def test_bounds(self):
points = np.array([[0.6, 0.1, -0.1], [1.1, 2.1, 3.1], [1.3, 2.2, 3.4]])
min_corner = Vector3f(-1, -2, -3)
vg = VoxelGrid(0.5, min_corner=min_corner, points=points)
bounds = vg.bounds()
expected_bounds = Box3d(Vector3f(0.5, 0, -0.5),
Vector3f(1.5, 2.5, 3.5))
self.assertAlmostEquals(bounds, expected_bounds)
def test_min_corner_offset(self):
"""
Test with a non-zero min_corner.
"""
points = np.array([[0.1, 0.1, 0.1], [1.1, 2.1, 3.1], [1.3, 2.2, 3.4]])
vg = VoxelGrid(1, min_corner=Vector3f(-1, -2, -3), points=points)
centers = vg.voxel_centers()
expected_centers = np.array([[0.5, 0.5, 0.5], [1.5, 2.5, 3.5]])
np.testing.assert_array_almost_equal(centers, expected_centers)
def test_constructor_with_points(self):
"""
Tests voxel_centers. Verifies that multiple points in the same voxel
are deduplicated.
"""
points = np.array([[0.1, 0.1, 0.1], [1.1, 1.1, 1.1], [1.3, 1.2, 1.4]])
vg = VoxelGrid(0.5, min_corner=Vector3f(0, 0, 0), points=points)
centers = vg.voxel_centers()
expected_centers = np.array([[0.25, 0.25, 0.25], [1.25, 1.25, 1.25]])
np.testing.assert_array_almost_equal(centers, expected_centers)
def test_add_points(self):
"""
Add additional points to an initial set. Checks that redundant
voxels are counted only once.
"""
points = np.array([[0.1, 0.1, 0.1], [1.1, 2.1, 3.1], [1.3, 2.2, 3.4]])
vg = VoxelGrid(1, min_corner=Vector3f(-1, -2, -3), points=points)
points2 = np.array([[0.2, 0.2, 0.3], [2, 2, 2], [4, 4, 4]])
vg.add_points(points2)
centers = vg.voxel_centers()
expected_centers = np.array([[0.5, 0.5, 0.5], [2.5, 2.5, 2.5],
[1.5, 2.5, 3.5], [4.5, 4.5, 4.5]])
np.testing.assert_array_almost_equal(centers, expected_centers)
def test_constructor(self):
"""
Creates a simple voxel grid and checks its attributes.
"""
expected_min_corner = Vector3f(-5.1, -6.2, -7.5)
vg = VoxelGrid(0.2, expected_min_corner)
self.assertAlmostEqual(vg.voxel_size, 0.2)
np.testing.assert_array_equal(vg.min_corner, expected_min_corner)
def setUp(self):
# create sample bounding box, meshes, and voxel grid objects
self.bounds = Box3d([-1.5, -2.2, 3], [4, 4.1, 6.5])
textured_mesh = self.bounds.to_textured_mesh()
self.meshes = GltfModel.from_textured_mesh(textured_mesh)
points = np.array([[0.1, 0.1, 0.1], [1.1, 1.1, 1.1], [1.3, 1.2, 1.4]])
self.voxels = VoxelGrid(0.5,
min_corner=Vector3f(0, 0, 0),
points=points)
# and pose
rot = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]], dtype=float)
trans = Vector3f(1, 1, 1)
self.pose = Pose3(rot, trans)
# Create temporary outout directory.
self.temp_directory = tempfile.mkdtemp()
def load(cls, project_type, base_elem, path=None):
"""
Factory method to create a ProjectObject by reading it from disk and
xml.
Note: If <project_type> is bounding_box, no file is read and <path>
is not relevant.
Inputs:
project_type (string) - Specifies the project type to construct (valid
values are "bounding_box", "voxels", or "meshes")
base_elem (ET.Element) - An Element with tag "element" and appropriate
sub-elements.
path (string) - path to project directory (only required if project_type
is voxels or mesh).
Return:
New ProjectObject
Exceptions:
ValueError - If base_elem is not <element> or if none of its children is <id>.
ValueError - If project_type is not valid.
IOError - if file cannot be read.
"""
(id, pose, category, bounds, symmetry, score, evaluated) = \
cls._parse_xml(base_elem)
# load file-based attributes and return the constructed object
if project_type == "bounding_box":
return ProjectObject.gen_bounding_box_object(id=id,
bounds=bounds,
pose=pose,
category=category,
symmetry=symmetry,
score=score,
evaluated=evaluated)
elif project_type == "voxels":
voxels = VoxelGrid.from_file(os.path.join(path, id + ".h5"))
return ProjectObject.gen_voxels_object(id=id,
bounds=bounds,
voxels=voxels,
pose=pose,
category=category,
symmetry=symmetry,
score=score,
evaluated=evaluated)
elif project_type == "meshes":
meshes = GltfModel.load_from_glb(os.path.join(path, id + ".glb"))
return ProjectObject.gen_meshes_object(id=id,
bounds=bounds,
meshes=meshes,
pose=pose,
category=category,
symmetry=symmetry,
score=score,
evaluated=evaluated)
else:
raise ValueError("Invalid project_type: " + project_type)
def test_file_io(self):
"""
Test round trip writing and reading a simple h5 file.
