test_indoor_loading.py

import os.path as osp

import mmcv

from mmdet3d.datasets.pipelines.indoor_loading import (LoadAnnotations3D,
                                                       LoadPointsFromFile)


def test_load_points_from_file():
    sunrgbd_info = mmcv.load('./tests/data/sunrgbd/sunrgbd_infos.pkl')
    sunrgbd_load_points_from_file = LoadPointsFromFile(True, [0.5, 0.5, 0.5],
                                                       6)
    sunrgbd_results = dict()
    data_path = './tests/data/sunrgbd/sunrgbd_trainval'
    sunrgbd_results['data_path'] = data_path
    sunrgbd_info = sunrgbd_info[0]
    scan_name = sunrgbd_info['point_cloud']['lidar_idx']
    sunrgbd_results['info'] = sunrgbd_info
    sunrgbd_results['pts_filename'] = osp.join(data_path, 'lidar',
                                               '%06d.npz' % scan_name)
    sunrgbd_results = sunrgbd_load_points_from_file(sunrgbd_results)
    sunrgbd_point_cloud = sunrgbd_results.get('points', None)
    assert sunrgbd_point_cloud.shape == (1000, 4)

    scannet_info = mmcv.load('./tests/data/scannet/scannet_infos.pkl')
    scannet_load_data = LoadPointsFromFile(True, [0.5, 0.5, 0.5])
    scannet_results = dict()
    data_path = './tests/data/scannet/scannet_train_instance_data'
    scannet_results['data_path'] = data_path
    scannet_info = scannet_info[0]
    scan_name = scannet_info['point_cloud']['lidar_idx']
    scannet_results['info'] = scannet_info
    scannet_results['pts_filename'] = osp.join(data_path,
                                               scan_name + '_vert.npy')
    scannet_results = scannet_load_data(scannet_results)
    scannet_point_cloud = scannet_results.get('points', None)
    assert scannet_point_cloud.shape == (1000, 4)


def test_load_annotations3D():
    sunrgbd_info = mmcv.load('./tests/data/sunrgbd/sunrgbd_infos.pkl')
    sunrgbd_load_annotations3D = LoadAnnotations3D()
    sunrgbd_results = dict()
    sunrgbd_results['data_path'] = './tests/data/sunrgbd/sunrgbd_trainval'
    sunrgbd_results['info'] = sunrgbd_info[0]
    sunrgbd_results = sunrgbd_load_annotations3D(sunrgbd_results)
    sunrgbd_gt_boxes = sunrgbd_results.get('gt_bboxes_3d', None)
    sunrgbd_gt_lbaels = sunrgbd_results.get('gt_labels', None)
    sunrgbd_gt_boxes_mask = sunrgbd_results.get('gt_bboxes_3d_mask', None)
    assert sunrgbd_gt_boxes.shape == (3, 7)
    assert sunrgbd_gt_lbaels.shape == (3, 1)
    assert sunrgbd_gt_boxes_mask.shape == (3, 1)

    scannet_info = mmcv.load('./tests/data/scannet/scannet_infos.pkl')
    scannet_load_annotations3D = LoadAnnotations3D()
    scannet_results = dict()
    data_path = './tests/data/scannet/scannet_train_instance_data'
    scannet_results['data_path'] = data_path
    scannet_info = scannet_info[0]
    scan_name = scannet_info['point_cloud']['lidar_idx']
    scannet_results['ins_labelname'] = osp.join(data_path,
                                                scan_name + '_ins_label.npy')
    scannet_results['sem_labelname'] = osp.join(data_path,
                                                scan_name + '_sem_label.npy')
    scannet_results['info'] = scannet_info
    scannet_results = scannet_load_annotations3D(scannet_results)
    scannet_gt_boxes = scannet_results.get('gt_bboxes_3d', None)
    scannet_gt_lbaels = scannet_results.get('gt_labels', None)
    scannet_gt_boxes_mask = scannet_results.get('gt_bboxes_3d_mask', None)
    scannet_pts_instance_mask = scannet_results.get('pts_instance_mask', None)
    scannet_pts_semantic_mask = scannet_results.get('pts_semantic_mask', None)
    assert scannet_gt_boxes.shape == (27, 6)
    assert scannet_gt_lbaels.shape == (27, 1)
    assert scannet_gt_boxes_mask.shape == (27, 1)
    assert scannet_pts_instance_mask.shape == (1000, )
    assert scannet_pts_semantic_mask.shape == (1000, )