SikongJueluo/Mini-Nav
1
0
Fork 0
mirror of https://github.com/SikongJueluo/Mini-Nav.git synced 2026-07-12 20:15:31 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat(scenegraph): add depth-based 3D positioning via pinhole projection

Browse Source 
- Add bbox_depth_center position strategy in SceneGraphBuilder using depth
  at bbox centre and configurable camera_hfov_degrees for pinhole projection.
- Add optional depth_sensor_uuid to HabitatSimulatorConfig; create depth
  sensor spec alongside RGB sensor.
- Add camera_position/camera_rotation fields to RoomView; capture pose from
  sensor_states when depth sensor is available.
- Update flatten_room_views for backward compatibility with legacy tuple
  format.
- Wired in depth sensor and bbox_depth_center strategy in verification
  notebook.
- Add tests for depth sensor support and new position strategies.
This commit is contained in:
SikongJueluo
2026-05-31 14:29:05 +08:00
parent a127032e18
commit 7a1e1ccf3f
7 changed files with 1729 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files

267
mini-nav/scenegraph/builder.py
View File

@@ -3,6 +3,7 @@
from __future__ import annotations
from dataclasses import dataclass, field
from math import radians, tan
from typing import Any, Literal, Sequence
import numpy as np
@@ -18,31 +19,43 @@ class SceneGraphBuildConfig:
"""Configuration for the scene graph builder.
Attributes:
position_strategy: How object positions are assigned. Only 'room_center'
is supported in M0.
position_strategy: How object positions are assigned.
'room_center' uses the room's center point.
'bbox_depth_center' uses depth at the bbox center to compute
a 3D position via pinhole projection.
inference_batch_size: Batch size passed to the pipeline.
enable_fusion: Whether to fuse overlapping detections (not yet supported).
fusion_hash_similarity_threshold: Hash similarity threshold for fusion.
fusion_distance_threshold_m: Distance threshold in meters for fusion.
camera_hfov_degrees: Horizontal field of view of the camera in degrees.
Only used when position_strategy='bbox_depth_center'.
"""
position_strategy: Literal["room_center"] = "room_center"
position_strategy: Literal["room_center", "bbox_depth_center"] = "room_center"
inference_batch_size: int = 4
enable_fusion: bool = False
fusion_hash_similarity_threshold: float = 0.95
fusion_distance_threshold_m: float = 0.5
camera_hfov_degrees: float = 90.0
def __post_init__(self) -> None:
if self.position_strategy != "room_center":
valid_strategies = {"room_center", "bbox_depth_center"}
if self.position_strategy not in valid_strategies:
raise ValueError(
f"position_strategy must be 'room_center', got {self.position_strategy!r}"
f"position_strategy must be one of {valid_strategies}, "
f"got {self.position_strategy!r}"
)
if not 0 < self.camera_hfov_degrees < 180:
raise ValueError(
f"camera_hfov_degrees must be in (0, 180), "
f"got {self.camera_hfov_degrees}"
)
if self.inference_batch_size <= 0:
raise ValueError(
f"inference_batch_size must be positive, got {self.inference_batch_size}"
)
if self.enable_fusion:
raise ValueError("fusion is not yet supported in M0")
raise ValueError("fusion is not yet supported in M0/M1")
@dataclass
@@ -247,10 +260,15 @@ class SceneGraphBuilder:
meta=meta,
selected_idx=selected_idx,
)
position, position_confidence = self._position_for_detection(
view=view,
room=room,
bbox_xyxy=bbox_xyxy,
)
return ObjectNode(
obj_id=obj_id,
room_id=view.room_id,
position=room.center.copy(),
position=position,
visual_hash=hash_bytes,
semantic_hash=hash_bytes,
hit_count=1,
@@ -259,7 +277,7 @@ class SceneGraphBuilder:
confidence=confidence,
bbox_xyxy=bbox_xyxy,
source_view_id=self._source_view_id(view),
position_confidence=0.0,
position_confidence=position_confidence,
)
def _metadata_for_detection(
@@ -287,7 +305,234 @@ class SceneGraphBuilder:
)
return values[selected_idx]
def _normalize_bbox(self, box: Any) -> tuple[float, float, float, float]:
def _normalize_bbox(self, box: Any) -> tuple[float, float, float, float] | None:
try:
if len(box) != 4:
raise ValueError(f"bbox entry has length {len(box)}, expected 4")
return tuple(float(x) for x in box)
return None
result = tuple(float(x) for x in box)
if not all(np.isfinite(result)):
return None
return result
except (TypeError, ValueError):
return None
def _position_for_detection(
self,
*,
view: Any,
room: RoomNode,
bbox_xyxy: tuple[float, float, float, float] | None,
) -> tuple[np.ndarray, float]:
"""Compute object position and confidence based on the configured strategy.
Returns:
A tuple of (position: np.ndarray (3,), confidence: float).
"""
if self._config.position_strategy == "room_center":
return room.center.copy(), 0.0
# bbox_depth_center strategy
if bbox_xyxy is not None:
position = self._compute_bbox_depth_center_position(view, bbox_xyxy)
if position is not None:
return position, 1.0
# Fallback: room center with 0.0 confidence
return room.center.copy(), 0.0
def _compute_bbox_depth_center_position(
self,
view: Any,
bbox_xyxy: tuple[float, float, float, float],
) -> np.ndarray | None:
"""Compute 3D world position from depth at the bbox centre.
Uses the configured camera_hfov_degrees for pinhole projection.
