Skip to content

Commit

Permalink
test: detach uai Frame and Scene tests from .json file
Browse files Browse the repository at this point in the history
  • Loading branch information
@tklockau
tklockau committed Sep 5, 2023
1 parent 1b7abbd commit 4381b0f
Show file tree
Hide file tree
Showing 3 changed files with 307 additions and 175 deletions.
2 changes: 2 additions & 0 deletions tests/test_raillabel/format/understand_ai/conftest.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -26,11 +26,13 @@
coordinate_system_radar_uai,
coordinate_system_radar_uai_dict,
)
from test_uai_frame import frame_raillabel_dict, frame_uai, frame_uai_dict
from test_uai_metadata import metadata_raillabel_dict, metadata_uai, metadata_uai_dict
from test_uai_point_3d import point_3d_uai, point_3d_uai_dict, point_3d_vec
from test_uai_polygon_2d import polygon_2d_raillabel_dict, polygon_2d_uai, polygon_2d_uai_dict
from test_uai_polyline_2d import polyline_2d_raillabel_dict, polyline_2d_uai, polyline_2d_uai_dict
from test_uai_quaternion import quaternion_uai, quaternion_uai_dict, quaternion_vec
from test_uai_scene import scene_raillabel_dict, scene_uai, scene_uai_dict
from test_uai_segmentation_3d import (
segmentation_3d_raillabel_dict,
segmentation_3d_uai,
Expand Down
250 changes: 169 additions & 81 deletions tests/test_raillabel/format/understand_ai/test_uai_frame.py
View file
Original file line number Diff line number Diff line change
@@ -1,99 +1,187 @@
# Copyright DB Netz AG and contributors
# SPDX-License-Identifier: Apache-2.0

import os
import sys
from decimal import Decimal
from pathlib import Path
from uuid import UUID

import pytest

sys.path.insert(1, str(Path(__file__).parent.parent.parent.parent))
sys.path.insert(1, str(Path(__file__).parent.parent.parent.parent.parent))

import raillabel.format.understand_ai as uai_format


def _prepare_frame_data(frame_data: dict, json_data: dict) -> dict:
frame_data["annotations"]["2D_BOUNDING_BOX"] = [json_data["_understand_ai_t4_format/bounding_box_2d"]]
frame_data["annotations"]["2D_BOUNDING_BOX"][0]["sensor"] = json_data["_understand_ai_t4_format/sensor_reference_camera"]
frame_data["annotations"]["2D_POLYLINE"] = [json_data["_understand_ai_t4_format/polyline_2d"]]
frame_data["annotations"]["2D_POLYLINE"][0]["sensor"] = json_data["_understand_ai_t4_format/sensor_reference_camera"]
frame_data["annotations"]["2D_POLYGON"] = [json_data["_understand_ai_t4_format/polygon_2d"]]
frame_data["annotations"]["2D_POLYGON"][0]["sensor"] = json_data["_understand_ai_t4_format/sensor_reference_camera"]
frame_data["annotations"]["3D_BOUNDING_BOX"] = [json_data["_understand_ai_t4_format/bounding_box_3d"]]
frame_data["annotations"]["3D_BOUNDING_BOX"][0]["sensor"] = json_data["_understand_ai_t4_format/sensor_reference_lidar"]
frame_data["annotations"]["3D_SEGMENTATION"] = [json_data["_understand_ai_t4_format/segmentation_3d"]]
frame_data["annotations"]["3D_SEGMENTATION"][0]["sensor"] = json_data["_understand_ai_t4_format/sensor_reference_lidar"]

return frame_data


def _prepare_ground_truth(ground_truth: dict, json_data:dict) -> dict:
ground_truth["objects"]["48c988bd-76f1-423f-b46d-7e7acb859f31"]["object_data"]["bbox"] = [
json_data["_understand_ai_t4_format/bounding_box_2d_raillabel"]
]
ground_truth["objects"]["48c988bd-76f1-423f-b46d-7e7acb859f31"]["object_data"]["cuboid"] = [
json_data["_understand_ai_t4_format/bounding_box_3d_raillabel"]
]
ground_truth["objects"]["58e7edd8-a7ee-4775-a837-e6dd375e8150"]["object_data"]["poly2d"] = [
json_data["_understand_ai_t4_format/polygon_2d_raillabel"]
]
ground_truth["objects"]["4d8eca35-6c1d-4159-8062-21c2f2c051df"]["object_data"]["poly2d"] = [
json_data["_understand_ai_t4_format/polyline_2d_raillabel"]
]
ground_truth["objects"]["05a7e7a7-91e1-49ef-a172-780f2461f013"]["object_data"]["vec"] = [
json_data["_understand_ai_t4_format/segmentation_3d_raillabel"]
]

