Release KITTI-C2L v1.0.0: documented self-contained benchmark, loader and baselines
db613b6 verified | 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 | |