Prefers camera pose (camera_position/camera_rotation) when available
on the view; falls back to room center + 0.0 confidence when camera
pose is absent (agent pose alone is insufficient because the Habitat
depth sensor is offset from the agent body by sensor_height).
Returns:
A (3,) float32 position array, or None if computation fails.
"""
depth = getattr(view, "depth", None)
if depth is None:
return None
# Prefer camera pose when available. Agent pose alone is insufficient
# because the Habitat depth sensor is offset [0.0, sensor_height, 0.0]
# from the agent body, and we have no way to recover the offset.
camera_position = getattr(view, "camera_position", None)
camera_rotation = getattr(view, "camera_rotation", None)
if camera_position is not None and camera_rotation is not None:
origin_position = camera_position
origin_rotation = camera_rotation
else:
# No camera pose – cannot confidently place in world space.
return None
# Coerce depth to ndarray; require 2D
try:
depth = np.asarray(depth)
except (ValueError, TypeError):
return None
if depth.ndim != 2:
return None
height, width = depth.shape
# Validate bbox values are finite before rounding
try:
x1, y1, x2, y2 = map(float, bbox_xyxy)
except (ValueError, TypeError):
return None
if not all(np.isfinite(v) for v in (x1, y1, x2, y2)):
return None
u = int(round((x1 + x2) / 2.0))
v = int(round((y1 + y2) / 2.0))
# Out of bounds check
if not (0 <= u < width and 0 <= v < height):
return None
depth_value = depth[v, u]
# Depth must be finite and positive
if not np.isfinite(depth_value) or depth_value <= 0:
return None
# Convert rotation to matrix
rotation_matrix = self._rotation_to_matrix(origin_rotation)
if rotation_matrix is None:
return None
# Coerce origin_position safely
try:
origin_pos = np.asarray(origin_position, dtype=np.float32).reshape(3)
except (ValueError, TypeError, RuntimeError):
return None
if not np.all(np.isfinite(origin_pos)):
return None
# Pinhole projection
camera_point = self._pixel_depth_to_camera_point(
u=u, v=v, depth=depth_value, width=width, height=height,
)
# World position
world_position = origin_pos + rotation_matrix @ camera_point
if not np.all(np.isfinite(world_position)):
return None
return np.asarray(world_position, dtype=np.float32)
def _pixel_depth_to_camera_point(
self,
u: int,
v: int,
depth: float,
width: int,
height: int,
) -> np.ndarray:
"""Convert a pixel with depth to a camera-space 3D point via pinhole model.
M1 assumes Habitat camera forward is local -Z; this convention should be
validated with a real Habitat sanity check.
Args:
u: Pixel column (x) coordinate.
v: Pixel row (y) coordinate.
depth: Depth value at the pixel (positive, finite).
width: Image width in pixels.
height: Image height in pixels.
Returns:
A (3,) float32 array [x, y, z] in camera space.
"""
hfov = radians(self._config.camera_hfov_degrees)
fx = width / (2.0 * tan(hfov / 2.0))
fy = fx
cx = (width - 1) / 2.0
cy = (height - 1) / 2.0
x = (u - cx) / fx * depth
y = -(v - cy) / fy * depth
z = -depth
return np.array([x, y, z], dtype=np.float32)
def _rotation_to_matrix(
self,
rotation: Any,
) -> np.ndarray | None:
"""Convert a rotation object to a (3, 3) float32 rotation matrix.
Supports:
- Objects with a ``.rotation_matrix`` attribute (e.g. habitat_sim style).
- ndarray or array-like objects directly convertible to (3, 3).
- ``numpy-quaternion`` quaternion objects (optional dependency; uses
``importlib`` to load ``quaternion.as_rotation_matrix``).
- Objects with a ``.transform_vector()`` method (quaternion-like);
constructs the matrix columns by transforming local basis vectors.
Returns:
A (3, 3) float32 matrix, or None if conversion fails.
"""
try:
# Path a: object with .rotation_matrix attribute
if hasattr(rotation, "rotation_matrix"):
mat = self._validate_matrix(rotation.rotation_matrix)
if mat is not None:
return mat
return None
# Path b: direct ndarray or array-like (3, 3)
mat = self._validate_matrix(rotation)
if mat is not None:
return mat
# Path c: numpy-quaternion quaternion object (optional dependency)
try:
import importlib as _il
qmod = _il.import_module("quaternion")
if hasattr(qmod, "as_rotation_matrix"):
mat = self._validate_matrix(qmod.as_rotation_matrix(rotation))
if mat is not None:
return mat
except (ImportError, AttributeError, TypeError, ValueError):
pass
# Path d: quaternion-like with .transform_vector method
if hasattr(rotation, "transform_vector"):
eye = np.eye(3, dtype=np.float32)
cols: list[np.ndarray] = []
for i in range(3):
col_vec = rotation.transform_vector(eye[:, i])
col = np.asarray(col_vec, dtype=np.float32).ravel()
if col.shape != (3,) or not np.all(np.isfinite(col)):
return None
cols.append(col)
return np.column_stack(cols)
return None
except (ValueError, TypeError, RuntimeError):
return None
@staticmethod
def _validate_matrix(mat: Any) -> np.ndarray | None:
"""Validate and convert a candidate to a (3, 3) float32 matrix.
Returns the matrix if it is (3, 3) with all finite values, else None.
"""
try:
mat = np.asarray(mat, dtype=np.float32)
if mat.shape == (3, 3) and np.all(np.isfinite(mat)):
return mat
except (ValueError, TypeError, RuntimeError):
pass
return None

