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_past_for_sample(self) -> None:
mock_samples = [{
'token': '5',
'timestamp': 0,
'anns': ['5', '5b']
}, {
'token': '4',
'timestamp': -1e6
}, {
'token': '3',
'timestamp': -2e6
}, {
'token': '2',
'timestamp': -3e6
}, {
'token': '1',
'timestamp': -4e6
}]
nusc = MockNuScenes(self.multiagent_mock_annotations, mock_samples)
helper = PredictHelper(nusc)
past = helper.get_past_for_sample('5', 3, True)
answer = {
'1': np.array([[1, -1], [2, -2], [3, -3]]),
'2': np.array([[1, -1], [2, -2], [3, -3]])
}
for k in answer:
np.testing.assert_allclose(past[k], answer[k])
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([]))
