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test_scene.py
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347 lines (302 loc) · 10.8 KB
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import copy
import time
import pytest
from nucleus import CuboidAnnotation, DatasetItem, Frame, LidarScene
from nucleus.constants import (
ANNOTATIONS_KEY,
FRAMES_KEY,
IMAGE_KEY,
IMAGE_URL_KEY,
LENGTH_KEY,
METADATA_KEY,
NUM_SENSORS_KEY,
POINTCLOUD_KEY,
POINTCLOUD_URL_KEY,
REFERENCE_ID_KEY,
SCENES_KEY,
TYPE_KEY,
UPDATE_KEY,
URL_KEY,
)
from nucleus.scene import flatten
from .helpers import (
TEST_CUBOID_ANNOTATIONS,
TEST_DATASET_3D_NAME,
TEST_DATASET_ITEMS,
TEST_LIDAR_ITEMS,
TEST_LIDAR_SCENES,
assert_cuboid_annotation_matches_dict,
assert_partial_equality,
)
@pytest.fixture()
def dataset_scene(CLIENT):
ds = CLIENT.create_dataset(TEST_DATASET_3D_NAME, is_scene=True)
yield ds
@pytest.fixture(scope="module")
def dataset_scene_module(CLIENT):
ds = CLIENT.create_dataset(TEST_DATASET_3D_NAME, is_scene=True)
yield ds
@pytest.fixture()
def dataset_non_scene(CLIENT):
ds = CLIENT.create_dataset(
TEST_DATASET_3D_NAME + " is_scene=False", is_scene=False
)
yield ds
@pytest.fixture(scope="module")
@pytest.mark.integration
def scenes_fixture(dataset_scene_module):
payload = TEST_LIDAR_SCENES
scenes = [
LidarScene.from_json(scene_json) for scene_json in payload[SCENES_KEY]
]
update = payload[UPDATE_KEY]
job = dataset_scene_module.append(scenes, update=update, asynchronous=True)
job.sleep_until_complete()
status = job.status()
expected = {
"job_id": job.job_id,
"status": "Completed",
}
assert_partial_equality(expected, status)
uploaded_scenes = dataset_scene_module.scenes
assert len(uploaded_scenes) == len(scenes)
assert all(
u["reference_id"] == o.reference_id
for u, o in zip(uploaded_scenes, scenes)
)
assert all(
u["metadata"] == o.metadata or (not u["metadata"] and not o.metadata)
for u, o in zip(uploaded_scenes, scenes)
)
yield scenes
for scene in uploaded_scenes:
dataset_scene_module.delete_scene(scene.reference_id)
time.sleep(5)
scenes = dataset_scene_module.scenes
assert len(scenes) == 0, f"Expected to delete all scenes, got: {scenes}"
def test_frame_add_item():
frame = Frame()
frame.add_item(TEST_DATASET_ITEMS[0], "camera")
frame.add_item(TEST_LIDAR_ITEMS[0], "lidar")
assert frame.get_sensors() == ["camera", "lidar"]
for item in frame.get_items():
assert item in [TEST_DATASET_ITEMS[0], TEST_LIDAR_ITEMS[0]]
assert frame.get_item("lidar") == TEST_LIDAR_ITEMS[0]
assert frame.to_payload() == {
"camera": {
URL_KEY: TEST_DATASET_ITEMS[0].image_location,
REFERENCE_ID_KEY: TEST_DATASET_ITEMS[0].reference_id,
TYPE_KEY: IMAGE_KEY,
METADATA_KEY: TEST_DATASET_ITEMS[0].metadata or {},
},
"lidar": {
URL_KEY: TEST_LIDAR_ITEMS[0].pointcloud_location,
REFERENCE_ID_KEY: TEST_LIDAR_ITEMS[0].reference_id,
TYPE_KEY: POINTCLOUD_KEY,
METADATA_KEY: TEST_LIDAR_ITEMS[0].metadata or {},
},
}
def test_scene_from_json():
payload = TEST_LIDAR_SCENES
scene_json = payload[SCENES_KEY][0]
scene = LidarScene.from_json(scene_json)
