| """μ§μ 맡 μΌμ 볡μ
μλ μ ν (nusim.render.regionmap.sensor_world) β λ°μ΄ν°μ
μμ΄.""" |
|
|
| import json |
|
|
| import numpy as np |
|
|
| from nusim.io.ply import _ORIGIN_TAG |
| from nusim.render.regionmap import sensor_world |
| from nusim.render.segmap import SEGMAP_VERSION |
| from nusim.sim.voxels import VOXELS_VERSION |
|
|
|
|
| def _seg(d, name, origin): |
| m = d / name |
| m.mkdir(parents=True) |
| (m / "point_cloud.ply").write_text(f"ply\ncomment {_ORIGIN_TAG} {origin[0]} {origin[1]} {origin[2]}\nend_header\n") |
| return m |
|
|
|
|
| def test_stale_world_still_used_with_its_own_origin(tmp_path): |
| d = tmp_path / "scene-x" |
| s1 = _seg(d, "seg1", (10, 20, 1)) |
| (d / "world.vox").write_bytes(b"VOX2") |
| |
| (d / "export.json").write_text(json.dumps({"version": SEGMAP_VERSION, "voxels": VOXELS_VERSION, |
| "models": ["seg1:1"]})) |
| s0 = _seg(d, "seg0", (0, 0, 0)) |
| segs = [({"k": 0}, s0), ({"k": 1}, s1)] |
| assert sensor_world(tmp_path, "scene-x", segs) is None |
| p, o = sensor_world(tmp_path, "scene-x", segs, strict=False) |
| assert p == d / "world.vox" and np.allclose(o, [10, 20, 1]) |
| j = json.loads((d / "export.json").read_text()) |
| (d / "export.json").write_text(json.dumps({**j, "origin": [5, 6, 7]})) |
| assert np.allclose(sensor_world(tmp_path, "scene-x", segs, strict=False)[1], [5, 6, 7]) |
| (d / "export.json").write_text(json.dumps({**j, "voxels": VOXELS_VERSION - 1})) |
| assert sensor_world(tmp_path, "scene-x", segs, strict=False) is None |
|
|
|
|
| def test_unsplit_scene_model_is_scene_dir(tmp_path): |
| d = tmp_path / "scene-y" |
| d.mkdir() |
| (d / "point_cloud.ply").write_text(f"ply\ncomment {_ORIGIN_TAG} 1 2 3\nend_header\n") |
| (d / "world.vox").write_bytes(b"VOX2") |
| (d / "export.json").write_text(json.dumps({"version": SEGMAP_VERSION, "voxels": VOXELS_VERSION, |
| "models": ["scene-y:1"]})) |
| p, o = sensor_world(tmp_path, "scene-y", [({"k": 0}, d)], strict=False) |
| assert np.allclose(o, [1, 2, 3]) |
|
|
