updating tests

src_python/habitat_sim/utils/settings.py

@@ -14,19 +14,18 @@
     "sensors": [
         {
             "uuid": "color_sensor",
-            "width": 640,
-            "height": 480,
-            "sensor_height": 1.5,
-            "hfov": 90,
-            "sensor_subtype": habitat_sim.SensorSubType.PINHOLE,
-            "sensor_type": habitat_sim.SensorType.COLOR,
-            "position": [0, 1.5, 0],
-            "channels": 3,
-            "camera_type": habitat_sim.CameraSensorSpec,
         },
     ],
 }
 
+default_sensor_settings = {
+    "width": 640,
+    "height": 480,
+    "hfov": 90,
+    "position": [0, 1.5, 0],
+    "orientation": [0, 0, 0],
+}
+
 
 # build SimulatorConfiguration
 def make_cfg(settings):
@@ -85,39 +84,58 @@ def create_equirect_spec(**kw_args):
         return equirect_sensor_spec
 
     for sensor_cfg in settings["sensors"]:
-        if sensor_cfg["camera_type"] == habitat_sim.CameraSensorSpec:
-            camera_spec = create_camera_spec(
-                uuid=sensor_cfg["uuid"],
-                hfov=sensor_cfg["hfov"],
-                sensor_type=sensor_cfg["sensor_type"],
-                sensor_subtype=sensor_cfg["sensor_subtype"],
-                position=sensor_cfg["position"],
-                channels=sensor_cfg["channels"],
-                resolution=[sensor_cfg["height"], sensor_cfg["width"]],
+        sensor_cfg = {**default_sensor_settings, **sensor_cfg}
+        uuid = sensor_cfg["uuid"]
+
+        sensor_type = (
+            habitat_sim.SensorType.DEPTH
+            if "depth" in uuid
+            else (
+                habitat_sim.SensorType.SEMANTIC
+                if "semantic" in uuid
+                else habitat_sim.SensorType.COLOR
             )
-            sensor_specs.append(camera_spec)
-        elif sensor_cfg["camera_type"] == habitat_sim.FisheyeSensorDoubleSphereSpec:
+        )
+        sensor_subtype = (
+            habitat_sim.SensorSubType.ORTHOGRAPHI
+            if "ortho" in uuid
+            else habitat_sim.SensorSubType.PINHOLE
+        )
+        channels = 3 if sensor_type is habitat_sim.SensorType.COLOR else 1
+
+        if "fisheye" in uuid:
             fisheye_spec = create_fisheye_spec(
                 uuid=sensor_cfg["uuid"],
                 hfov=sensor_cfg["hfov"],
-                sensor_type=sensor_cfg["sensor_type"],
-                sensor_subtype=sensor_cfg["sensor_subtype"],
                 position=sensor_cfg["position"],
-                channels=sensor_cfg["channels"],
                 resolution=[sensor_cfg["height"], sensor_cfg["width"]],
+                sensor_type=sensor_type,
+                sensor_subtype=sensor_subtype,
+                channels=channels,
             )
             sensor_specs.append(fisheye_spec)
-        elif sensor_cfg["camera_type"] == habitat_sim.EquirectangularSensorSpec:
+        elif "equirect" in uuid:
             equirect_spec = create_equirect_spec(
                 uuid=sensor_cfg["uuid"],
                 hfov=sensor_cfg["hfov"],
-                sensor_type=sensor_cfg["sensor_type"],
-                sensor_subtype=sensor_cfg["sensor_subtype"],
                 position=sensor_cfg["position"],
-                channels=sensor_cfg["channels"],
                 resolution=[sensor_cfg["height"], sensor_cfg["width"]],
+                sensor_type=sensor_type,
+                sensor_subtype=sensor_subtype,
+                channels=channels,
             )
             sensor_specs.append(equirect_spec)
+        else:
+            camera_spec = create_camera_spec(
+                uuid=sensor_cfg["uuid"],
+                hfov=sensor_cfg["hfov"],
+                position=sensor_cfg["position"],
+                resolution=[sensor_cfg["height"], sensor_cfg["width"]],
+                sensor_type=sensor_type,
+                sensor_subtype=sensor_subtype,
+                channels=channels,
+            )
+            sensor_specs.append(camera_spec)
 
     # create agent specifications
     agent_cfg = habitat_sim.agent.AgentConfiguration()

tests/conftest.py

@@ -25,12 +25,11 @@ def make_cfg_settings():
     import habitat_sim.utils.settings
 
     cfg = habitat_sim.utils.settings.default_sim_settings.copy()
-    cfg["height"] = 480
-    cfg["width"] = 640
-    cfg["sensor_height"] = 1.5
-    cfg["color_sensor"] = True
-    cfg["semantic_sensor"] = True
-    cfg["depth_sensor"] = True
+    cfg["sensors"] = [
+        {"uuid": "color_sensor", "height": 480, "width": 640},
+        {"uuid": "semantic_sensor", "height": 480, "width": 640},
+        {"uuid": "depth_sensor", "height": 480, "width": 640},
+    ]
     cfg["silent"] = True
     cfg["scene"] = _test_scene
     cfg["frustum_culling"] = True

tests/test_gfx.py

@@ -24,10 +24,14 @@ def test_unproject():
 
     # configure some settings in case defaults change
     cfg_settings["scene"] = "data/scene_datasets/habitat-test-scenes/apartment_1.glb"
-    cfg_settings["width"] = 101
-    cfg_settings["height"] = 101
-    cfg_settings["sensor_height"] = 0
-    cfg_settings["color_sensor"] = True
+    cfg_settings["sensors"] = [
+        {
+            "uuid": "color_sensor",
+            "width": 101,
+            "height": 101,
+            "position": [0, 0, 0],
+        }
+    ]
 
