mirror of
https://github.com/aurora-opensource/xviz.git
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3950154726
* update circle example scenario after python module rename * add alpha channel for colors so that the 3 points display properly. * fix some issues with glb writing, and add some more tests * add script to write a scenario to files on disk * add support for converting polygon and polyline vertices into typed arrays in binary format * add floating polygon to circle example scenario * make server print out exception and stack trace
306 lines
13 KiB
Python
306 lines
13 KiB
Python
import json
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import xviz_avs as xa
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import xviz_avs.io as xi
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import xviz_avs.builder as xb
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class TestIO:
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def _get_metadata_builder(self):
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builder = xa.XVIZMetadataBuilder()
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builder.stream('/vehicle_pose').category(xa.CATEGORY.POSE)
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builder.stream('/point/lidar')\
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.coordinate(xa.COORDINATE_TYPES.VEHICLE_RELATIVE)\
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.category(xa.CATEGORY.PRIMITIVE)\
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.type(xa.PRIMITIVE_TYPES.POINT)\
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.stream_style({
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'radius_pixels': 1
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})
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builder.stream('/image/camera')\
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.category(xa.CATEGORY.PRIMITIVE)\
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.type(xa.PRIMITIVE_TYPES.IMAGE)
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return builder
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def _get_builder(self, circle=False, points=False, polyline=False, polygon=False):
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builder = xb.XVIZBuilder()
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builder.pose()\
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.timestamp(2.000000000001)\
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.map_origin(4.4, 5.5, 6.6)\
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.position(44., 55., 66.)\
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.orientation(0.44, 0.55, 0.66)
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if circle:
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builder.primitive('/test_primitive').circle([0, 0, 0], 2)
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if points:
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builder.primitive('/test_primitive')\
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.points([0, 0, 0, 1, 1, 1, 2, 2, 2])\
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.colors([255, 0, 0, 128, 0, 255, 0, 128, 0, 0, 255, 128])
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if polyline:
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builder.primitive('/test_primitive')\
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.polyline([1, 1, 1, 2, 2, 2])
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if polygon:
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builder.primitive('/test_primitive')\
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.polygon([1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 4, 1, 1, 1])\
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.style({'height': 2.0})
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return builder
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def test_message_index(self):
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metadata_builder = self._get_metadata_builder()
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builder = self._get_builder(circle=True)
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expected = {
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'timing': [[2.000000000001, 2.000000000001, 0, '2-frame']],
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}
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source = xi.MemorySource()
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data = source._data # save a reference to dict since it gets deleted after close
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writer = xi.XVIZJsonWriter(source)
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writer.write_message(metadata_builder.get_message())
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writer.write_message(builder.get_message())
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writer.close()
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data = json.loads(data['0-frame.json'].decode('ascii'))
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assert data == expected
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def test_json_metadata_writer(self):
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builder = self._get_metadata_builder()
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expected = {
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"type": "xviz/metadata",
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"data": {
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"version": "2.0.0",
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"streams": {
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"/image/camera": {
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"category": "PRIMITIVE",
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"primitive_type": "IMAGE",
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},
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"/vehicle_pose": {
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"category": "POSE",
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},
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"/point/lidar": {
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"category": "PRIMITIVE",
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"primitive_type": "POINT",
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"stream_style": {
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"radius_pixels": 1.0,
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},
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"coordinate": "VEHICLE_RELATIVE",
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},
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},
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},
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}
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source = xi.MemorySource(latest_only=True)
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writer = xi.XVIZJsonWriter(source)
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writer.write_message(builder.get_message())
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data = source.read()
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data = json.loads(data.decode('ascii'))
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assert data == expected
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writer.close()
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def test_json_normal_writer(self):
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builder = self._get_builder(circle=True)
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expected = {
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"type": "xviz/state_update",
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"data": {
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"update_type": "INCREMENTAL",
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"updates": [{
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"timestamp": 2.0,
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"poses": {
