updated test data paths

Author: mhubii

README.md

@@ -136,7 +136,7 @@ This is a required step to generate robot masks.
 
 ```shell
 rr-sam2 \
-    --path test/assets/lbr_med7/zed2i \
+    --path test/assets/lbr_med7_r800/samples \
     --pattern "left_image_*.png" \
     --n-positive-samples 5 \
     --n-negative-samples 5 \
@@ -148,8 +148,8 @@ The Hydra robust ICP implements a point-to-plane ICP registration on a Lie algeb
 
 ```shell
 rr-hydra \
-    --camera-info-file test/assets/lbr_med7/zed2i/left_camera_info.yaml \
-    --path test/assets/lbr_med7/zed2i \
+    --camera-info-file test/assets/lbr_med7_r800/samples/left_camera_info.yaml \
+    --path test/assets/lbr_med7_r800/samples \
     --mask-pattern mask_sam2_left_image_*.png \
     --depth-pattern depth_*.npy \
     --joint-states-pattern joint_states_*.npy \
@@ -188,8 +188,8 @@ rr-cam-swarm \
     --target-reduction 0.8 \
     --scale 0.1 \
     --n-samples 1 \
-    --camera-info-file test/assets/lbr_med7/zed2i/left_camera_info.yaml \
-    --path test/assets/lbr_med7/zed2i \
+    --camera-info-file test/assets/lbr_med7_r800/samples/left_camera_info.yaml \
+    --path test/assets/lbr_med7_r800/samples \
     --image-pattern left_image_*.png \
     --joint-states-pattern joint_states_*.npy \
     --mask-pattern mask_sam2_left_image_*.png \
@@ -214,9 +214,9 @@ 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/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 \
+    --camera-info-file test/assets/lbr_med7_r800/samples/left_camera_info.yaml \
+    --extrinsics-file test/assets/lbr_med7_r800/samples/HT_hydra_robust.npy \
+    --path test/assets/lbr_med7_r800/samples \
     --image-pattern left_image_*.png \
     --joint-states-pattern joint_states_*.npy \
     --mask-pattern mask_sam2_left_image_*.png \
@@ -241,11 +241,11 @@ 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/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-camera-info-file test/assets/lbr_med7_r800/samples/left_camera_info.yaml \
+    --right-camera-info-file test/assets/lbr_med7_r800/samples/right_camera_info.yaml \
+    --left-extrinsics-file test/assets/lbr_med7_r800/samples/HT_hydra_robust.npy \
+    --right-extrinsics-file test/assets/lbr_med7_r800/samples/HT_right_to_left.npy \
+    --path test/assets/lbr_med7_r800/samples \
     --left-image-pattern left_image_*.png \
     --right-image-pattern right_image_*.png \
     --joint-states-pattern joint_states_*.npy \
@@ -271,13 +271,13 @@ rr-render \
     --xacro-path urdf/med7/med7.xacro \
     --root-link-name lbr_link_0 \
     --end-link-name lbr_link_7 \
-    --camera-info-file test/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 \
+    --camera-info-file test/assets/lbr_med7_r800/samples/left_camera_info.yaml \
+    --extrinsics-file test/assets/lbr_med7_r800/samples/HT_left_dr.npy \
+    --images-path test/assets/lbr_med7_r800/samples \
+    --joint-states-path test/assets/lbr_med7_r800/samples \
     --image-pattern left_image_*.png \
     --joint-states-pattern joint_states_*.npy \
-    --output-path test/assets/lbr_med7/zed2i
+    --output-path test/assets/lbr_med7_r800/samples
 ```
 
 ## Testing

test/differentiable/test_rendering.py

@@ -407,7 +407,7 @@ def test_multi_camera_pose_rendering() -> None:
 
     # load a sample mesh
     meshes = rrd.TorchMeshContainer(
-        {"link_0": "test/assets/lbr_med7/mesh/link_0.stl"},
+        {"link_0": "test/assets/lbr_med7_r800/description/meshes/collision/link_0.stl"},
         batch_size=batch_size,
         device=device,
     )

test/differentiable/test_scene.py

@@ -236,8 +236,8 @@ def test_single_camera_multiple_poses() -> None:
     camera_name = "camera"
     camera = {
         camera_name: create_virtual_camera(
-            camera_info_file="test/assets/lbr_med7/zed2i/left_camera_info.yaml",
-            extrinsics_file="test/assets/lbr_med7/zed2i/HT_hydra_robust.npy",
+            camera_info_file="test/assets/lbr_med7_r800/samples/left_camera_info.yaml",
+            extrinsics_file="test/assets/lbr_med7_r800/samples/HT_hydra_robust.npy",
             device=device,
         )
     }

test/differentiable/test_structs.py

@@ -6,8 +6,8 @@
 
 def test_torch_mesh_container() -> None:
     paths = {
-        "link_0": "test/assets/lbr_med7/mesh/link_0.stl",
-        "link_1": "test/assets/lbr_med7/mesh/link_1.stl",
+        "link_0": "test/assets/lbr_med7_r800/description/meshes/collision/link_0.stl",
+        "link_1": "test/assets/lbr_med7_r800/description/meshes/collision/link_1.stl",
     }
     device = "cpu"
     container = TorchMeshContainer(

test/io/test_meshes.py

@@ -4,14 +4,14 @@
 
 
 def test_load_mesh() -> None:
-    path = "test/assets/lbr_med7/mesh/link_0.dae"
+    path = "test/assets/lbr_med7_r800/description/meshes/visual/link_0.dae"
     mesh = load_mesh(path=path)
     assert mesh.vertices.shape[-1] == 3, "Expected vertices of shape Nx3."
