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_agent_in_frame(self) -> None:
mock_samples = [{
'token': '5',
'timestamp': 0
}, {
'token': '4',
'timestamp': -1e6
}, {
'token': '3',
'timestamp': -2e6
}, {
'token': '2',
'timestamp': -3e6
}, {
'token': '1',
'timestamp': -4e6
}]
# Testing we can get the exact amount of past seconds available
nusc = MockNuScenes(self.mock_annotations, mock_samples)
helper = PredictHelper(nusc)
past = helper.get_past_for_agent('1', '5', 3, True)
np.testing.assert_allclose(past,
np.array([[1., -1.], [2., -2.], [3., -3.]]))
def test_get_past_for_last_returns_nothing(self) -> None:
mock_samples = [{'token': '1', 'timestamp': 0}]
# Testing we get nothing if we're at the last annotation
nusc = MockNuScenes(self.mock_annotations, mock_samples)
helper = PredictHelper(nusc)
past = helper.get_past_for_agent('1', '1', 3, False)
np.testing.assert_equal(past, np.array([]))
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([]))
def test_get_past_for_agent_no_data_to_get(self,):
mock_samples = [{'token': '5', 'timestamp': 0},
{'token': '4', 'timestamp': -3.5e6}]
# Testing we get nothing if the first sample annotation is past our threshold
nusc = MockNuScenes(self.mock_annotations, mock_samples)
helper = PredictHelper(nusc)
past = helper.get_past_for_agent('1', '5', 3, False)
np.testing.assert_equal(past, np.array([]))
def test_get_past_for_agent_within_buffer(self,):
mock_samples = [{'token': '5', 'timestamp': 0},
{'token': '4', 'timestamp': -1e6},
{'token': '3', 'timestamp': -3.05e6},
{'token': '2', 'timestamp': -3.2e6}]
# Testing we get data if it is after future seconds but within buffer
nusc = MockNuScenes(self.mock_annotations, mock_samples)
helper = PredictHelper(nusc)
past = helper.get_past_for_agent('1', '5', 3, False)
np.testing.assert_equal(past, np.array([[3, 3], [2, 2]]))
def test_get_past_for_agent_less_amount(self,):
mock_samples = [{'token': '5', 'timestamp': 0},
{'token': '4', 'timestamp': -1e6},
{'token': '3', 'timestamp': -2.6e6},
{'token': '2', 'timestamp': -4e6},
{'token': '1', 'timestamp': -5.5e6}]
# Testing we do not include data after the past seconds
nusc = MockNuScenes(self.mock_annotations, mock_samples)
helper = PredictHelper(nusc)
past = helper.get_past_for_agent('1', '5', 3, False)
np.testing.assert_equal(past, np.array([[3, 3], [2, 2]]))
def test_get_past_for_agent_exact_amount(self,):
mock_samples = [{'token': '5', 'timestamp': 0},
{'token': '4', 'timestamp': -1e6},
{'token': '3', 'timestamp': -2e6},
{'token': '2', 'timestamp': -3e6},
{'token': '1', 'timestamp': -4e6}]
# Testing we can get the exact amount of past seconds available
nusc = MockNuScenes(self.mock_annotations, mock_samples)
helper = PredictHelper(nusc)
past = helper.get_past_for_agent('1', '5', 3, False)
np.testing.assert_equal(past, np.array([[3, 3], [2, 2], [1, 1]]))