56
mini-nav/simulator/habitat.py
View File

@@ -15,6 +15,26 @@ class HabitatSimulatorConfig:
enable_physics: bool = False
sensor_uuid: str = "color_sensor"
agent_id: int = 0
depth_sensor_uuid: str | None = "depth_sensor"
hfov_degrees: float = 90.0
def _camera_sensor_spec(
habitat_sim_module: Any,
*,
uuid: str,
sensor_type: Any,
image_size: int,
sensor_height: float,
hfov_degrees: float,
) -> Any:
spec = habitat_sim_module.CameraSensorSpec()
spec.uuid = uuid
spec.sensor_type = sensor_type
spec.resolution = [image_size, image_size]
spec.position = [0.0, sensor_height, 0.0]
spec.hfov = float(hfov_degrees)
return spec
def create_habitat_simulator(
@@ -30,6 +50,11 @@ def create_habitat_simulator(
if config.move_forward_step <= 0:
raise ValueError("move_forward_step must be greater than 0")
if not (0 < config.hfov_degrees < 180):
raise ValueError(
f"hfov_degrees must be in (0, 180), got {config.hfov_degrees}"
)
if habitat_sim_module is None:
habitat_sim_module = import_module("habitat_sim")
@@ -38,12 +63,31 @@ def create_habitat_simulator(
sim_cfg.enable_physics = config.enable_physics
agent_cfg = habitat_sim_module.agent.AgentConfiguration()
rgb_sensor_spec = habitat_sim_module.CameraSensorSpec()
rgb_sensor_spec.uuid = config.sensor_uuid
rgb_sensor_spec.sensor_type = habitat_sim_module.SensorType.COLOR
rgb_sensor_spec.resolution = [config.image_size, config.image_size]
rgb_sensor_spec.position = [0.0, config.sensor_height, 0.0]
agent_cfg.sensor_specifications = [rgb_sensor_spec]
sensor_specs = [
_camera_sensor_spec(
habitat_sim_module,
uuid=config.sensor_uuid,
sensor_type=habitat_sim_module.SensorType.COLOR,
image_size=config.image_size,
sensor_height=config.sensor_height,
hfov_degrees=config.hfov_degrees,
),
]
if config.depth_sensor_uuid is not None:
sensor_specs.append(
_camera_sensor_spec(
habitat_sim_module,
uuid=config.depth_sensor_uuid,
sensor_type=habitat_sim_module.SensorType.DEPTH,
image_size=config.image_size,
sensor_height=config.sensor_height,
hfov_degrees=config.hfov_degrees,
),
)
agent_cfg.sensor_specifications = sensor_specs
turn_angle = 360.0 / config.views_per_room
agent_cfg.action_space = {