     assert mesh.faces.shape[-1] == 3, "Expected faces of shape Nx3."
     assert type(mesh.vertices) == np.ndarray, "Expected vertices to be numpy ndarray."
     assert type(mesh.faces) == np.ndarray, "Expected faces to be numpy ndarray."
 
-    path = "test/assets/lbr_med7/mesh/link_0.stl"
+    path = "test/assets/lbr_med7_r800/description/meshes/collision/link_0.stl"
     mesh = load_mesh(path=path)
     assert mesh.vertices.shape[-1] == 3, "Expected vertices of shape Nx3."
     assert mesh.faces.shape[-1] == 3, "Expected faces of shape Nx3."
@@ -27,8 +27,8 @@ def test_load_mesh() -> None:
 
 def test_load_meshes() -> None:
     paths = {
-        "link_0": "test/assets/lbr_med7/mesh/link_0.stl",
-        "link_1": "test/assets/lbr_med7/mesh/link_1.stl",
+        "link_0": "test/assets/lbr_med7_r800/description/meshes/collision/link_0.stl",
+        "link_1": "test/assets/lbr_med7_r800/description/meshes/collision/link_1.stl",
     }
     meshes = load_meshes(paths=paths)
     assert paths.keys() == meshes.keys(), "Expected same keys."

test/io/test_parsers.py

@@ -25,7 +25,7 @@ def test_urdf_parser() -> None:
 
 
 def test_find_files() -> None:
-    path = "test/assets/lbr_med7/zed2i"
+    path = "test/assets/lbr_med7_r800/samples"
     mask_files = find_files(path, "mask_sam2_left_*.png")
 
     assert len(mask_files) > 0, "Should find at least one mask file."
@@ -37,7 +37,7 @@ def test_find_files() -> None:
 
 
 def test_parse_camera_info() -> None:
-    path = Path("test/assets/lbr_med7/zed2i")
+    path = Path("test/assets/lbr_med7_r800/samples")
     file = "left_camera_info.yaml"
     height, width, intrinsic_matrix = parse_camera_info(path / file)
 
@@ -50,7 +50,7 @@ def test_parse_camera_info() -> None:
 
 
 def test_parse_hydra_data() -> None:
-    path = "test/assets/lbr_med7/zed2i"
+    path = "test/assets/lbr_med7_r800/samples"
     joint_states, masks, depths = parse_hydra_data(
         joint_states_files=find_files(path, "joint_states_*.npy"),
         mask_files=find_files(path, "mask_sam2_left_*.png"),
@@ -70,7 +70,7 @@ def test_parse_hydra_data() -> None:
 
 
 def test_parse_mono_data() -> None:
-    path = "test/assets/lbr_med7/zed2i"
+    path = "test/assets/lbr_med7_r800/samples"
     images, joint_states, masks = parse_mono_data(
         image_files=find_files(path, "left_image_*.png"),
         joint_states_files=find_files(path, "joint_states_*.npy"),
@@ -94,7 +94,7 @@ def test_parse_mono_data() -> None:
 
 
 def test_parse_stereo_data() -> None:
-    path = "test/assets/lbr_med7/zed2i"
+    path = "test/assets/lbr_med7_r800/samples"
     left_images, right_images, joint_states, left_masks, right_masks = (
         parse_stereo_data(
             left_image_files=find_files(path, "left_image_*.png"),

test/test_hydra_icp.py

@@ -111,7 +111,7 @@ def test_hydra_icp():
     xacro_path = "urdf/med7/med7.xacro"
     root_link_name = "lbr_link_0"
     end_link_name = "lbr_link_7"
-    path = Path("test/assets/lbr_med7/zed2i")
+    path = Path("test/assets/lbr_med7_r800/samples")
     camera_info_file = "left_camera_info.yaml"
     joint_states_pattern = "joint_states_*.npy"
     mask_pattern = "mask_sam2_left_*.png"
@@ -242,7 +242,7 @@ 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 = Path("test/assets/lbr_med7/zed2i")
+    path = Path("test/assets/lbr_med7_r800/samples")
     camera_info_file = "left_camera_info.yaml"
     joint_states_pattern = "joint_states_*.npy"
     mask_pattern = "mask_sam2_left_*.png"

test/test_segmentor.py

@@ -9,7 +9,7 @@
 
 @pytest.mark.skip(reason="To be fixed.")