"""
temp_directory = tempfile.mkdtemp()
filename = os.path.join(temp_directory, "test.h5")
points = np.array([[0.1, 0.1, 0.1], [1.1, 2.1, 3.1], [1.3, 2.2, 3.4]])
voxel_size = 0.5
min_corner = Vector3f(-1, -2, -3)
vg = VoxelGrid(voxel_size, min_corner=min_corner, points=points)
# test writing
vg.save(filename)
self.assertTrue(os.path.isfile(filename))
# test reading
vg2 = VoxelGrid.from_file(filename)
self.assertAlmostEquals(voxel_size, vg2.voxel_size)
np.testing.assert_array_almost_equal(vg.min_corner, vg2.min_corner)
shutil.rmtree(temp_directory)
def test_voxel_io(self):
"""Test reading and writing voxel objects."""
points = np.array([[0.1, 0.1, 0.1], [1.1, 1.1, 1.1], [1.3, 1.2, 1.4]])
vg = VoxelGrid(0.5, min_corner=Vector3f(0, 0, 0), points=points)
po = ProjectObject.gen_voxels_object(id="foobar",
voxels=vg,
pose=self.pose,
category="chair")
self.assertIsInstance(self.temp_directory, str)
po_xml = po.save(self.temp_directory)
po2 = ProjectObject.load("voxels", po_xml, self.temp_directory)
self.assertTrue(po2.almost_equal(po))
class TestProjectObject(unittest.TestCase):
"""Unit tests for ProjectObject class"""
def setUp(self):
# create sample bounding box, meshes, and voxel grid objects
self.bounds = Box3d([-1.5, -2.2, 3], [4, 4.1, 6.5])
textured_mesh = self.bounds.to_textured_mesh()
self.meshes = GltfModel.from_textured_mesh(textured_mesh)
points = np.array([[0.1, 0.1, 0.1], [1.1, 1.1, 1.1], [1.3, 1.2, 1.4]])
self.voxels = VoxelGrid(0.5,
min_corner=Vector3f(0, 0, 0),
points=points)
# and pose
rot = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]], dtype=float)
trans = Vector3f(1, 1, 1)
self.pose = Pose3(rot, trans)
# Create temporary outout directory.
self.temp_directory = tempfile.mkdtemp()
def tearDown(self):
"""Clean up: remove temporary outout directory."""
shutil.rmtree(self.temp_directory)
def test_constructor(self):
"""
Test constructor.
"""
po = ProjectObject(id="1",
project_type="bounding_box",
bounds=self.bounds)
self.assertTrue(isinstance(po.pose, Pose3))
self.assertTrue(isinstance(po.category, "".__class__))
po.pose.assert_almost_equal(Pose3())
self.assertTrue(po.bounds.almost_equal(self.bounds))
self.assertIs(po.meshes, None)
self.assertIs(po.voxels, None)
self.assertTrue(po.category == "unknown")
self.assertEqual(po.id, "1")
self.assertEqual(po.symmetry, ObjectSymmetry())
self.assertAlmostEqual(po.score, -1)
self.assertEqual(po.evaluated, True)
def test_almost_equal(self):
object1 = ProjectObject.example(id="foobar")
self.assertTrue(object1.almost_equal(object1))
object2 = ProjectObject.example(id="not_foobar")
self.assertFalse(object1.almost_equal(object2))
def test_init(self):
"""Test common construction."""
po = ProjectObject.example()
self.assertTrue(isinstance(po.pose, Pose3))
self.assertTrue(isinstance(po.meshes, GltfModel))
self.assertEqual(po.meshes.num_primitive_meshes(), 1)
self.assertEqual(po.meshes.num_nodes(), 1)
self.assertEqual(po.meshes.num_buffers(), 1)
self.assertEqual(po.meshes.num_images(), 2)
self.assertTrue(isinstance(po.category, "".__class__))
self.assertTrue(isinstance(po.symmetry, ObjectSymmetry))
self.assertEqual(po.category, "chair")
self.assertEqual(po.id, "1")
self.assertAlmostEqual(po.score, 0.57)
self.assertEqual(po.evaluated, False)
def test_factory_methods(self):
"""Test the gen_<X> methods for the 3 project_types"""
po = ProjectObject.gen_bounding_box_object(id="1", bounds=self.bounds)
self.assertEqual(po.project_type, "bounding_box")
self.assertAlmostEqual(po.bounds, self.bounds)
self.assertEqual(po.id, "1")
po = ProjectObject.gen_voxels_object(id="2", voxels=self.voxels)
self.assertEqual(po.project_type, "voxels")
self.assertAlmostEqual(po.voxels.bounds(), self.voxels.bounds())
self.assertEqual(po.id, "2")
po = ProjectObject.gen_meshes_object(id="3", meshes=self.meshes)
self.assertEqual(po.project_type, "meshes")
self.assertEqual(po.meshes.num_primitive_meshes(),
self.meshes.num_primitive_meshes())
self.assertEqual(po.id, "3")
def test_setting(self):
"""Test setting elements."""