49
mini-nav/simulator/views.py
View File

@@ -1,5 +1,6 @@
from __future__ import annotations
import copy
from dataclasses import dataclass, field
from importlib import import_module
from pathlib import Path
@@ -20,16 +21,32 @@ class RoomView:
depth: Any | None = field(default=None, compare=False)
agent_position: np.ndarray | None = field(default=None, compare=False)
agent_rotation: Any | None = field(default=None, compare=False)
camera_position: Any | None = field(default=None, compare=False)
camera_rotation: Any | None = field(default=None, compare=False)
def flatten_room_views(room_views_by_room: RoomViewsByRoom) -> list[RoomView]:
result: list[RoomView] = []
for room_id, views in room_views_by_room.items():
for idx, rgb in enumerate(views):
result.append(RoomView(room_id=room_id, view_idx=idx, rgb=rgb))
for idx, item in enumerate(views):
if isinstance(item, RoomView):
result.append(item)
else:
result.append(RoomView(room_id=room_id, view_idx=idx, rgb=item))
return result
def _snapshot_rotation(rotation: Any) -> Any:
"""Create an independent copy of *rotation* to prevent mutation aliasing.
If the value exposes a ``.copy()`` method (e.g. numpy arrays) it is
preferred; otherwise a stdlib shallow copy is used as a fallback.
"""
if hasattr(rotation, "copy") and callable(rotation.copy):
return rotation.copy()
return copy.copy(rotation)
def collect_room_views_by_room(
agent: Any,
sim: Any,
@@ -38,6 +55,7 @@ def collect_room_views_by_room(
*,
habitat_sim_module: Any | None = None,
sensor_uuid: str = "color_sensor",
depth_sensor_uuid: str | None = None,
turn_action: str = "turn_left",
progress_description: str = "Collecting room views",
progress_track: ProgressTrack = track,
@@ -55,9 +73,32 @@ def collect_room_views_by_room(
agent.set_state(agent_state)
room_views = []
for _ in range(views_per_room):
for view_idx in range(views_per_room):
observations = sim.get_sensor_observations()
room_views.append(observations[sensor_uuid])
current_state = agent.get_state()
agent_position = np.asarray(current_state.position, dtype=np.float32).copy()
# Capture camera pose from sensor_states when depth sensor is available
camera_position = None
camera_rotation = None
if depth_sensor_uuid is not None:
sensor_states = getattr(current_state, "sensor_states", None)
if sensor_states is not None and depth_sensor_uuid in sensor_states:
sensor_state = sensor_states[depth_sensor_uuid]
camera_position = np.asarray(sensor_state.position, dtype=np.float32).copy()
camera_rotation = _snapshot_rotation(sensor_state.rotation)
room_view = RoomView(
room_id=room_node.room_id,
view_idx=view_idx,
rgb=observations[sensor_uuid],
depth=observations[depth_sensor_uuid] if depth_sensor_uuid is not None else None,
agent_position=agent_position,
agent_rotation=_snapshot_rotation(current_state.rotation),
camera_position=camera_position,
camera_rotation=camera_rotation,
)
room_views.append(room_view)
sim.step(turn_action)
all_room_views[room_node.room_id] = room_views

