added init tests

tests/test_data.py

@@ -12,10 +12,31 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import numpy as np
+from pcd_dataset.kitti_dataset import KittiDataset
+from services.preprocessing.common.config import ConfigDTO
 
-from pathlib import Path
+dataset_path = "tests/test_dataset/"
+sequence = "00"
+image_instances_path = "tests/test_pipeline/vfm-labels/sam/00/"
 
-path_to_dataset = Path("tests/test_dataset")
+kitti = KittiDataset(dataset_path, sequence, image_instances_path)
 
-intrinsics = np.loadtxt(path_to_dataset / "intrinsics.txt")
+config = ConfigDTO(
+    **{
+        "dataset": kitti,
+        "start_index": 3,
+        "end_index": 7,
+        "start_image_index_offset": 2,
+        "cam_name": "cam2",
+        "R": 12,
+        "nb_neighbors": 30,
+        "std_ratio": 5.0,
+        "voxel_size": 0.25,
+    }
+)
+
+real_init_map_size = sum(
+    len(kitti.get_point_cloud(i).points) for i in range(config.start_index, config.end_index)
+)
+
+real_image_count = config.end_index - (config.start_index - config.start_image_index_offset)

tests/test_dataset/poses/00.txt

@@ -0,0 +1,10 @@
+1 9.31323e-10 -3.27418e-11 0 -9.31323e-10 1 -4.65661e-10 7.45058e-09 1.09139e-11 -9.31323e-10 1 0
+0.999991 -0.00316351 -0.00274942 -0.00135393 0.00316045 0.999994 -0.00111659 -0.0248245 0.00275294 0.00110789 0.999996 0.672716
+0.999969 -0.00274641 -0.00740973 -0.00497909 0.00272564 0.999992 -0.00281192 -0.0381271 0.0074174 0.00279163 0.999969 1.37469
+0.999925 -0.00226129 -0.0120078 -0.0149304 0.0022199 0.999992 -0.00345849 -0.0500735 0.0120155 0.00343158 0.999922 2.08592
+0.999855 -0.00103747 -0.0170278 -0.0315576 0.000971246 0.999992 -0.00389727 -0.0597511 0.0170317 0.00388016 0.999847 2.81254
+0.999759 -0.00222044 -0.0218404 -0.0495894 0.00213642 0.99999 -0.0038696 -0.0735588 0.0218488 0.003822 0.999754 3.55139
+0.99969 -0.000911992 -0.0248676 -0.0810928 0.000785158 0.999987 -0.00510963 -0.0882149 0.024872 0.00508852 0.999678 4.31233
+0.999573 0.00254257 -0.0291203 -0.110765 -0.00272044 0.999978 -0.00607018 -0.105792 0.0291042 0.00614681 0.999558 5.08088
+0.999438 0.00434114 -0.0332473 -0.142767 -0.00450281 0.999978 -0.00478932 -0.11819 0.0332258 0.00493634 0.999436 5.87572
+0.999253 0.00411408 -0.0384275 -0.178263 -0.00420248 0.999989 -0.00221999 -0.130267 0.0384179 0.00237982 0.999259 6.68287

tests/test_dataset/sequences/00/calib.txt

@@ -0,0 +1,5 @@
+P0: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 0.000000000000e+00 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
+P1: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 -3.861448000000e+02 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
+P2: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 4.538225000000e+01 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 -1.130887000000e-01 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 3.779761000000e-03
+P3: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 -3.372877000000e+02 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 2.369057000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 4.915215000000e-03
+Tr: 4.276802385584e-04 -9.999672484946e-01 -8.084491683471e-03 -1.198459927713e-02 -7.210626507497e-03 8.081198471645e-03 -9.999413164504e-01 -5.403984729748e-02 9.999738645903e-01 4.859485810390e-04 -7.206933692422e-03 -2.921968648686e-01