po = ProjectObject.gen_meshes_object(id="-1", meshes=self.meshes)
po.pose = self.pose
po.category = "table"
po.symmetry = ObjectSymmetry.example()
po.score = 0.23
po.evaluated = True
self.assertTrue(isinstance(po.pose, Pose3))
self.assertAlmostEqual(po.pose, self.pose)
self.assertTrue(isinstance(po.meshes, GltfModel))
self.assertTrue(isinstance(po.category, "".__class__))
self.assertTrue(isinstance(po.symmetry, ObjectSymmetry))
self.assertEqual(po.category, "table")
self.assertEqual(po.id, "-1")
self.assertEqual(po.symmetry, ObjectSymmetry.example())
self.assertAlmostEqual(po.score, 0.23)
self.assertEqual(po.evaluated, True)
def test_xml(self):
"""Test converting to and from xml."""
s = """<element><id>floor1</id><category>floor</category><bounds>\
<corner1>0., 0., 0.</corner1><corner2>0., 0., 0.</corner2></bounds>\
<pose><translation>-131.596614 , -39.9279011, 92.1260558</translation>\
<rotation><c1>1., 0., 0.</c1><c2>0., 1., 0.</c2><c3>0., 0., 1.</c3></rotation>\
</pose><symmetry><x>twoFold</x><y>twoFold</y><z>fourFold</z></symmetry>\
<detectionScore>0.23</detectionScore><evaluated>True</evaluated></element>"""
object_xml = ET.fromstring(s)
(id, pose, category, bounds, symmetry, score, evaluated) = \
ProjectObject._parse_xml(object_xml)
project_object = ProjectObject.gen_bounding_box_object(
id, bounds, pose, category, symmetry, score, evaluated)
object_xml2 = project_object._to_xml()
self.assertEqual(ET.tostring(object_xml2, encoding="unicode"), s)
def test_meshes_io(self):
"""Test reading and writing gltf objects."""
po = ProjectObject(
id="foobar",
project_type="meshes",
meshes=self.meshes,
pose=self.pose,
category="chair",
)
object_xml = po.save(self.temp_directory)
po2 = ProjectObject.load("meshes", object_xml, self.temp_directory)
self.assertTrue(po2.almost_equal(po))
def test_bounding_box_io(self):
"""
Test reading and writing a bounding_box object.
"""
s = """<element><id>floor1</id><category>floor</category><bounds>\
<corner1>0., 0., 0.</corner1><corner2>0., 0., 0.</corner2></bounds>\
<pose><translation>-131.596614 , -39.9279011, 92.1260558</translation>\
<rotation><c1>1., 0., 0.</c1><c2>0., 1., 0.</c2><c3>0., 0., 1.</c3></rotation>\
</pose><symmetry><x>twoFold</x><y>twoFold</y><z>fourFold</z></symmetry>\
<detectionScore>0.23</detectionScore><evaluated>True</evaluated></element>"""
object_xml = ET.fromstring(s)
project_object = ProjectObject.load("bounding_box", object_xml)
object_xml2 = project_object.save("bounding_box")
self.assertEqual(ET.tostring(object_xml2, encoding="unicode"), s)
def test_voxel_io(self):
"""Test reading and writing voxel objects."""
points = np.array([[0.1, 0.1, 0.1], [1.1, 1.1, 1.1], [1.3, 1.2, 1.4]])
vg = VoxelGrid(0.5, min_corner=Vector3f(0, 0, 0), points=points)
po = ProjectObject.gen_voxels_object(id="foobar",
voxels=vg,
pose=self.pose,
category="chair")
self.assertIsInstance(self.temp_directory, str)
po_xml = po.save(self.temp_directory)
po2 = ProjectObject.load("voxels", po_xml, self.temp_directory)
self.assertTrue(po2.almost_equal(po))
def test_transform_pose(self):
po = ProjectObject(id="1", bounds=self.bounds, pose=Pose3())
po2 = po.transform_pose(self.pose)
self.assertTrue(po2.pose.almost_equal(self.pose))
