feat(perception): add PointPillars transfer gate
This commit is contained in:
DCCONSTRUCTIONS
@@ -0,0 +1,230 @@
|
||||
from __future__ import annotations
|
||||
|
||||
import hashlib
|
||||
import json
|
||||
import zipfile
|
||||
from pathlib import Path
|
||||
from typing import Any
|
||||
|
||||
import pytest
|
||||
|
||||
from k1link.datasets import kitti_3d_admission as module
|
||||
|
||||
|
||||
def _sha256(path: Path) -> str:
|
||||
return hashlib.sha256(path.read_bytes()).hexdigest()
|
||||
|
||||
|
||||
def _calibration(*, complete: bool = True) -> str:
|
||||
rows = [
|
||||
"P0: " + " ".join(["1"] * 12),
|
||||
"P1: " + " ".join(["1"] * 12),
|
||||
"P2: " + " ".join(["1"] * 12),
|
||||
"P3: " + " ".join(["1"] * 12),
|
||||
"R0_rect: " + " ".join(["1"] * 9),
|
||||
"Tr_velo_to_cam: " + " ".join(["1"] * 12),
|
||||
]
|
||||
if complete:
|
||||
rows.append("Tr_imu_to_velo: " + " ".join(["1"] * 12))
|
||||
return "\n".join(rows) + "\n"
|
||||
|
||||
|
||||
def _label(class_name: str, *, valid: bool = True) -> str:
|
||||
dimensions = "1.5 1.6 3.8" if valid else "0 1.6 3.8"
|
||||
return (
|
||||
f"{class_name} 0 0 0 0 0 10 10 {dimensions} 1 1 10 0\n"
|
||||
)
|
||||
|
||||
|
||||
def _release(
|
||||
root: Path,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
*,
|
||||
labels: dict[str, str] | None = None,
|
||||
complete_calibration: bool = True,
|
||||
invalid_velodyne_frame: bool = False,
|
||||
train_rows: tuple[str, ...] = ("000000",),
|
||||
validation_rows: tuple[str, ...] = ("000001", "000002"),
|
||||
) -> dict[str, Path]:
|
||||
archive_root = root / module.KITTI_3D_RELEASE_ROOT / "archives"
|
||||
split_root = root / module.KITTI_3D_RELEASE_ROOT / "splits" / (
|
||||
f"openpcdet-{module.KITTI_STANDARD_SPLIT_COMMIT}"
|
||||
)
|
||||
archive_root.mkdir(parents=True)
|
||||
split_root.mkdir(parents=True)
|
||||
paths = {
|
||||
module.KITTI_VELODYNE_ARCHIVE: archive_root
|
||||
/ module.KITTI_VELODYNE_ARCHIVE,
|
||||
module.KITTI_LABEL_ARCHIVE: archive_root / module.KITTI_LABEL_ARCHIVE,
|
||||
module.KITTI_CALIB_ARCHIVE: archive_root / module.KITTI_CALIB_ARCHIVE,
|
||||
"train": split_root / "train.txt",
|
||||
"validation": split_root / "val.txt",
|
||||
}
|
||||
with zipfile.ZipFile(paths[module.KITTI_VELODYNE_ARCHIVE], "w") as archive:
|
||||
for frame_id in ("000000", "000001", "000002"):
|
||||
size = 15 if invalid_velodyne_frame and frame_id == "000001" else 16
|
||||
archive.writestr(f"training/velodyne/{frame_id}.bin", b"\x00" * size)
|
||||
for frame_id in ("000000", "000001"):
|
||||
archive.writestr(f"testing/velodyne/{frame_id}.bin", b"\x00" * 16)
|
||||
label_payloads = labels or {
|
||||
"000000": _label("Car"),
|
||||
"000001": _label("Pedestrian") + _label("Car"),
|
||||
"000002": _label("Cyclist"),
|
||||
}
|
||||
with zipfile.ZipFile(paths[module.KITTI_LABEL_ARCHIVE], "w") as archive:
|
||||
for frame_id, payload in label_payloads.items():
|
||||
archive.writestr(f"training/label_2/{frame_id}.txt", payload)
|
||||
with zipfile.ZipFile(paths[module.KITTI_CALIB_ARCHIVE], "w") as archive:
|
||||
for split, frames in {
|
||||
"training": ("000000", "000001", "000002"),
|
||||
"testing": ("000000", "000001"),
|
||||
}.items():
|
||||
for frame_id in frames:
|
||||
archive.writestr(
|
||||
f"{split}/calib/{frame_id}.txt",
|
||||
_calibration(complete=complete_calibration),
|
||||
)
|
||||
paths["train"].write_text("\n".join(train_rows) + "\n", encoding="ascii")
|
||||
paths["validation"].write_text(
|
||||
"\n".join(validation_rows) + "\n",
|
||||
encoding="ascii",
|
||||
)
|
||||
monkeypatch.setattr(module, "KITTI_TRAINING_FRAMES", 3)
|
||||
monkeypatch.setattr(module, "KITTI_TEST_FRAMES", 2)
|
||||
monkeypatch.setattr(
|
||||
module,
|
||||
"KITTI_ARCHIVE_BYTES",
|
||||
{
|
||||
name: paths[name].stat().st_size
|
||||
for name in (
|
||||
module.KITTI_VELODYNE_ARCHIVE,
|
||||
module.KITTI_LABEL_ARCHIVE,
|
||||
module.KITTI_CALIB_ARCHIVE,
|
||||
)
|
||||
},
|
||||
)
|
||||
monkeypatch.setattr(
|
||||
module,
|
||||
"KITTI_SPLIT_COUNTS",
|
||||
{"train": len(train_rows), "validation": len(validation_rows)},
|
||||
)
|
||||
monkeypatch.setattr(
|
||||
module,
|
||||