37
notebooks/verification.py
View File

@@ -24,10 +24,9 @@ def base_dependencies():
"""Basic dependencies for data processing."""
import numpy as np
import polars as pl
import torch
from PIL import Image
return Image, np, pl, torch
return Image, np, pl
@app.cell
@@ -99,8 +98,7 @@ def habitat_setup(HabitatSimulatorConfig, RoomNode, create_habitat_simulator, np
views_per_room = 12
meters_per_pixel = 0.05
sim, agent = create_habitat_simulator(
HabitatSimulatorConfig(
habitat_config = HabitatSimulatorConfig(
scene_path=_scene_path,
views_per_room=views_per_room,
image_size=_image_size,
@@ -108,7 +106,7 @@ def habitat_setup(HabitatSimulatorConfig, RoomNode, create_habitat_simulator, np
move_forward_step=0.25,
enable_physics=False,
)
)
sim, agent = create_habitat_simulator(habitat_config)
room_nodes = []
for idx in range(_num_rooms):
@@ -125,7 +123,7 @@ def habitat_setup(HabitatSimulatorConfig, RoomNode, create_habitat_simulator, np
for _node in room_nodes:
print(f" {_node.room_id}: {_node.center}")
return agent, meters_per_pixel, room_nodes, sim, views_per_room
return agent, habitat_config, meters_per_pixel, room_nodes, sim, views_per_room
@app.cell
@@ -164,6 +162,7 @@ def collect_views(
agent,
collect_room_views_by_room,
flatten_room_views,
habitat_config,
numpy_to_pil,
room_nodes,
sim,
@@ -174,6 +173,7 @@ def collect_views(
sim=sim,
room_nodes=room_nodes,
views_per_room=views_per_room,
depth_sensor_uuid=habitat_config.depth_sensor_uuid,
)
room_views = flatten_room_views(all_room_views)
@@ -193,6 +193,7 @@ def build_scene_graph(
SceneGraphBuildConfig,
SceneGraphBuilder,
cfg_manager,
habitat_config,
mo,
numpy_to_pil,
pipeline,
@@ -207,7 +208,11 @@ def build_scene_graph(
builder = SceneGraphBuilder(
pipeline=pipeline,
config=SceneGraphBuildConfig(inference_batch_size=4),
config=SceneGraphBuildConfig(
inference_batch_size=4,
position_strategy="bbox_depth_center",
camera_hfov_degrees=habitat_config.hfov_degrees,
),
)
pil_room_views = [
@@ -218,6 +223,8 @@ def build_scene_graph(
depth=_view.depth,
agent_position=_view.agent_position,
agent_rotation=_view.agent_rotation,
camera_position=_view.camera_position,
camera_rotation=_view.camera_rotation,
)
for _view in room_views
]
@@ -303,6 +310,8 @@ def build_tables(pl, scene_graph):
"position_x": float(obj.position[0]) if obj.position is not None else None,
"position_y": float(obj.position[1]) if obj.position is not None else None,
"position_z": float(obj.position[2]) if obj.position is not None else None,
"bbox_xyxy": str(obj.bbox_xyxy) if obj.bbox_xyxy is not None else None,
"position_confidence": obj.position_confidence,
}
for obj in scene_graph.objects.values()
]
@@ -313,6 +322,19 @@ def build_tables(pl, scene_graph):
return objects_df, rooms_df
@app.cell
def display_tables(mo, objects_df, rooms_df):
mo.vstack(
[
mo.md("## Rooms"),
mo.ui.table(rooms_df),
mo.md("## Objects"),
mo.ui.table(objects_df),
]
)
return
@app.cell
def upload_query(mo):
file_upload = mo.ui.file(
@@ -329,7 +351,6 @@ def query_matching(
Image,
file_upload,
mo,
object_images,
pipeline,
query_image_against_scene_graph,
scene_graph,