return ground_truth


def test_fromdict(json_data):
input_data = _prepare_frame_data(json_data["_understand_ai_t4_format/frame"], json_data)
frame = uai_format.Frame.fromdict(input_data)

assert frame.id == int(input_data["frameId"])
assert frame.timestamp == Decimal(input_data["timestamp"])
assert frame.bounding_box_2ds[json_data["_understand_ai_t4_format/bounding_box_2d"]["id"]] == uai_format.BoundingBox2d.fromdict(
json_data["_understand_ai_t4_format/bounding_box_2d"]
)
assert frame.polyline_2ds[json_data["_understand_ai_t4_format/polyline_2d"]["id"]] == uai_format.Polyline2d.fromdict(
json_data["_understand_ai_t4_format/polyline_2d"]
# == Fixtures =========================

@pytest.fixture
def frame_uai_dict(
bounding_box_2d_uai_dict,
bounding_box_3d_uai_dict,
polygon_2d_uai_dict,
polyline_2d_uai_dict,
segmentation_3d_uai_dict,
sensor_lidar_uai_dict,
) -> dict:
return {
"frameId": "000",
"timestamp": sensor_lidar_uai_dict["timestamp"],
"annotations": {
"2D_BOUNDING_BOX": [bounding_box_2d_uai_dict],
"2D_POLYLINE": [polyline_2d_uai_dict],
"2D_POLYGON": [polygon_2d_uai_dict],
"3D_BOUNDING_BOX": [bounding_box_3d_uai_dict],
"3D_SEGMENTATION": [segmentation_3d_uai_dict],
}
}

@pytest.fixture
def frame_uai(
bounding_box_2d_uai,
bounding_box_3d_uai,
polygon_2d_uai,
polyline_2d_uai,
segmentation_3d_uai,
sensor_lidar_uai,
):
return uai_format.Frame(
id=0,
timestamp=sensor_lidar_uai.timestamp,
bounding_box_2ds={str(bounding_box_2d_uai.id): bounding_box_2d_uai},
bounding_box_3ds={str(bounding_box_3d_uai.id): bounding_box_3d_uai},
polygon_2ds={str(polygon_2d_uai.id): polygon_2d_uai},
polyline_2ds={str(polyline_2d_uai.id): polyline_2d_uai},
segmentation_3ds={str(segmentation_3d_uai.id): segmentation_3d_uai},
)
assert frame.polygon_2ds[json_data["_understand_ai_t4_format/polygon_2d"]["id"]] == uai_format.Polygon2d.fromdict(
json_data["_understand_ai_t4_format/polygon_2d"]
)
assert frame.bounding_box_3ds[json_data["_understand_ai_t4_format/bounding_box_3d"]["id"]] == uai_format.BoundingBox3d.fromdict(
json_data["_understand_ai_t4_format/bounding_box_3d"]
)
assert frame.segmentation_3ds[json_data["_understand_ai_t4_format/segmentation_3d"]["id"]] == uai_format.Segmentation3d.fromdict(
json_data["_understand_ai_t4_format/segmentation_3d"]
)

def test_to_raillabel(json_data):
input_data = _prepare_frame_data(json_data["_understand_ai_t4_format/frame"], json_data)
frame = uai_format.Frame.fromdict(input_data)
output_data = frame.to_raillabel()
ground_truth = _prepare_ground_truth(json_data["_understand_ai_t4_format/frame_raillabel"], json_data)

assert output_data == ground_truth

def test_translated_sensors(json_data):
input_data = _prepare_frame_data(json_data["_understand_ai_t4_format/frame"], json_data)
frame = uai_format.Frame.fromdict(input_data)
ground_truth_streams = json_data["_understand_ai_t4_format/frame_raillabel"]["frame_properties"]["streams"]

assert frame.translated_sensors.keys() == ground_truth_streams.keys()

def test_translated_objects(json_data):
input_data = _prepare_frame_data(json_data["_understand_ai_t4_format/frame"], json_data)
frame = uai_format.Frame.fromdict(input_data)
ground_truth_objects = json_data["_understand_ai_t4_format/frame_raillabel"]["objects"]
@pytest.fixture
def frame_raillabel_dict(
bounding_box_2d_uai, bounding_box_2d_raillabel_dict,
bounding_box_3d_raillabel_dict,
polygon_2d_uai, polygon_2d_raillabel_dict,
polyline_2d_uai, polyline_2d_raillabel_dict,
segmentation_3d_uai, segmentation_3d_raillabel_dict,
sensor_lidar_uai, sensor_lidar_raillabel_dict, coordinate_system_lidar_translated_uid,
sensor_camera_raillabel_dict, coordinate_system_camera_translated_uid,
) -> dict:
return {
"frame_properties": {
"timestamp": str(sensor_lidar_uai.timestamp),
"streams": {
coordinate_system_camera_translated_uid: sensor_camera_raillabel_dict,
coordinate_system_lidar_translated_uid: sensor_lidar_raillabel_dict,
}
},
"objects": {
str(bounding_box_2d_uai.object_id): {
"object_data": {
"bbox": [bounding_box_2d_raillabel_dict],
"cuboid": [bounding_box_3d_raillabel_dict],
}
},
str(polygon_2d_uai.object_id): {
"object_data": {
"poly2d": [polygon_2d_raillabel_dict]
}
},
str(polyline_2d_uai.object_id): {
"object_data": {
"poly2d": [polyline_2d_raillabel_dict]
}
},
str(segmentation_3d_uai.object_id): {
"object_data": {
"vec": [segmentation_3d_raillabel_dict]
}
},
}
}

