updated paths (#67)

Author: mhubii

README.md

@@ -122,7 +122,7 @@ This is a required step to generate robot masks.
 
 ```shell
 rr-sam2 \
-    --path test/data/lbr_med7/zed2i \
+    --path test/assets/lbr_med7/zed2i \
     --pattern "left_image_*.png" \
     --n-positive-samples 5 \
     --n-negative-samples 5 \
@@ -134,8 +134,8 @@ The Hydra robust ICP implements a point-to-plane ICP registration on a Lie algeb
 
 ```shell
 rr-hydra \
-    --camera-info-file test/data/lbr_med7/zed2i/left_camera_info.yaml \
-    --path test/data/lbr_med7/zed2i \
+    --camera-info-file test/assets/lbr_med7/zed2i/left_camera_info.yaml \
+    --path test/assets/lbr_med7/zed2i \
     --mask-pattern mask_sam2_left_image_*.png \
     --depth-pattern depth_*.npy \
     --joint-states-pattern joint_states_*.npy \
@@ -173,8 +173,8 @@ rr-cam-swarm \
     --target-reduction 0.95 \
     --scale 0.1 \
     --n-samples 1 \
-    --camera-info-file test/data/lbr_med7/zed2i/left_camera_info.yaml \
-    --path test/data/lbr_med7/zed2i \
+    --camera-info-file test/assets/lbr_med7/zed2i/left_camera_info.yaml \
+    --path test/assets/lbr_med7/zed2i \
     --image-pattern left_image_*.png \
     --joint-states-pattern joint_states_*.npy \
     --mask-pattern mask_sam2_left_image_*.png \
@@ -199,9 +199,9 @@ rr-mono-dr \
     --xacro-path urdf/med7/med7.xacro \
     --root-link-name lbr_link_0 \
     --end-link-name lbr_link_7 \
-    --camera-info-file test/data/lbr_med7/zed2i/left_camera_info.yaml \
-    --extrinsics-file test/data/lbr_med7/zed2i/HT_hydra_robust.npy \
-    --path test/data/lbr_med7/zed2i \
+    --camera-info-file test/assets/lbr_med7/zed2i/left_camera_info.yaml \
+    --extrinsics-file test/assets/lbr_med7/zed2i/HT_hydra_robust.npy \
+    --path test/assets/lbr_med7/zed2i \
     --image-pattern left_image_*.png \
     --joint-states-pattern joint_states_*.npy \
     --mask-pattern mask_sam2_left_image_*.png \
@@ -226,11 +226,11 @@ rr-stereo-dr \
     --xacro-path urdf/med7/med7.xacro \
     --root-link-name lbr_link_0 \
     --end-link-name lbr_link_7 \
-    --left-camera-info-file test/data/lbr_med7/zed2i/left_camera_info.yaml \
-    --right-camera-info-file test/data/lbr_med7/zed2i/right_camera_info.yaml \
-    --left-extrinsics-file test/data/lbr_med7/zed2i/HT_hydra_robust.npy \
-    --right-extrinsics-file test/data/lbr_med7/zed2i/HT_right_to_left.npy \
-    --path test/data/lbr_med7/zed2i \
+    --left-camera-info-file test/assets/lbr_med7/zed2i/left_camera_info.yaml \
+    --right-camera-info-file test/assets/lbr_med7/zed2i/right_camera_info.yaml \
+    --left-extrinsics-file test/assets/lbr_med7/zed2i/HT_hydra_robust.npy \
+    --right-extrinsics-file test/assets/lbr_med7/zed2i/HT_right_to_left.npy \
+    --path test/assets/lbr_med7/zed2i \
     --left-image-pattern left_image_*.png \
     --right-image-pattern right_image_*.png \
     --joint-states-pattern joint_states_*.npy \
@@ -256,13 +256,13 @@ rr-render \
     --xacro-path urdf/med7/med7.xacro \
     --root-link-name lbr_link_0 \
     --end-link-name lbr_link_7 \
-    --camera-info-file test/data/lbr_med7/zed2i/left_camera_info.yaml \
-    --extrinsics-file test/data/lbr_med7/zed2i/HT_left_dr.npy \
-    --images-path test/data/lbr_med7/zed2i \
-    --joint-states-path test/data/lbr_med7/zed2i \
+    --camera-info-file test/assets/lbr_med7/zed2i/left_camera_info.yaml \
+    --extrinsics-file test/assets/lbr_med7/zed2i/HT_left_dr.npy \
+    --images-path test/assets/lbr_med7/zed2i \
