Release KITTI-C2L v1.0.0: documented self-contained benchmark, loader and baselines
db613b6 verified | from __future__ import annotations | |
| from pathlib import Path | |
| import pyarrow.parquet as pq | |
| from kitti_c2l.kitti_calib import load_rig_chain | |
| from kitti_c2l.schema import WINDOWS_COLUMN_NAMES, WINDOWS_SCHEMA | |
| from kitti_c2l.sequence_mapping import SequenceInfo | |
| from kitti_c2l.stages import STAGES | |
| from kitti_c2l.windows import ( | |
| derive_window_seed, | |
| generate_sequence_windows, | |
| generate_window_row, | |
| iter_windows, | |
| ) | |
| from kitti_c2l.writer import write_windows | |
| 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_iter_windows_tiles_non_overlapping(): | |
| windows = list(iter_windows(frame_count=10, window_length=3)) | |
| assert windows == [(0, 3), (3, 3), (6, 3), (9, 1)] # final tile shorter, no frames dropped | |
| assert sum(length for _, length in windows) == 10 | |
| def test_iter_windows_exact_multiple(): | |
| windows = list(iter_windows(frame_count=9, window_length=3)) | |
| assert windows == [(0, 3), (3, 3), (6, 3)] | |
| def test_iter_windows_single_window_larger_than_sequence(): | |
| windows = list(iter_windows(frame_count=4, window_length=30)) | |
| assert windows == [(0, 4)] | |
| def test_derive_window_seed_deterministic_and_distinct(): | |
| a = derive_window_seed("00", 0, 1) | |
| b = derive_window_seed("00", 0, 1) | |
| c = derive_window_seed("00", 30, 1) | |
| d = derive_window_seed("00", 0, 2) | |
| assert a == b | |
| assert a != c | |
| assert a != d | |
| def test_generate_sequence_windows_count(fake_kitti_root: Path): | |
| seq_info = _fake_seq_info(frame_count=4) | |
| rows = list(generate_sequence_windows(seq_info, fake_kitti_root, window_length=3, stages=STAGES)) | |
| # frame_count=4, window_length=3 -> windows (0,3) and (3,1) -> 2 windows x 5 stages = 10 rows | |
| assert len(rows) == 2 * len(STAGES) | |
| starts = sorted({row.window_start_frame for row in rows}) | |
| assert starts == [0, 3] | |
| def test_generate_sequence_windows_max_windows(fake_kitti_root: Path): | |
| seq_info = _fake_seq_info(frame_count=4) | |
| rows = list(generate_sequence_windows(seq_info, fake_kitti_root, window_length=3, stages=STAGES, max_windows=1)) | |
| assert len(rows) == 1 * len(STAGES) | |
| assert {row.window_start_frame for row in rows} == {0} | |
| def test_window_frames_share_the_same_decalibration(fake_kitti_root: Path): | |
| """The whole point: every frame in a window uses the SAME miscal extrinsic (one row covers the window).""" | |
| seq_info = _fake_seq_info(frame_count=4) | |
| rig = load_rig_chain(fake_kitti_root / "2011_09_30", camera_id=2) | |
| row = generate_window_row(seq_info, rig, window_start_frame=0, window_length=4, stage=STAGES[0]) | |
| # A single row's miscal extrinsic is what's applied to every frame_offset in [0, window_length) -- | |
| # verify raw_frame_start_index + window_length correctly spans the intended frame range. | |
| assert row.raw_frame_start_index == 0 | |
| assert row.window_length == 4 | |
| assert row.window_start_frame == 0 | |
| def test_raw_frame_start_index_offset(fake_kitti_root: Path): | |
| seq_info = SequenceInfo(sequence="08", date="2011_09_30", drive="0016", start=1100, end=1103, frame_count=4, split="train") | |
| rig = load_rig_chain(fake_kitti_root / "2011_09_30", camera_id=2) | |
| row = generate_window_row(seq_info, rig, window_start_frame=2, window_length=2, stage=STAGES[0]) | |
| assert row.raw_frame_start_index == 1100 + 2 # start offset carried through correctly | |
| def test_windows_parquet_round_trip(fake_kitti_root: Path, tmp_path: Path): | |
| seq_info = _fake_seq_info(frame_count=4) | |
| rows = list(generate_sequence_windows(seq_info, fake_kitti_root, window_length=3, stages=STAGES)) | |
| output_path = tmp_path / "windows_train.parquet" | |
| count = write_windows(rows, output_path) | |
| assert count == len(rows) | |
| table = pq.read_table(output_path) | |
| assert table.schema.equals(WINDOWS_SCHEMA) | |
| first = table.to_pylist()[0] | |
| assert set(first.keys()) == set(WINDOWS_COLUMN_NAMES) | |
| assert len(first["gt_R_cam_from_velo"]) == 9 | |
| def test_window_id_format(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_window_row(seq_info, rig, window_start_frame=3, window_length=1, stage=STAGES[2]) | |
| assert row.window_id == "04_000003_stage3" | |