# == Tests ============================

def test_fromdict(
bounding_box_2d_uai_dict, bounding_box_2d_uai,
bounding_box_3d_uai_dict, bounding_box_3d_uai,
polygon_2d_uai_dict, polygon_2d_uai,
polyline_2d_uai_dict, polyline_2d_uai,
segmentation_3d_uai_dict, segmentation_3d_uai,
sensor_lidar_uai_dict, sensor_lidar_uai,
):
frame = uai_format.Frame.fromdict(
{
"frameId": "000",
"timestamp": sensor_lidar_uai_dict["timestamp"],
"annotations": {
"2D_BOUNDING_BOX": [bounding_box_2d_uai_dict],
"2D_POLYLINE": [polyline_2d_uai_dict],
"2D_POLYGON": [polygon_2d_uai_dict],
"3D_BOUNDING_BOX": [bounding_box_3d_uai_dict],
"3D_SEGMENTATION": [segmentation_3d_uai_dict],
}
}
)

assert frame.translated_objects.keys() == ground_truth_objects.keys()
assert frame.id == 0
assert frame.timestamp == sensor_lidar_uai.timestamp
assert frame.bounding_box_2ds == {str(bounding_box_2d_uai.id): bounding_box_2d_uai}
assert frame.bounding_box_3ds == {str(bounding_box_3d_uai.id): bounding_box_3d_uai}
assert frame.polygon_2ds == {str(polygon_2d_uai.id): polygon_2d_uai}
assert frame.polyline_2ds == {str(polyline_2d_uai.id): polyline_2d_uai}
assert frame.segmentation_3ds == {str(segmentation_3d_uai.id): segmentation_3d_uai}


def test_to_raillabel(
bounding_box_2d_uai, bounding_box_2d_raillabel_dict,
bounding_box_3d_uai, bounding_box_3d_raillabel_dict,
polygon_2d_uai, polygon_2d_raillabel_dict,
polyline_2d_uai, polyline_2d_raillabel_dict,
segmentation_3d_uai, segmentation_3d_raillabel_dict,
sensor_lidar_uai, sensor_lidar_raillabel_dict, coordinate_system_lidar_translated_uid,
sensor_camera_raillabel_dict, coordinate_system_camera_translated_uid,
):
frame = uai_format.Frame(
id=0,
timestamp=sensor_lidar_uai.timestamp,
bounding_box_2ds={str(bounding_box_2d_uai.id): bounding_box_2d_uai},
bounding_box_3ds={str(bounding_box_3d_uai.id): bounding_box_3d_uai},
polygon_2ds={str(polygon_2d_uai.id): polygon_2d_uai},
polyline_2ds={str(polyline_2d_uai.id): polyline_2d_uai},
segmentation_3ds={str(segmentation_3d_uai.id): segmentation_3d_uai},
)

assert frame.to_raillabel() == {
"frame_properties": {
"timestamp": str(sensor_lidar_uai.timestamp),
"streams": {
coordinate_system_camera_translated_uid: sensor_camera_raillabel_dict,
coordinate_system_lidar_translated_uid: sensor_lidar_raillabel_dict,
}
},
"objects": {
str(bounding_box_2d_uai.object_id): {
"object_data": {
"bbox": [bounding_box_2d_raillabel_dict],
"cuboid": [bounding_box_3d_raillabel_dict],
}
},
str(polygon_2d_uai.object_id): {
"object_data": {
"poly2d": [polygon_2d_raillabel_dict]
}
},
str(polyline_2d_uai.object_id): {
"object_data": {
"poly2d": [polyline_2d_raillabel_dict]
}
},
str(segmentation_3d_uai.object_id): {
"object_data": {
"vec": [segmentation_3d_raillabel_dict]
}
},
}
}

# Executes the test if the file is called
if __name__ == "__main__":
import os
os.system("clear")
pytest.main([__file__, "--disable-pytest-warnings", "--cache-clear"])
pytest.main([__file__, "--disable-pytest-warnings", "--cache-clear", "-vv"])
Loading

0 comments on commit 4381b0f

Please sign in to comment.