 def test_sam2_segmentor() -> None:
-    img = cv2.imread("test/assets/lbr_med7/zed2i/high_res/image_1.png")
+    img = cv2.imread("test/assets/lbr_med7_r800/samples/left_image_1.png")
 
     # detect
     detector = OpenCVDetector(n_positive_samples=5)  # number of detected samples

test/util/test_mask.py

@@ -22,7 +22,7 @@
 def test_dilate_with_kernel() -> None:
     idx = 1
     mask = cv2.imread(
-        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        f"test/assets/lbr_med7_r800/samples/mask_sam2_left_image_{idx}.png",
         cv2.IMREAD_GRAYSCALE,
     )
     dilated_mask = mask_dilate_with_kernel(mask)
@@ -36,7 +36,7 @@ def test_dilate_with_kernel() -> None:
 def test_distance_transform() -> None:
     idx = 1
     mask = cv2.imread(
-        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        f"test/assets/lbr_med7_r800/samples/mask_sam2_left_image_{idx}.png",
         cv2.IMREAD_GRAYSCALE,
     )
 
@@ -68,7 +68,7 @@ def test_distance_transform() -> None:
 def test_erode_with_kernel() -> None:
     idx = 1
     mask = cv2.imread(
-        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        f"test/assets/lbr_med7_r800/samples/mask_sam2_left_image_{idx}.png",
         cv2.IMREAD_GRAYSCALE,
     )
     eroded_mask = mask_erode_with_kernel(mask)
@@ -82,7 +82,7 @@ def test_erode_with_kernel() -> None:
 def test_exponential_decay() -> None:
     idx = 1
     mask = cv2.imread(
-        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        f"test/assets/lbr_med7_r800/samples/mask_sam2_left_image_{idx}.png",
         cv2.IMREAD_GRAYSCALE,
     )
     exponential_decay = mask_exponential_decay(mask)
@@ -95,9 +95,9 @@ def test_exponential_decay() -> None:
 @pytest.mark.skip(reason="To be fixed.")
 def test_extract_boundary() -> None:
     idx = 1
-    img = cv2.imread(f"test/assets/lbr_med7/zed2i/left_image_{idx}.png")
+    img = cv2.imread(f"test/assets/lbr_med7_r800/samples/left_image_{idx}.png")
     mask = cv2.imread(
-        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        f"test/assets/lbr_med7_r800/samples/mask_sam2_left_image_{idx}.png",
         cv2.IMREAD_GRAYSCALE,
     )
     boundary_mask = mask_extract_boundary(mask)
@@ -112,9 +112,9 @@ def test_extract_boundary() -> None:
 @pytest.mark.skip(reason="To be fixed.")
 def test_extract_extended_boundary() -> None:
     idx = 1
-    img = cv2.imread(f"test/assets/lbr_med7/zed2i/left_image_{idx}.png")
+    img = cv2.imread(f"test/assets/lbr_med7_r800/samples/left_image_{idx}.png")
     mask = cv2.imread(
-        f"test/assets/lbr_med7/zed2i/mask_sam2_left_image_{idx}.png",
+        f"test/assets/lbr_med7_r800/samples/mask_sam2_left_image_{idx}.png",
         cv2.IMREAD_GRAYSCALE,
     )
     extended_boundary_mask = mask_extract_extended_boundary(

test/util/test_viz.py

@@ -10,7 +10,11 @@
 @pytest.mark.skip(reason="To be fixed.")
 def test_visualize_point_cloud():
     meshes = rrd.TorchMeshContainer(
-        meshes=load_meshes({"link_0": "test/assets/lbr_med7/mesh/link_0.stl"}),
+        meshes=load_meshes(
+            {
+                "link_0": "test/assets/lbr_med7_r800/description/meshes/collision/link_0.stl"
+            }
+        ),
         device="cpu",
     )
 
@@ -32,8 +36,8 @@ def test_visalize_multi_color_point_cloud():
     meshes = rrd.TorchMeshContainer(
         meshes=load_meshes(
             {
-                "link_0": "test/assets/lbr_med7/mesh/link_0.stl",
-                "link_1": "test/assets/lbr_med7/mesh/link_1.stl",
+                "link_0": "test/assets/lbr_med7_r800/description/meshes/collision/link_0.stl",
+                "link_1": "test/assets/lbr_med7_r800/description/meshes/collision/link_1.stl",
             }
         ),
         device="cpu",