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"/vehicle_pose": {
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"timestamp": 2.0,
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"map_origin": {
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"longitude": 4.4,
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"latitude": 5.5,
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"altitude": 6.6
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},
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"position": [44.0, 55.0, 66.0],
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"orientation": [0.44, 0.55, 0.66]
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}
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},
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"primitives": {
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"/test_primitive": {
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"circles": [{
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"center": [0.0, 0.0, 0.0],
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"radius": 2.0
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}]
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}
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}
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}]
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}
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}
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expected = json.dumps(expected, separators=(',', ':')).encode('ascii')
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source = xi.MemorySource(latest_only=True)
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writer = xi.XVIZJsonWriter(source)
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writer.write_message(builder.get_message())
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data = source.read()
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assert data == expected
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writer.close()
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def test_json_image_writer(self):
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pass
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def test_glb_metadata_writer(self):
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builder = self._get_metadata_builder()
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source = xi.MemorySource(latest_only=True)
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writer = xi.XVIZGLBWriter(source)
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writer.write_message(builder.get_message())
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data = source.read()
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# because json encoding of dict is not necessarily deterministic (different
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# order of iteration of keys), we decode the json and check for dict equality
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expected_prefix = b'glTF\x02\x00\x00\x00\xec\x01\x00\x00\xd0\x01\x00\x00JSON'
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expected_json = {
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"asset": {
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"version": "2",
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},
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"buffers": [{
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"byteLength": 0,
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}],
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"bufferViews": [],
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"accessors": [],
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"images": [],
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"meshes": [],
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"extensions": {
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"AVS_xviz": {
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"type": "xviz/metadata",
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"data": {
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"version": "2.0.0",
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"streams": {
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"/vehicle_pose": {
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"category": "POSE",
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},
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"/image/camera": {
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"category": "PRIMITIVE",
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"primitive_type": "IMAGE",
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},
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"/point/lidar": {
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"category": "PRIMITIVE",
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"primitive_type": "POINT",
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"stream_style": {
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"radius_pixels": 1,
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},
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"coordinate": "VEHICLE_RELATIVE",
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},
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},
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},
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},
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},
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"extensionsUsed": [
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"AVS_xviz",
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],
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}
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expected_suffix = b'\x00\x00\x00\x00BIN\x00'
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assert data.startswith(expected_prefix)
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assert data.endswith(expected_suffix)
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data_json = json.loads(data[len(expected_prefix): -len(expected_suffix)].decode('ascii'))
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assert data_json == expected_json
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def test_glb_normal_writer(self):
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builder = self._get_builder(circle=True)
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source = xi.MemorySource(latest_only=True)
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writer = xi.XVIZGLBWriter(source)
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writer.write_message(builder.get_message())
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data = source.read()
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expected = b'glTF\x02\x00\x00\x004\x02\x00\x00\x18\x02\x00\x00JSON{"asset":{"version":"2"'\
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b'},"buffers":[{"byteLength":0}],"bufferViews":[],"accessors":[],"images":[],"meshes"'\
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b':[],"extensions":{"AVS_xviz":{"type":"xviz/state_update","data":{"update_type":"INC'\
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b'REMENTAL","updates":[{"timestamp":2.000000000001,"poses":{"/vehicle_pose":{"timesta'\
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b'mp":2.000000000001,"map_origin":{"longitude":4.4,"latitude":5.5,"altitude":6.6},"po'\
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b'sition":[44.0,55.0,66.0],"orientation":[0.44,0.55,0.66]}},"primitives":{"/test_prim'\
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b'itive":{"circles":[{"center":[0.0,0.0,0.0],"radius":2.0}]}}}]}}},"extensionsUsed":['\
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b'"AVS_xviz"]} \x00\x00\x00\x00BIN\x00'
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assert data == expected
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def test_glb_point_cloud_writer(self):
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builder = self._get_builder(points=True)