183
tests/test_habitat_depth_sensor.py Normal file
View File

@@ -0,0 +1,183 @@
"""Tests for optional Habitat depth sensor support in create_habitat_simulator."""
from __future__ import annotations
import sys
from pathlib import Path
from types import SimpleNamespace
import pytest
MINI_NAV_DIR = Path(__file__).resolve().parents[1] / "mini-nav"
sys.path.insert(0, str(MINI_NAV_DIR))
from simulator.habitat import ( # noqa: E402
HabitatSimulatorConfig,
create_habitat_simulator,
)
# ---------------------------------------------------------------------------
# Fake habitat_sim module
# ---------------------------------------------------------------------------
_specs_created: list = []
class _FakeCameraSensorSpec:
"""Fake CameraSensorSpec that records itself in _specs_created."""
def __init__(self) -> None:
self.uuid = None
self.sensor_type = None
self.resolution = None
self.position = None
self.hfov = None
_specs_created.append(self)
class _FakeSensorType:
COLOR = "COLOR"
DEPTH = "DEPTH"
class _FakeSimulator:
def __init__(self, cfg: object) -> None:
self.cfg = cfg
@staticmethod
def initialize_agent(agent_id: int) -> SimpleNamespace:
return SimpleNamespace(agent_id=agent_id)
@staticmethod
def close() -> None:
return None
def _make_fake_habitat_sim_module() -> SimpleNamespace:
"""Return a fake ``habitat_sim`` module for testing."""
global _specs_created
_specs_created = []
hab_sim = SimpleNamespace(
SimulatorConfiguration=SimpleNamespace,
CameraSensorSpec=_FakeCameraSensorSpec,
SensorType=_FakeSensorType,
Configuration=lambda sim_cfg, agent_cfgs: SimpleNamespace(
sim_cfg=sim_cfg,
agent_cfgs=agent_cfgs,
),
Simulator=_FakeSimulator,
)
class _FakeActionSpec:
def __init__(self, name: str, actuation: object) -> None:
self.name = name
self.actuation = actuation
class _FakeActuationSpec:
def __init__(self, amount: float | None = None) -> None:
self.amount = amount
hab_sim.agent = SimpleNamespace(
AgentConfiguration=SimpleNamespace,
ActionSpec=_FakeActionSpec,
ActuationSpec=_FakeActuationSpec,
)
return hab_sim
# ---------------------------------------------------------------------------
# Fixtures
# ---------------------------------------------------------------------------
@pytest.fixture
def fake_habitat_sim() -> SimpleNamespace:
"""Fixture providing a fresh fake habitat_sim module per test."""
return _make_fake_habitat_sim_module()
# ---------------------------------------------------------------------------
# Tests
# ---------------------------------------------------------------------------
def test_default_config_creates_color_and_depth_sensor_specs(
fake_habitat_sim: SimpleNamespace,
) -> None:
"""Default config should produce two specs with expected UUIDs and types."""
config = HabitatSimulatorConfig(scene_path="scene.glb")
create_habitat_simulator(config, fake_habitat_sim)
assert len(_specs_created) == 2
assert [s.uuid for s in _specs_created] == ["color_sensor", "depth_sensor"]
assert [s.sensor_type for s in _specs_created] == ["COLOR", "DEPTH"]
def test_create_habitat_simulator_adds_matching_rgb_and_depth_specs(
fake_habitat_sim: SimpleNamespace,
) -> None:
"""Depth sensor spec should mirror the RGB spec when depth_sensor_uuid is set."""
config = HabitatSimulatorConfig(
scene_path="scene.glb",
image_size=320,
sensor_height=1.25,
sensor_uuid="rgb",
depth_sensor_uuid="depth",
hfov_degrees=75.0,
)
create_habitat_simulator(config, fake_habitat_sim)
assert len(_specs_created) == 2, "Expected 2 sensor specs (RGB + depth)"
rgb_spec, depth_spec = _specs_created
# UUIDs
assert rgb_spec.uuid == "rgb"
assert depth_spec.uuid == "depth"
# Sensor types
assert rgb_spec.sensor_type == "COLOR"
assert depth_spec.sensor_type == "DEPTH"
# Resolutions
assert rgb_spec.resolution == [320, 320]
assert depth_spec.resolution == [320, 320]
# Positions
assert rgb_spec.position == [0.0, 1.25, 0.0]
assert depth_spec.position == [0.0, 1.25, 0.0]
# HFOV
assert rgb_spec.hfov == 75.0
assert depth_spec.hfov == 75.0
def test_create_habitat_simulator_can_disable_depth_sensor(
fake_habitat_sim: SimpleNamespace,
) -> None:
"""``depth_sensor_uuid=None`` should produce only a single color sensor spec."""
config = HabitatSimulatorConfig(
scene_path="scene.glb",
depth_sensor_uuid=None,
)
create_habitat_simulator(config, fake_habitat_sim)
assert len(_specs_created) == 1
assert _specs_created[0].uuid == "color_sensor"
def test_habitat_config_rejects_invalid_hfov(
fake_habitat_sim: SimpleNamespace,
) -> None:
"""``hfov_degrees=0`` should raise ``ValueError`` containing ``hfov_degrees``."""
config = HabitatSimulatorConfig(
scene_path="scene.glb",
hfov_degrees=0.0,
)
with pytest.raises(ValueError, match="hfov_degrees"):
create_habitat_simulator(config, fake_habitat_sim)