+    --joint-states-path test/assets/lbr_med7/zed2i \
     --image-pattern left_image_*.png \
     --joint-states-pattern joint_states_*.npy \
-    --output-path test/data/lbr_med7/zed2i
+    --output-path test/assets/lbr_med7/zed2i
 ```
 
 ## Testing
@@ -273,8 +273,8 @@ To run Hydra robust ICP on provided `xarm` and `realsense` data, run
 
 ```shell
 rr-hydra \
-    --camera-info-file test/data/xarm/realsense/camera_info.yaml \
-    --path test/data/xarm/realsense \
+    --camera-info-file test/assets/xarm/realsense/camera_info.yaml \
+    --path test/assets/xarm/realsense \
     --mask-pattern mask_*.png \
     --depth-pattern depth_*.npy \
     --joint-states-pattern joint_state_*.npy \
@@ -297,13 +297,13 @@ rr-render \
     --xacro-path urdf/xarm_device.urdf.xacro \
     --root-link-name link_base \
     --end-link-name link7 \
-    --camera-info-file test/data/xarm/realsense/camera_info.yaml \
-    --extrinsics-file test/data/xarm/realsense/HT_hydra_robust.npy \
-    --images-path test/data/xarm/realsense \
-    --joint-states-path test/data/xarm/realsense \
+    --camera-info-file test/assets/xarm/realsense/camera_info.yaml \
+    --extrinsics-file test/assets/xarm/realsense/HT_hydra_robust.npy \
+    --images-path test/assets/xarm/realsense \
+    --joint-states-path test/assets/xarm/realsense \
     --image-pattern img_*.png \
     --joint-states-pattern joint_state_*.npy \
-    --output-path test/data/xarm/realsense
+    --output-path test/assets/xarm/realsense
 ```
 
 ## Acknowledgements

test/differentiable/test_rendering.py

@@ -21,7 +21,7 @@ class TestRendering:
     def __init__(
         self,
         device: str = "cuda" if torch.cuda.is_available() else "cpu",
-        data_prefix: str = "test/data/lbr_med7",
+        data_prefix: str = "test/assets/lbr_med7",
         recording_prefix: str = "zed2i/high_res",
         root_link_name: str = "lbr_link_0",
         end_link_name: str = "lbr_link_7",
@@ -401,7 +401,7 @@ def test_multi_camera_pose_rendering() -> None:
 
     # load a sample mesh
     meshes = rrd.TorchMeshContainer(
-        {"link_0": "test/data/lbr_med7/mesh/link_0.stl"},
+        {"link_0": "test/assets/lbr_med7/mesh/link_0.stl"},
         batch_size=batch_size,
         device=device,
     )

test/differentiable/test_scene.py

@@ -22,7 +22,7 @@ def __init__(
         root_link_name: str = "lbr_link_0",
         end_link_name: str = "lbr_link_7",
         camera_requires_grad: bool = False,
-        data_prefix: str = "test/data/lbr_med7",
+        data_prefix: str = "test/assets/lbr_med7",
         recording_prefix: str = "zed2i",
     ) -> None:
         prefix = os.path.join(data_prefix, recording_prefix)
@@ -232,8 +232,8 @@ def test_single_camera_multiple_poses() -> None:
     camera_name = "camera"
     camera = {
         camera_name: create_virtual_camera(
-            camera_info_file="test/data/lbr_med7/zed2i/left_camera_info.yaml",
-            extrinsics_file="test/data/lbr_med7/zed2i/HT_hydra_robust.npy",
+            camera_info_file="test/assets/lbr_med7/zed2i/left_camera_info.yaml",
+            extrinsics_file="test/assets/lbr_med7/zed2i/HT_hydra_robust.npy",
             device=device,
         )
     }

test/differentiable/test_structs.py

@@ -15,8 +15,8 @@ def test_torch_mesh_container() -> None:
     # test load simple meshes
     torch_robot_mesh = TorchMeshContainer(
         mesh_paths={
-            "link_0": "test/data/lbr_med7/mesh/link_0.stl",
-            "link_1": "test/data/lbr_med7/mesh/link_1.stl",