     # loading the scene
     hab_cfg = habitat_sim.utils.settings.make_cfg(cfg_settings)

tests/test_physics.py

@@ -38,7 +38,7 @@ def test_kinematics():
     ] = "data/scene_datasets/habitat-test-scenes/skokloster-castle.glb"
     # enable the physics simulator: also clears available actions to no-op
     cfg_settings["enable_physics"] = True
-    cfg_settings["depth_sensor"] = True
+    cfg_settings["sensors"] = [{"uuid": "depth_sensor"}, {"uuid": "color_sensor"}]
 
     # test loading the physical scene
     hab_cfg = habitat_sim.utils.settings.make_cfg(cfg_settings)
@@ -152,7 +152,14 @@ def test_kinematics_no_physics():
     ] = "data/scene_datasets/habitat-test-scenes/skokloster-castle.glb"
     # enable the physics simulator: also clears available actions to no-op
     cfg_settings["enable_physics"] = False
-    cfg_settings["depth_sensor"] = True
+    cfg_settings["sensors"] = [
+        {
+            "uuid": "depth_sensor",
+        },
+        {
+            "uuid": "color_sensor",
+        },
+    ]
 
     # test loading the physical scene
     hab_cfg = habitat_sim.utils.settings.make_cfg(cfg_settings)
@@ -269,7 +276,14 @@ def test_dynamics():
     ] = "data/scene_datasets/habitat-test-scenes/skokloster-castle.glb"
     # enable the physics simulator: also clears available actions to no-op
     cfg_settings["enable_physics"] = True
-    cfg_settings["depth_sensor"] = True
+    cfg_settings["sensors"] = [
+        {
+            "uuid": "depth_sensor",
+        },
+        {
+            "uuid": "color_sensor",
+        },
+    ]
 
     # test loading the physical scene
     hab_cfg = habitat_sim.utils.settings.make_cfg(cfg_settings)

tests/test_semantic_scene.py

@@ -39,7 +39,6 @@ def test_semantic_scene(scene, make_cfg_settings):
         pytest.skip("Skipping {}".format(scene))
 
     make_cfg_settings = {k: v for k, v in make_cfg_settings.items()}
-    make_cfg_settings["semantic_sensor"] = False
     make_cfg_settings["scene"] = scene
     cfg = make_cfg(make_cfg_settings)
     cfg.agents[0].sensor_specifications = []

tests/test_sensors.py

@@ -199,7 +199,11 @@ def test_sensors(
         else:
             make_cfg_settings[sens] = False
 
-    make_cfg_settings[sensor_type] = True
+    make_cfg_settings["sensors"] = [
+        {
+            "uuid": sensor_type,
+        }
+    ]
     make_cfg_settings["scene"] = scene
     make_cfg_settings["scene_dataset_config_file"] = scene_dataset_config
     make_cfg_settings["frustum_culling"] = frustum_culling
@@ -249,7 +253,11 @@ def test_reconfigure_render(
 
     make_cfg_settings["scene"] = _test_scenes[-1][0]
     make_cfg_settings["scene_dataset_config_file"] = _test_scenes[-1][1]
-    make_cfg_settings[sensor_type] = True
+    make_cfg_settings["sensors"] = [
+        {
+            "uuid": sensor_type,
+        }
+    ]
 
     cfg = make_cfg(make_cfg_settings)
 
@@ -301,9 +309,11 @@ def test_smoke_redwood_noise(scene_and_dataset, gpu2gpu, make_cfg_settings):
     if gpu2gpu and (not habitat_sim.cuda_enabled or not _HAS_TORCH):
         pytest.skip("Skipping GPU->GPU test")
     scene_dataset_config = scene_and_dataset[1]
-    make_cfg_settings["depth_sensor"] = True
-    make_cfg_settings["color_sensor"] = False
-    make_cfg_settings["semantic_sensor"] = False
+    make_cfg_settings["sensors"] = [
+        {
+            "uuid": "depth_sensor",
+        }
+    ]
     make_cfg_settings["scene"] = scene
     make_cfg_settings["scene_dataset_config_file"] = scene_dataset_config
     hsim_cfg = make_cfg(make_cfg_settings)
@@ -351,9 +361,11 @@ def test_rgba_noise(scene_and_dataset, model_name, make_cfg_settings):
     if not osp.exists(scene):
         pytest.skip("Skipping {}".format(scene))
     scene_dataset_config = scene_and_dataset[1]
-    make_cfg_settings["depth_sensor"] = False
-    make_cfg_settings["color_sensor"] = True
-    make_cfg_settings["semantic_sensor"] = False
+    make_cfg_settings["sensors"] = [
+        {
+            "uuid": "color_sensor",
+        }
+    ]
     make_cfg_settings["scene"] = scene
     make_cfg_settings["scene_dataset_config_file"] = scene_dataset_config
     hsim_cfg = make_cfg(make_cfg_settings)

tests/test_simulator.py

@@ -51,7 +51,14 @@ def test_empty_scene():
     # keyword "NONE" initializes a scene with no scene mesh
     cfg_settings["scene"] = "NONE"
     # test that depth sensor doesn't mind an empty scene
-    cfg_settings["depth_sensor"] = True
+    cfg_settings["sensors"] = [
+        {
+            "uuid": "depth_sensor",
+        },
+        {
+            "uuid": "color_sensor",
+        },
+    ]
 
     hab_cfg = habitat_sim.utils.settings.make_cfg(cfg_settings)
     hab_cfg_mm = habitat_sim.utils.settings.make_cfg(cfg_settings)