67
tests/test_notebook_verification_static.py
View File

@@ -1,11 +1,23 @@
from __future__ import annotations
import ast
from pathlib import Path
NOTEBOOK = Path(__file__).resolve().parents[1] / "notebooks" / "verification.py"
def _find_calls(tree: ast.AST, func_name: str) -> list[ast.Call]:
"""Find all Call nodes for a named function (simple name, not attribute)."""
return [
node
for node in ast.walk(tree)
if isinstance(node, ast.Call)
and isinstance(node.func, ast.Name)
and node.func.id == func_name
]
def test_verification_notebook_uses_scenegraph_query_api():
source = NOTEBOOK.read_text()
@@ -20,7 +32,6 @@ def test_verification_notebook_uses_hash_codec_for_object_hashes():
# the builder handles it internally.
assert "bits_tensor_to_hash_bytes" not in source
assert "np.packbits" not in source
assert "scene_graph.objects[_obj_id] = ObjectNode" not in source
def test_verification_notebook_uses_scene_graph_builder():
@@ -30,4 +41,56 @@ def test_verification_notebook_uses_scene_graph_builder():
assert "SceneGraphBuildConfig" in source
assert "flatten_room_views" in source
assert "scene_graph, build_artifacts = builder.build_from_room_views" in source
assert "scene_graph.objects[_obj_id] = ObjectNode" not in source
# Verify no direct ObjectNode construction (builder handles it internally)
tree = ast.parse(source)
object_node_calls = _find_calls(tree, "ObjectNode")
assert len(object_node_calls) == 0, (
"Notebook should not construct ObjectNode() directly; "
"the builder handles it"
)
def test_verification_notebook_uses_bbox_depth_center_positioning():
source = NOTEBOOK.read_text()
tree = ast.parse(source)
# --- SceneGraphBuildConfig must use position_strategy='bbox_depth_center' ---
sg_config_calls = _find_calls(tree, "SceneGraphBuildConfig")
assert len(sg_config_calls) >= 1, (
"Notebook must instantiate SceneGraphBuildConfig"
)
config_kwargs = {
kw.arg: kw.value for kw in sg_config_calls[0].keywords if kw.arg is not None
}
assert "position_strategy" in config_kwargs
pos_val = config_kwargs["position_strategy"]
assert isinstance(pos_val, ast.Constant) and pos_val.value == "bbox_depth_center", (
f"Expected position_strategy='bbox_depth_center', got {pos_val!r}"
)
assert "camera_hfov_degrees" in config_kwargs, (
"SceneGraphBuildConfig should include camera_hfov_degrees"
)
# --- object_rows dict literals must include bbox_xyxy and position_confidence ---
found_bbox = False
found_pos_conf = False
for node in ast.walk(tree):
if isinstance(node, ast.Dict):
keys = {k.value for k in node.keys if isinstance(k, ast.Constant)}
if "obj_id" in keys:
if "bbox_xyxy" in keys:
found_bbox = True
if "position_confidence" in keys:
found_pos_conf = True
assert found_bbox, "object_rows must include bbox_xyxy column"
assert found_pos_conf, "object_rows must include position_confidence column"
# --- No direct ObjectNode( construction ---
object_node_calls = _find_calls(tree, "ObjectNode")
assert len(object_node_calls) == 0, (
"Notebook should not construct ObjectNode() directly"
)

1094
tests/test_scenegraph_builder.py
View File

File diff suppressed because it is too large Load Diff