frames = scene_json[FRAMES_KEY]
camera_item_1 = frames[0]["camera"]
camera_item = DatasetItem(
camera_item_1[IMAGE_URL_KEY],
camera_item_1[REFERENCE_ID_KEY],
metadata=camera_item_1[METADATA_KEY],
)
lidar_item_1 = frames[0]["lidar"]
lidar_item_f1 = DatasetItem(
pointcloud_location=lidar_item_1[POINTCLOUD_URL_KEY],
reference_id=lidar_item_1[REFERENCE_ID_KEY],
metadata=lidar_item_1[METADATA_KEY],
)
expected_items_1 = {
"camera": camera_item,
"lidar": lidar_item_f1,
}
lidar_item_2 = frames[1]["lidar"]
lidar_item_f2 = DatasetItem(
pointcloud_location=lidar_item_2[POINTCLOUD_URL_KEY],
reference_id=lidar_item_2[REFERENCE_ID_KEY],
metadata=lidar_item_2[METADATA_KEY],
)
expected_items_2 = {
"lidar": lidar_item_f2,
}
expected_frames = [Frame(**expected_items_1), Frame(**expected_items_2)]
expected_metadata = {"test_meta_field": "test_meta_value"}
expected_scene = LidarScene(
scene_json[REFERENCE_ID_KEY],
expected_frames,
metadata=expected_metadata,
)
assert sorted(
scene.get_items(), key=lambda item: item.reference_id
) == sorted(expected_scene.get_items(), key=lambda item: item.reference_id)
scene_frames = [frame.to_payload() for frame in scene.get_frames()]
expected_scene_frames = [
frame.to_payload() for frame in expected_scene.get_frames()
]
assert scene_frames == expected_scene_frames
assert set(scene.get_sensors()) == set(expected_scene.get_sensors())
assert scene.to_payload() == expected_scene.to_payload()
def test_scene_property_methods():
payload = TEST_LIDAR_SCENES
scene_json = payload[SCENES_KEY][0]
scene = LidarScene.from_json(scene_json)
expected_length = len(scene_json[FRAMES_KEY])
assert scene.length == expected_length
sensors = flatten([list(frame.keys()) for frame in scene_json[FRAMES_KEY]])
expected_num_sensors = len(set(sensors))
assert scene.num_sensors == expected_num_sensors
assert scene.info() == {
REFERENCE_ID_KEY: scene_json[REFERENCE_ID_KEY],
LENGTH_KEY: expected_length,
NUM_SENSORS_KEY: expected_num_sensors,
}
def test_scene_add_item():
scene_ref_id = "scene_1"
firstFrame = Frame(lidar=TEST_LIDAR_ITEMS[0])
scene = LidarScene(scene_ref_id, frames=[firstFrame])
scene.add_item(0, "camera", TEST_DATASET_ITEMS[0])
scene.add_item(1, "lidar", TEST_LIDAR_ITEMS[1])
assert set(scene.get_sensors()) == set(["camera", "lidar"])
assert scene.get_item(1, "lidar") == TEST_LIDAR_ITEMS[1]
assert scene.get_items_from_sensor("lidar") == [
TEST_LIDAR_ITEMS[0],
TEST_LIDAR_ITEMS[1],
]
assert scene.get_items_from_sensor("camera") == [
TEST_DATASET_ITEMS[0],
None,
]
for item in scene.get_items():
assert item in [
TEST_DATASET_ITEMS[0],
TEST_LIDAR_ITEMS[0],
TEST_LIDAR_ITEMS[1],
]
assert scene.to_payload() == {
REFERENCE_ID_KEY: scene_ref_id,
FRAMES_KEY: [
{
"camera": {
URL_KEY: TEST_DATASET_ITEMS[0].image_location,
REFERENCE_ID_KEY: TEST_DATASET_ITEMS[0].reference_id,
TYPE_KEY: IMAGE_KEY,
METADATA_KEY: TEST_DATASET_ITEMS[0].metadata or {},
},
"lidar": {
URL_KEY: TEST_LIDAR_ITEMS[0].pointcloud_location,
REFERENCE_ID_KEY: TEST_LIDAR_ITEMS[0].reference_id,
TYPE_KEY: POINTCLOUD_KEY,
METADATA_KEY: TEST_LIDAR_ITEMS[0].metadata or {},
