File size: 6,368 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 | from __future__ import annotations
from pathlib import Path
import numpy as np
import pytest
from kitti_c2l.assets import generate_sequence_assets
from kitti_c2l.generate import generate_sequence_rows
from kitti_c2l.loader.dataset import (
materialize_sample,
materialize_sample_from_assets,
materialize_window_frame,
materialize_window_frame_from_assets,
)
from kitti_c2l.loader.projection import rasterize_inverse_depth
from kitti_c2l.sequence_mapping import SequenceInfo
from kitti_c2l.stages import STAGES
from kitti_c2l.windows import generate_sequence_windows
from kitti_c2l.writer import asset_rows_to_table, rows_to_table, windows_to_table
def test_rasterize_inverse_depth_near_point_wins_collision():
pixels = np.array([[5.0, 5.0], [5.0, 5.0]])
depths = np.array([1000.0, 500.0]) # far, then near -- near must win the pixel
depth_map = rasterize_inverse_depth(pixels, depths, image_size=(10, 10))
assert depth_map.shape == (1, 10, 10)
assert depth_map[0, 5, 5] == np.float32(1.0 / 500.0)
def test_rasterize_inverse_depth_clips_out_of_range():
pixels = np.array([[1.0, 1.0], [2.0, 2.0]])
depths = np.array([50.0, 9000.0]) # both outside [200, 8000] cm
depth_map = rasterize_inverse_depth(pixels, depths, image_size=(10, 10))
assert np.all(depth_map == 0.0)
def test_rasterize_inverse_depth_clips_out_of_bounds_pixels():
pixels = np.array([[-1.0, 5.0], [5.0, 100.0]])
depths = np.array([500.0, 500.0])
depth_map = rasterize_inverse_depth(pixels, depths, image_size=(10, 10))
assert np.all(depth_map == 0.0)
def _first_row_dict(fake_kitti_root: Path) -> dict:
seq_info = SequenceInfo(sequence="04", date="2011_09_30", drive="0016", start=0, end=3, frame_count=4, split="train")
rows = list(generate_sequence_rows(seq_info, fake_kitti_root, stages=STAGES[:1]))
table = rows_to_table(rows)
return table.to_pylist()[0]
def test_materialize_sample_shapes(fake_kitti_root: Path):
row = _first_row_dict(fake_kitti_root)
sample = materialize_sample(row, fake_kitti_root)
assert sample.image.shape == (32, 32, 3)
assert sample.image.dtype == np.uint8
assert sample.points.shape[1] == 3
assert sample.lidar_depth.shape == (1, 32, 32)
assert sample.rotation.shape == (3, 3)
assert sample.translation_cm.shape == (3,)
def test_materialize_sample_ground_truth_vs_miscalibrated_differ(fake_kitti_root: Path):
row = _first_row_dict(fake_kitti_root)
gt_sample = materialize_sample(row, fake_kitti_root, use_ground_truth=True)
miscal_sample = materialize_sample(row, fake_kitti_root, use_ground_truth=False)
assert not np.allclose(gt_sample.rotation, miscal_sample.rotation)
assert not np.allclose(gt_sample.translation_cm, miscal_sample.translation_cm)
def _first_asset_row_dict(fake_kitti_root: Path) -> dict:
seq_info = SequenceInfo(sequence="04", date="2011_09_30", drive="0016", start=0, end=3, frame_count=4, split="train")
rows = list(generate_sequence_assets(seq_info, fake_kitti_root))
table = asset_rows_to_table(rows)
return table.to_pylist()[0]
def test_materialize_sample_from_assets_matches_from_disk(fake_kitti_root: Path):
"""The materialized-assets path must produce byte-identical results to reading from disk."""
row = _first_row_dict(fake_kitti_root)
asset_row = _first_asset_row_dict(fake_kitti_root)
assert asset_row["frame_id"] == f"{row['sequence']}_{row['frame_index']:06d}"
from_disk = materialize_sample(row, fake_kitti_root)
from_assets = materialize_sample_from_assets(row, asset_row)
np.testing.assert_array_equal(from_disk.image, from_assets.image)
np.testing.assert_array_equal(from_disk.points, from_assets.points)
np.testing.assert_array_equal(from_disk.lidar_depth, from_assets.lidar_depth)
np.testing.assert_array_equal(from_disk.rotation, from_assets.rotation)
def _first_window_row_dict(fake_kitti_root: Path, window_length: int = 4) -> dict:
seq_info = SequenceInfo(sequence="04", date="2011_09_30", drive="0016", start=0, end=3, frame_count=4, split="train")
rows = list(generate_sequence_windows(seq_info, fake_kitti_root, window_length=window_length, stages=STAGES[:1]))
table = windows_to_table(rows)
return table.to_pylist()[0]
def _asset_row_dict_for_frame(fake_kitti_root: Path, frame_index: int) -> dict:
seq_info = SequenceInfo(sequence="04", date="2011_09_30", drive="0016", start=0, end=3, frame_count=4, split="train")
rows = list(generate_sequence_assets(seq_info, fake_kitti_root))
table = asset_rows_to_table(rows)
return next(r for r in table.to_pylist() if r["frame_index"] == frame_index)
def test_materialize_window_frame_shares_decalibration_across_offsets(fake_kitti_root: Path):
"""Every frame_offset within a window must use the SAME (miscalibrated) extrinsic."""
window_row = _first_window_row_dict(fake_kitti_root, window_length=4)
sample_0 = materialize_window_frame(window_row, frame_offset=0, kitti_raw_root=fake_kitti_root)
sample_1 = materialize_window_frame(window_row, frame_offset=1, kitti_raw_root=fake_kitti_root)
np.testing.assert_array_equal(sample_0.rotation, sample_1.rotation)
np.testing.assert_array_equal(sample_0.translation_cm, sample_1.translation_cm)
# But the actual image/points differ -- different frames, same calibration.
assert not np.array_equal(sample_0.image, sample_1.image)
def test_materialize_window_frame_out_of_range_raises(fake_kitti_root: Path):
window_row = _first_window_row_dict(fake_kitti_root, window_length=4)
with pytest.raises(IndexError):
materialize_window_frame(window_row, frame_offset=4, kitti_raw_root=fake_kitti_root)
def test_materialize_window_frame_from_assets_matches_from_disk(fake_kitti_root: Path):
window_row = _first_window_row_dict(fake_kitti_root, window_length=4)
asset_row = _asset_row_dict_for_frame(fake_kitti_root, frame_index=2)
from_disk = materialize_window_frame(window_row, frame_offset=2, kitti_raw_root=fake_kitti_root)
from_assets = materialize_window_frame_from_assets(window_row, asset_row)
np.testing.assert_array_equal(from_disk.image, from_assets.image)
np.testing.assert_array_equal(from_disk.points, from_assets.points)
np.testing.assert_array_equal(from_disk.rotation, from_assets.rotation)
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