+            "link_0": "test/assets/lbr_med7/mesh/link_0.stl",
+            "link_1": "test/assets/lbr_med7/mesh/link_1.stl",
         }
     )
     print(torch_robot_mesh.per_mesh_vertex_count)
@@ -28,8 +28,8 @@ def test_torch_mesh_container() -> None:
     # test load visual meshes
     torch_robot_mesh = TorchMeshContainer(
         mesh_paths={
-            "link_0": "test/data/lbr_med7/mesh/link_0.dae",
-            "link_1": "test/data/lbr_med7/mesh/link_1.dae",
+            "link_0": "test/assets/lbr_med7/mesh/link_0.dae",
+            "link_1": "test/assets/lbr_med7/mesh/link_1.dae",
         }
     )
     print(torch_robot_mesh.per_mesh_vertex_count)
@@ -45,8 +45,8 @@ def test_torch_mesh_container() -> None:
     target_reduction = 0.6
     torch_robot_mesh = TorchMeshContainer(
         mesh_paths={
-            "link_0": "test/data/lbr_med7/mesh/link_0.dae",
-            "link_1": "test/data/lbr_med7/mesh/link_1.dae",
+            "link_0": "test/assets/lbr_med7/mesh/link_0.dae",
+            "link_1": "test/assets/lbr_med7/mesh/link_1.dae",
         },
         target_reduction=target_reduction,
     )

test/test_detector.py

@@ -15,7 +15,7 @@ def test_sample_parser_mixin() -> None:
     detector = OpenCVDetector()
     detector.positive_samples = [[1, 2], [3, 4]]
     detector.negative_samples = [[5, 6]]
-    csv_file = "test/data/samples.csv"
+    csv_file = "test/assets/samples.csv"
     detector.write(csv_file, samples=detector.samples, labels=detector.labels)
 
     detector.clear()

test/test_hydra_icp.py

@@ -103,7 +103,7 @@ def test_hydra_icp():
     xacro_path = "urdf/med7/med7.xacro"
     root_link_name = "lbr_link_0"
     end_link_name = "lbr_link_7"
-    path = "test/data/lbr_med7/zed2i"
+    path = "test/assets/lbr_med7/zed2i"
     camera_info_file = "left_camera_info.yaml"
     joint_states_pattern = "joint_states_*.npy"
     mask_pattern = "mask_sam2_left_*.png"
@@ -226,7 +226,7 @@ def test_hydra_robust_icp() -> None:
     xacro_path = "urdf/med7/med7.xacro"
     root_link_name = "lbr_link_0"
     end_link_name = "lbr_link_7"
-    path = "test/data/lbr_med7/zed2i"
+    path = "test/assets/lbr_med7/zed2i"
     camera_info_file = "left_camera_info.yaml"
     joint_states_pattern = "joint_states_*.npy"
     mask_pattern = "mask_sam2_left_*.png"

test/test_io.py

@@ -18,13 +18,13 @@ def test_urdf_parser() -> None:
 
 
 def test_find_files() -> None:
-    path = "test/data/lbr_med7/zed2i"
+    path = "test/assets/lbr_med7/zed2i"
     for mask_file in find_files(path, "mask_sam2_left_*.png"):
         print(mask_file)
 
 
 def test_parse_camera_info() -> None:
-    path = "test/data/lbr_med7/zed2i"
+    path = "test/assets/lbr_med7/zed2i"
     file = "left_camera_info.yaml"
     height, width, intrinsic_matrix = parse_camera_info(os.path.join(path, file))
 
@@ -35,7 +35,7 @@ def test_parse_camera_info() -> None:
 
 def test_parse_hydra_data() -> None:
     joint_states, masks, depths = parse_hydra_data(
-        "test/data/lbr_med7/zed2i",
+        "test/assets/lbr_med7/zed2i",
         joint_states_pattern="joint_states_*.npy",
         mask_pattern="mask_sam2_left_*.png",
         depth_pattern="depth_*.npy",

test/test_segmentor.py

@@ -9,7 +9,7 @@
 
 
 def test_sam2_segmentor() -> None:
-    img = cv2.imread("test/data/lbr_med7/zed2i/high_res/image_1.png")
+    img = cv2.imread("test/assets/lbr_med7/zed2i/high_res/image_1.png")
 
     # detect
