astype('u1')).convert('RGB')
self.builder.primitive('/camera/1')\
.image(data)
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'primitives': {
'/camera/1': {
'images': [
{
'width_px': 2,
'height_px': 2,
'data': b'\x89PNG\r\n\x1a\n\x00\x00\x00\rIHDR\x00\x00\x00\x02\x00'\
b'\x00\x00\x02\x08\x02\x00\x00\x00\xfd\xd4\x9as\x00\x00' \
b'\x00\x16IDATx\x9ccdddddddabbbdd\x04\x00\x00\x9b\x00\x15'\
b'\x86\xe2,\xcc\x00\x00\x00\x00IEND\xaeB`\x82'
}
]
}
}
}
assert self.builder.get_data().to_object() == expected
def test_polygon(self):
verts = [0., 0., 0., 4., 0., 0., 4., 3., 0.]
self.builder.primitive('/test/polygon')\
.polygon(verts)\
.id('1')\
.style({
'fill_color': [255, 0, 0]
})
expected = {
'timestamp': 1.0,
'poses': {
PRIMARY_POSE_STREAM: DEFAULT_POSE
},
'primitives': {
'/test/polygon': {
'polygons': [{
'base': {
'style': {
'fill_color': [255, 0, 0],
},
'object_id': '1'
},
'vertices': verts
}]
}
}
}
data = self.builder.get_data().to_object()
assert json.dumps(data, sort_keys=True) == json.dumps(expected,
sort_keys=True)
def setUp(self):
self.builder = XVIZBuilder()
