Logic
104 lines
3.7 KiB
Python
104 lines
3.7 KiB
Python
import sys
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import tempfile
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import types
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import unittest
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from pathlib import Path
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from unittest import mock
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import h5py
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import numpy as np
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from roboimi.vla.data.simpe_robot_dataset import SimpleRobotDataset
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class SimpleRobotDatasetImageLoadingTest(unittest.TestCase):
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def _write_episode(self, dataset_dir: Path, episode_idx: int = 0, action_offset: float = 0.0) -> None:
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episode_path = dataset_dir / f"episode_{episode_idx}.hdf5"
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with h5py.File(episode_path, "w") as root:
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root.create_dataset(
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"action",
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data=(np.arange(8, dtype=np.float32).reshape(4, 2) + action_offset),
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)
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root.create_dataset(
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"observations/qpos",
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data=np.arange(16, dtype=np.float32).reshape(4, 4),
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)
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root.create_dataset("task", data=np.array([b"sim_transfer"]))
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root.create_dataset(
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"observations/images/front",
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data=np.arange(4 * 8 * 8 * 3, dtype=np.uint8).reshape(4, 8, 8, 3),
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)
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def test_getitem_only_resizes_observation_horizon_images(self):
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with tempfile.TemporaryDirectory() as tmpdir:
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dataset_dir = Path(tmpdir)
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self._write_episode(dataset_dir)
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dataset = SimpleRobotDataset(
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dataset_dir,
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obs_horizon=2,
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pred_horizon=3,
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camera_names=["front"],
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)
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resize_calls = []
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def fake_resize(image, size, interpolation=None):
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resize_calls.append(
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{
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"shape": tuple(image.shape),
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"size": size,
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"interpolation": interpolation,
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}
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)
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return image
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fake_cv2 = types.SimpleNamespace(INTER_LINEAR=1, resize=fake_resize)
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with mock.patch.dict(sys.modules, {"cv2": fake_cv2}):
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sample = dataset[1]
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self.assertEqual(len(resize_calls), 2)
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self.assertEqual(tuple(sample["observation.front"].shape), (2, 3, 8, 8))
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def test_getitem_skips_resize_when_image_resize_shape_is_none(self):
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with tempfile.TemporaryDirectory() as tmpdir:
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dataset_dir = Path(tmpdir)
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self._write_episode(dataset_dir)
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dataset = SimpleRobotDataset(
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dataset_dir,
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obs_horizon=2,
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pred_horizon=3,
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camera_names=["front"],
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image_resize_shape=None,
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)
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fake_cv2 = types.SimpleNamespace(
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INTER_LINEAR=1,
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resize=mock.Mock(side_effect=AssertionError("resize should be skipped when image_resize_shape=None")),
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)
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with mock.patch.dict(sys.modules, {"cv2": fake_cv2}):
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sample = dataset[1]
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fake_cv2.resize.assert_not_called()
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self.assertEqual(tuple(sample["observation.front"].shape), (2, 3, 8, 8))
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def test_dataset_can_filter_by_episode_indices_and_expose_available_episode_indices(self):
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with tempfile.TemporaryDirectory() as tmpdir:
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dataset_dir = Path(tmpdir)
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self._write_episode(dataset_dir, episode_idx=3, action_offset=0.0)
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self._write_episode(dataset_dir, episode_idx=7, action_offset=100.0)
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dataset = SimpleRobotDataset(
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dataset_dir,
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obs_horizon=2,
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pred_horizon=3,
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camera_names=["front"],
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episode_indices=[7],
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)
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sample = dataset[0]
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self.assertEqual(dataset.available_episode_indices, [7])
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self.assertEqual(len(dataset), 4)
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self.assertEqual(sample["action"][0, 0].item(), 100.0)
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