},
},
{
"lidar": {
URL_KEY: TEST_LIDAR_ITEMS[1].pointcloud_location,
REFERENCE_ID_KEY: TEST_LIDAR_ITEMS[1].reference_id,
TYPE_KEY: POINTCLOUD_KEY,
METADATA_KEY: TEST_LIDAR_ITEMS[1].metadata or {},
}
},
],
}
def test_scene_add_frame():
frame_1 = Frame()
frame_1.add_item(TEST_DATASET_ITEMS[0], "camera")
frame_1.add_item(TEST_LIDAR_ITEMS[0], "lidar")
scene_ref_id = "scene_1"
frames = [frame_1]
scene = LidarScene(scene_ref_id, frames=frames)
frame_2 = Frame()
frame_2.add_item(TEST_LIDAR_ITEMS[1], "lidar")
scene.add_frame(frame_2, index=1)
frames.append(frame_2)
assert scene.length == len(frames)
assert set(scene.get_sensors()) == set(["camera", "lidar"])
expected_frame_1 = Frame(
**{
"camera": TEST_DATASET_ITEMS[0],
"lidar": TEST_LIDAR_ITEMS[0],
},
)
assert scene.get_frame(0).to_payload() == expected_frame_1.to_payload()
expected_frame_2 = Frame(
**{
"lidar": TEST_LIDAR_ITEMS[1],
},
)
assert scene.get_frame(1).to_payload() == expected_frame_2.to_payload()
for item in scene.get_items_from_sensor("lidar"):
assert item in [TEST_LIDAR_ITEMS[0], TEST_LIDAR_ITEMS[1]]
assert scene.to_payload() == {
REFERENCE_ID_KEY: scene_ref_id,
FRAMES_KEY: [
{
"camera": {
URL_KEY: TEST_DATASET_ITEMS[0].image_location,
REFERENCE_ID_KEY: TEST_DATASET_ITEMS[0].reference_id,
TYPE_KEY: IMAGE_KEY,
METADATA_KEY: TEST_DATASET_ITEMS[0].metadata or {},
},
"lidar": {
URL_KEY: TEST_LIDAR_ITEMS[0].pointcloud_location,
REFERENCE_ID_KEY: TEST_LIDAR_ITEMS[0].reference_id,
TYPE_KEY: POINTCLOUD_KEY,
METADATA_KEY: TEST_LIDAR_ITEMS[0].metadata or {},
},
},
{
"lidar": {
URL_KEY: TEST_LIDAR_ITEMS[1].pointcloud_location,
REFERENCE_ID_KEY: TEST_LIDAR_ITEMS[1].reference_id,
TYPE_KEY: POINTCLOUD_KEY,
METADATA_KEY: TEST_LIDAR_ITEMS[1].metadata or {},
}
},
],
}
@pytest.mark.integration
def test_scene_upload_and_update(dataset_scene_module, scenes_fixture):
update_scenes = scenes_fixture
for scene in update_scenes:
scene.metadata.update({"new_key": "new_value"})
job = dataset_scene_module.append(
update_scenes, update=True, asynchronous=True
)
job.sleep_until_complete()
status = job.status()
expected = {
"job_id": job.job_id,
"status": "Completed",
"job_type": "uploadLidarScene",
}
assert_partial_equality(expected, status)
@pytest.mark.integration
def test_scene_upload_async_item_dataset(dataset_non_scene):
payload = TEST_LIDAR_SCENES
scenes = [
LidarScene.from_json(scene_json) for scene_json in payload[SCENES_KEY]
]
update = payload[UPDATE_KEY]
with pytest.raises(Exception):
dataset_non_scene.append(scenes, update=update, asynchronous=True)
@pytest.mark.integration
def test_scene_metadata_update(dataset_scene_module, scenes_fixture):
scene_ref_id = scenes_fixture[0].reference_id
additional_metadata = {"some_new_key": 123}
dataset_scene_module.update_scene_metadata(
{scene_ref_id: additional_metadata}
)
expected_new_metadata = {
**scenes_fixture[0].metadata,
**additional_metadata,
}
updated_scene = dataset_scene_module.get_scene(scene_ref_id)
actual_metadata = updated_scene.metadata
assert expected_new_metadata == actual_metadata