79 lines
2.7 KiB
Python
79 lines
2.7 KiB
Python
from __future__ import annotations
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import zipfile
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from pathlib import Path
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import numpy as np
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import pytest
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from k1link.datasets.rellis_admission import RellisAdmissionError, _member_index
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from k1link.datasets.rellis_profile import RellisPatchworkProfile
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from k1link.datasets.rellis_qualification import calibrate_rellis_sensor_height
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def _frame(height_m: float) -> tuple[bytes, bytes]:
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point_count = 512
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points = np.zeros((point_count, 4), dtype="<f4")
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points[:, 0] = np.linspace(3.0, 12.0, point_count, dtype=np.float32)
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points[:, 2] = -height_m
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points[:, 3] = 0.5
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labels = np.full(point_count, 1, dtype="<u4")
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return points.tobytes(), labels.tobytes()
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def test_rellis_height_calibration_uses_only_stratified_train_frames(
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tmp_path: Path,
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) -> None:
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scan_path = tmp_path / "scans.zip"
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label_path = tmp_path / "labels.zip"
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pairs: list[tuple[str, str]] = []
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with (
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zipfile.ZipFile(scan_path, "w") as scans,
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zipfile.ZipFile(label_path, "w") as labels,
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):
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for sequence, height in enumerate((1.20, 1.25, 1.30, 1.35, 1.40)):
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sequence_id = f"{sequence:05d}"
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point_member = f"{sequence_id}/os1_cloud_node_kitti_bin/000000.bin"
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label_member = (
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f"{sequence_id}/os1_cloud_node_semantickitti_label_id/000000.label"
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)
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point_bytes, label_bytes = _frame(height)
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scans.writestr(f"Rellis-3D/{point_member}", point_bytes)
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labels.writestr(f"Rellis-3D/{label_member}", label_bytes)
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pairs.append((point_member, label_member))
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result = calibrate_rellis_sensor_height(
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scan_path,
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label_path,
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tuple(pairs),
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archive_identity="a" * 64,
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frame_count=5,
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)
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assert result["split"] == "train"
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assert result["validation_labels_used"] is False
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assert result["frame_count"] == 5
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assert result["sensor_height_m"] == pytest.approx(1.30)
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assert len(result["identity_sha256"]) == 64
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def test_rellis_archive_index_rejects_path_traversal(tmp_path: Path) -> None:
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archive = tmp_path / "unsafe.zip"
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with zipfile.ZipFile(archive, "w") as target:
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target.writestr("../outside.bin", b"data")
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with (
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zipfile.ZipFile(archive) as source,
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pytest.raises(RellisAdmissionError, match="unsafe"),
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):
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_member_index(source)
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def test_rellis_patchwork_profile_rejects_unphysical_height() -> None:
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with pytest.raises(ValueError):
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RellisPatchworkProfile(
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patchwork_sensor_height_proxy_m=0.1,
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calibration_identity_sha256="a" * 64,
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calibration_frame_count=64,
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calibration_median_absolute_deviation_m=0.01,
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)
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