"KITTI_SPLIT_SHA256",
|
||||
{"train": _sha256(paths["train"]), "validation": _sha256(paths["validation"])},
|
||||
)
|
||||
monkeypatch.setattr(module, "_is_worker_dataset_root", lambda _root: True)
|
||||
return paths
|
||||
|
||||
|
||||
def test_admits_archive_only_box_truth_with_path_free_state(
|
||||
tmp_path: Path,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
_release(tmp_path, monkeypatch)
|
||||
|
||||
manifest = module.admit_kitti_3d_object_release(tmp_path)
|
||||
|
||||
assert manifest["status"] == "archive-ready"
|
||||
assert manifest["storage"]["source_archives_extracted"] is False
|
||||
assert manifest["benchmark_contract"] == {
|
||||
"independent_ground_truth": True,
|
||||
"annotations": ["oriented-3d-boxes"],
|
||||
"point_fields": ["x", "y", "z", "intensity"],
|
||||
"eligible_split": "validation",
|
||||
"target_classes": ["Car", "Pedestrian", "Cyclist"],
|
||||
"official_test_submission_authorized": False,
|
||||
"retuning_on_validation_allowed": False,
|
||||
"k1_quality_claim_authorized": False,
|
||||
}
|
||||
assert manifest["alignment"]["validation_target_box_counts"] == {
|
||||
"Car": 1,
|
||||
"Cyclist": 1,
|
||||
"Pedestrian": 1,
|
||||
}
|
||||
serialized = json.dumps(manifest)
|
||||
assert str(tmp_path) not in serialized
|
||||
assert module.read_kitti_3d_admission(tmp_path) == manifest
|
||||
assert module.read_kitti_standard_splits(tmp_path) == {
|
||||
"train": ("000000",),
|
||||
"validation": ("000001", "000002"),
|
||||
}
|
||||
|
||||
|
||||
def test_rejects_tampered_standard_split(
|
||||
tmp_path: Path,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
paths = _release(tmp_path, monkeypatch)
|
||||
paths["validation"].write_text("000002\n000001\n", encoding="ascii")
|
||||
|
||||
with pytest.raises(module.Kitti3DAdmissionError, match="pinned OpenPCDet"):
|
||||
module.admit_kitti_3d_object_release(tmp_path)
|
||||
|
||||
|
||||
def test_rejects_overlapping_split(
|
||||
tmp_path: Path,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
_release(
|
||||
tmp_path,
|
||||
monkeypatch,
|
||||
train_rows=("000000", "000001"),
|
||||
validation_rows=("000001", "000002"),
|
||||
)
|
||||
|
||||
with pytest.raises(module.Kitti3DAdmissionError, match="overlapping or incomplete"):
|
||||
module.admit_kitti_3d_object_release(tmp_path)
|
||||
|
||||
|
||||
def test_rejects_non_xyzi_velodyne_frame(
|
||||
tmp_path: Path,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
_release(tmp_path, monkeypatch, invalid_velodyne_frame=True)
|
||||
|
||||
with pytest.raises(module.Kitti3DAdmissionError, match="not packed XYZI"):
|
||||
module.admit_kitti_3d_object_release(tmp_path)
|
||||
|
||||
|
||||
def test_rejects_invalid_target_box(
|
||||
tmp_path: Path,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
_release(
|
||||
tmp_path,
|
||||
monkeypatch,
|
||||
labels={
|
||||
"000000": _label("Car"),
|
||||
"000001": _label("Pedestrian", valid=False),
|
||||
"000002": _label("Cyclist"),
|
||||
},
|
||||
)
|
||||
|
||||
with pytest.raises(module.Kitti3DAdmissionError, match="invalid dimensions"):
|
||||
module.admit_kitti_3d_object_release(tmp_path)
|
||||
|
||||
|
||||
def test_rejects_missing_calibration_transform(
|
||||
tmp_path: Path,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
_release(tmp_path, monkeypatch, complete_calibration=False)
|
||||
|
||||
with pytest.raises(module.Kitti3DAdmissionError, match="required transforms"):
|
||||
module.admit_kitti_3d_object_release(tmp_path)
|
||||
|
||||
|
||||
def test_read_rejects_tampered_content_identity(
|
||||
tmp_path: Path,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
_release(tmp_path, monkeypatch)
|
||||
module.admit_kitti_3d_object_release(tmp_path)
|
||||
state = tmp_path / "state/kitti-3d-object-v2017.json"
|
||||
payload: dict[str, Any] = json.loads(state.read_text(encoding="utf-8"))
|
||||
payload["identity"]["license"]["spdx"] = "unknown"
|
||||
state.write_text(json.dumps(payload), encoding="utf-8")
|
||||
|
||||
with pytest.raises(module.Kitti3DAdmissionError, match="identity is invalid"):
|
||||
module.read_kitti_3d_admission(tmp_path)
|
||||
Reference in New Issue
Block a user