File size: 3,557 Bytes
db613b6 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 | from __future__ import annotations
from pathlib import Path
import numpy as np
from kitti_c2l.decalibration import sample_dual_decalibration
from kitti_c2l.generate import (
compose_miscalibrated_extrinsic,
derive_seed,
generate_row,
generate_sequence_rows,
)
from kitti_c2l.kitti_calib import load_rig_chain
from kitti_c2l.sequence_mapping import SequenceInfo
from kitti_c2l.stages import STAGES
def _fake_seq_info(frame_count: int = 4) -> SequenceInfo:
return SequenceInfo(
sequence="04",
date="2011_09_30",
drive="0016",
start=0,
end=frame_count - 1,
frame_count=frame_count,
split="train",
)
def test_derive_seed_deterministic_and_distinct():
a = derive_seed("00", 5, 1)
b = derive_seed("00", 5, 1)
c = derive_seed("00", 5, 2)
d = derive_seed("00", 6, 1)
assert a == b
assert a != c
assert a != d
def test_composed_miscalibration_matches_closed_form(fake_kitti_root: Path):
"""Cross-checks the 3-call se3_compose/se3_inverse pipeline against the closed-form
formula: R_miscal = R_dc @ R_gt @ R_dl.T; t_miscal = (R_dc @ t_gt + t_dc) - R_miscal @ t_dl."""
rig = load_rig_chain(fake_kitti_root / "2011_09_30", camera_id=2)
stage = STAGES[0]
dual = sample_dual_decalibration(seed=777, stage=stage)
r_miscal, t_miscal = compose_miscalibrated_extrinsic(rig, dual)
r_gt, t_gt = rig.rotation_cam_from_lidar, rig.translation_cam_from_lidar_cm
r_dl, t_dl = dual.lidar.rotation, dual.lidar.translation_cm
r_dc, t_dc = dual.camera.rotation, dual.camera.translation_cm
r_expected = r_dc @ r_gt @ r_dl.T
t_expected = (r_dc @ t_gt + t_dc) - r_expected @ t_dl
np.testing.assert_allclose(r_miscal, r_expected, atol=1e-8)
np.testing.assert_allclose(t_miscal, t_expected, atol=1e-8)
def test_zero_decalibration_matches_ground_truth(fake_kitti_root: Path, monkeypatch):
"""If both sampled deltas were identity, the composed miscalibration must equal ground truth."""
rig = load_rig_chain(fake_kitti_root / "2011_09_30", camera_id=2)
stage = STAGES[0]
dual = sample_dual_decalibration(seed=1, stage=stage)
dual.lidar.rotation[:] = np.eye(3)
dual.lidar.translation_cm[:] = 0.0
dual.camera.rotation[:] = np.eye(3)
dual.camera.translation_cm[:] = 0.0
r_miscal, t_miscal = compose_miscalibrated_extrinsic(rig, dual)
np.testing.assert_allclose(r_miscal, rig.rotation_cam_from_lidar, atol=1e-8)
np.testing.assert_allclose(t_miscal, rig.translation_cam_from_lidar_cm, atol=1e-8)
def test_generate_row_fields(fake_kitti_root: Path):
seq_info = _fake_seq_info(frame_count=4)
rig = load_rig_chain(fake_kitti_root / "2011_09_30", camera_id=2)
row = generate_row(seq_info, rig, frame_index=2, stage=STAGES[1])
assert row.sample_id == "04_000002_stage2"
assert row.sequence == "04"
assert row.split == "train"
assert row.raw_frame_index == 2
assert row.raw_date == "2011_09_30"
assert row.raw_drive == "0016"
assert len(row.gt_R_cam_from_velo) == 9
assert len(row.miscal_t_cam_from_velo_cm) == 3
assert row.image_width == 32
assert row.image_height == 32
def test_generate_sequence_rows_count(fake_kitti_root: Path):
seq_info = _fake_seq_info(frame_count=4)
rows = list(generate_sequence_rows(seq_info, fake_kitti_root, stages=STAGES))
assert len(rows) == 4 * len(STAGES)
seeds = {row.sample_seed for row in rows}
assert len(seeds) == len(rows) # every (frame, stage) gets a distinct seed
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