     detector = OpenCVDetector(n_positive_samples=5)  # number of detected samples
@@ -31,7 +31,7 @@ def test_sam2_segmentor() -> None:
 
 
 def test_sam_segmentor() -> None:
-    img = cv2.imread("test/data/lbr_med7/zed2i/high_res/image_1.png")
+    img = cv2.imread("test/assets/lbr_med7/zed2i/high_res/image_1.png")
 
     # detect
     detector = OpenCVDetector(n_positive_samples=5)  # number of detected samples

test/util/test_mask.py

@@ -19,7 +19,8 @@
 def test_dilate_with_kernel() -> None:
     idx = 1
     mask = cv2.imread(
-        f"test/data/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png", cv2.IMREAD_GRAYSCALE
+        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        cv2.IMREAD_GRAYSCALE,
     )
     extended_mask = mask_dilate_with_kernel(mask)
     cv2.imshow("mask", mask)
@@ -31,7 +32,8 @@ def test_dilate_with_kernel() -> None:
 def test_erode_with_kernel() -> None:
     idx = 1
     mask = cv2.imread(
-        f"test/data/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png", cv2.IMREAD_GRAYSCALE
+        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        cv2.IMREAD_GRAYSCALE,
     )
     shrinked_mask = mask_erode_with_kernel(mask)
     cv2.imshow("mask", mask)
@@ -43,7 +45,8 @@ def test_erode_with_kernel() -> None:
 def test_exponential_distance_transform() -> None:
     idx = 1
     mask = cv2.imread(
-        f"test/data/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png", cv2.IMREAD_GRAYSCALE
+        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        cv2.IMREAD_GRAYSCALE,
     )
     exponential_distance_map = mask_exponential_distance_transform(mask)
     cv2.imshow("mask", mask)
@@ -54,9 +57,10 @@ def test_exponential_distance_transform() -> None:
 
 def test_extract_boundary() -> None:
     idx = 1
-    img = cv2.imread(f"test/data/lbr_med7/zed2i/left_image_{idx}.png")
+    img = cv2.imread(f"test/assets/lbr_med7/zed2i/left_image_{idx}.png")
     mask = cv2.imread(
-        f"test/data/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png", cv2.IMREAD_GRAYSCALE
+        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        cv2.IMREAD_GRAYSCALE,
     )
     boundary_mask = mask_extract_boundary(mask)
     overlay = overlay_mask(img, boundary_mask, mode="b", alpha=1.0, scale=1.0)
@@ -69,9 +73,10 @@ def test_extract_boundary() -> None:
 
 def test_extract_extended_boundary() -> None:
     idx = 1
-    img = cv2.imread(f"test/data/lbr_med7/zed2i/left_image_{idx}.png")
+    img = cv2.imread(f"test/assets/lbr_med7/zed2i/left_image_{idx}.png")
     mask = cv2.imread(
-        f"test/data/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png", cv2.IMREAD_GRAYSCALE
+        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        cv2.IMREAD_GRAYSCALE,
     )
     extended_boundary_mask = mask_extract_extended_boundary(
         mask, dilation_kernel=np.ones([2, 2]), erosion_kernel=np.ones([10, 10])

test/util/test_transform.py

@@ -74,10 +74,10 @@ def test_depth_to_xyz() -> None:
 
 def test_realsense_depth_to_xyz() -> None:
     device = "cuda" if torch.cuda.is_available() else "cpu"
-    path = "test/data/xarm/realsense"
+    path = "test/assets/xarm/realsense"
     depth_files = find_files(path, "depth_*.npy")
     height, width, intrinsics = parse_camera_info(
-        "test/data/xarm/realsense/camera_info.yaml"
+        "test/assets/xarm/realsense/camera_info.yaml"
     )
     intrinsics = torch.tensor(intrinsics, dtype=torch.float32, device=device)
     depths = torch.tensor(