tests/test_dataset/sequences/00/poses.txt

@@ -0,0 +1,10 @@
+1 9.31323e-10 -3.27418e-11 0 -9.31323e-10 1 -4.65661e-10 7.45058e-09 1.09139e-11 -9.31323e-10 1 0
+0.999991 -0.00316351 -0.00274942 -0.00135393 0.00316045 0.999994 -0.00111659 -0.0248245 0.00275294 0.00110789 0.999996 0.672716
+0.999969 -0.00274641 -0.00740973 -0.00497909 0.00272564 0.999992 -0.00281192 -0.0381271 0.0074174 0.00279163 0.999969 1.37469
+0.999925 -0.00226129 -0.0120078 -0.0149304 0.0022199 0.999992 -0.00345849 -0.0500735 0.0120155 0.00343158 0.999922 2.08592
+0.999855 -0.00103747 -0.0170278 -0.0315576 0.000971246 0.999992 -0.00389727 -0.0597511 0.0170317 0.00388016 0.999847 2.81254
+0.999759 -0.00222044 -0.0218404 -0.0495894 0.00213642 0.99999 -0.0038696 -0.0735588 0.0218488 0.003822 0.999754 3.55139
+0.99969 -0.000911992 -0.0248676 -0.0810928 0.000785158 0.999987 -0.00510963 -0.0882149 0.024872 0.00508852 0.999678 4.31233
+0.999573 0.00254257 -0.0291203 -0.110765 -0.00272044 0.999978 -0.00607018 -0.105792 0.0291042 0.00614681 0.999558 5.08088
+0.999438 0.00434114 -0.0332473 -0.142767 -0.00450281 0.999978 -0.00478932 -0.11819 0.0332258 0.00493634 0.999436 5.87572
+0.999253 0.00411408 -0.0384275 -0.178263 -0.00420248 0.999989 -0.00221999 -0.130267 0.0384179 0.00237982 0.999259 6.68287

tests/test_dataset/sequences/00/times.txt

@@ -0,0 +1,10 @@
+0.000000e+00
+1.037359e-01
+2.073381e-01
+3.110752e-01
+4.146917e-01
+5.184302e-01
+6.220448e-01
+7.257977e-01
+8.294199e-01
+9.331467e-01

tests/test_init_instances_matrix.py

@@ -0,0 +1,28 @@
+# Copyright (c) 2023, Sofia Vivdich and Anastasiia Kornilova
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import open3d as o3d
+import pytest
+
+from services.preprocessing.init.instances_matrix import InitInstancesMatrixProcessor
+
+from tests.test_data import config
+from tests.test_data import real_image_count
+from tests.utils import generate_init_pcd
+
+@pytest.mark.parametrize("init_pcd", [generate_init_pcd(config)])
+def test_init_map(init_pcd : o3d.geometry.PointCloud):
+    points2instances = InitInstancesMatrixProcessor().process(config, init_pcd)
+
+    assert points2instances.shape == (len(init_pcd.points), real_image_count)

tests/test_init_map.py

@@ -0,0 +1,24 @@
+# Copyright (c) 2023, Sofia Vivdich and Anastasiia Kornilova
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from services.preprocessing.init.map import InitMapProcessor
+
+from tests.test_data import config
+from tests.test_data import real_init_map_size
+
+
+def test_init_map():
+    init_pcd = InitMapProcessor().process(config)
+
+    assert len(init_pcd.points) == real_init_map_size

tests/utils.py

@@ -0,0 +1,27 @@
+# Copyright (c) 2023, Sofia Vivdich and Anastasiia Kornilova
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import copy
+import open3d as o3d
+
+from services.preprocessing.common.config import ConfigDTO
+
+def generate_init_pcd(config : ConfigDTO):
+    map_wc = o3d.geometry.PointCloud()
+
+    for i in range(config.start_index, config.end_index):
+        T = config.dataset.get_lidar_pose(i)
+        map_wc += copy.deepcopy(config.dataset.get_point_cloud(i)).transform(T)
+
+    return map_wc