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)
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 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 = 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)