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source = xi.MemorySource(latest_only=True)
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writer = xi.XVIZGLBWriter(source)
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writer.write_message(builder.get_message())
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data = source.read()
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expected = b'glTF\x02\x00\x00\x00D\x03\x00\x00\xf8\x02\x00\x00JSON{"asset":{"version":"2"'\
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b'},"buffers":[{"byteLength":48}],"bufferViews":[{"buffer":0,"byteOffset":0,"byteLeng'\
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b'th":36},{"buffer":0,"byteOffset":36,"byteLength":12}],"accessors":[{"bufferView":0,'\
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b'"type":"VEC3","componentType":5126,"count":3},{"bufferView":1,"type":"VEC4","compon'\
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b'entType":5121,"count":3}],"images":[],"meshes":[],"extensions":{"AVS_xviz":{"type":'\
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b'"xviz/state_update","data":{"update_type":"INCREMENTAL","updates":[{"timestamp":2.0'\
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b'00000000001,"poses":{"/vehicle_pose":{"timestamp":2.000000000001,"map_origin":{"lon'\
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b'gitude":4.4,"latitude":5.5,"altitude":6.6},"position":[44.0,55.0,66.0],"orientation'\
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b'":[0.44,0.55,0.66]}},"primitives":{"/test_primitive":{"points":[{"points":"#/access'\
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b'ors/0","colors":"#/accessors/1"}]}}}]}}},"extensionsUsed":["AVS_xviz"]} 0\x00\x00'\
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b'\x00BIN\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80?\x00\x00'\
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b'\x80?\x00\x00\x80?\x00\x00\x00@\x00\x00\x00@\x00\x00\x00@\xff\x00\x00\x80\x00\xff'\
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b'\x00\x80\x00\x00\xff\x80'
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assert data == expected
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def test_glb_polyline_writer(self):
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builder = self._get_builder(polyline=True)
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source = xi.MemorySource(latest_only=True)
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writer = xi.XVIZGLBWriter(source)
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writer.write_message(builder.get_message())
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data = source.read()
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expected = b'glTF\x02\x00\x00\x00\xac\x02\x00\x00x\x02\x00\x00JSON{"asset":{"version":"2"'\
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b'},"buffers":[{"byteLength":24}],"bufferViews":[{"buffer":0,"byteOffset":0,"byteLeng'\
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b'th":24}],"accessors":[{"bufferView":0,"type":"VEC3","componentType":5126,"count":2}'\
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b'],"images":[],"meshes":[],"extensions":{"AVS_xviz":{"type":"xviz/state_update","dat'\
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b'a":{"update_type":"INCREMENTAL","updates":[{"timestamp":2.000000000001,"poses":{"/v'\
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b'ehicle_pose":{"timestamp":2.000000000001,"map_origin":{"longitude":4.4,"latitude":5'\
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b'.5,"altitude":6.6},"position":[44.0,55.0,66.0],"orientation":[0.44,0.55,0.66]}},"pr'\
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b'imitives":{"/test_primitive":{"polylines":[{"vertices":"#/accessors/0"}]}}}]}}},"ex'\
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b'tensionsUsed":["AVS_xviz"]} \x18\x00\x00\x00BIN\x00\x00\x00\x80?\x00\x00\x80?\x00'\
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b'\x00\x80?\x00\x00\x00@\x00\x00\x00@\x00\x00\x00@'
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assert data == expected
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def test_glb_polygon_writer(self):
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builder = self._get_builder(polygon=True)
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source = xi.MemorySource(latest_only=True)
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writer = xi.XVIZGLBWriter(source)
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writer.write_message(builder.get_message())
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data = source.read()
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expected = b'glTF\x02\x00\x00\x00\xf0\x02\x00\x00\x98\x02\x00\x00JSON{"asset":{"version":'\
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b'"2"},"buffers":[{"byteLength":60}],"bufferViews":[{"buffer":0,"byteOffset":0,"byteL'\
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b'ength":60}],"accessors":[{"bufferView":0,"type":"VEC3","componentType":5126,"count"'\
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b':5}],"images":[],"meshes":[],"extensions":{"AVS_xviz":{"type":"xviz/state_update","'\
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b'data":{"update_type":"INCREMENTAL","updates":[{"timestamp":2.000000000001,"poses":{'\
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b'"/vehicle_pose":{"timestamp":2.000000000001,"map_origin":{"longitude":4.4,"latitude'\
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b'":5.5,"altitude":6.6},"position":[44.0,55.0,66.0],"orientation":[0.44,0.55,0.66]}},'\
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b'"primitives":{"/test_primitive":{"polygons":[{"base":{"style":{"height":2.0}},"vert'\
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b'ices":"#/accessors/0"}]}}}]}}},"extensionsUsed":["AVS_xviz"]} <\x00\x00\x00BIN\x00'\
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b'\x00\x00\x80?\x00\x00\x80?\x00\x00\x80?\x00\x00\x00@\x00\x00\x00@\x00\x00\x00@\x00'\
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b'\x00@@\x00\x00@@\x00\x00@@\x00\x00\x80@\x00\x00\x80@\x00\x00\x80@\x00\x00\x80?\x00'\
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b'\x00\x80?\x00\x00\x80?'
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assert data == expected
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def test_protobuf_normal_writer(self):
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builder = self._get_builder(circle=True)
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source = xi.MemorySource(latest_only=True)
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writer = xi.XVIZProtobufWriter(source)
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writer.write_message(builder.get_message())
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data = source.read()
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expected = b'glTF\x02\x00\x00\x004\x02\x00\x00\x18\x02\x00\x00JSON{"asset":{"version":"2"'\
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b'},"buffers":[{"byteLength":0}],"bufferViews":[],"accessors":[],"image":[],"meshes":'\
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b'[],"extensions":{"AVS_xviz":{"type":"#xviz/state_update","data":{"update_type":"#IN'\
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b'CREMENTAL","updates":[{"timestamp":2.000000000001,"poses":{"/vehicle_pose":{"timest'\
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b'amp":2.000000000001,"map_origin":{"longitude":4.4,"latitude":5.5,"altitude":6.6},"p'\
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b'osition":[44.0,55.0,66.0],"orientation":[0.44,0.55,0.66]}},"primitives":{"/test_pri'\
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b'mitive":{"circles":[{"center":[0.0,0.0,0.0],"radius":2.0}]}}}]}}},"extensionsUsed":'\
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b'["AVS_xviz"]}\x00\x00\x00\x00\x00\x00BIN\x00'
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# XXX: assert data == expected
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