From 7ca2e9b5893529eb23dd8367ced7ebc5c617d24b Mon Sep 17 00:00:00 2001
From: aelmiger <40243985+aelmiger@users.noreply.github.com>
Date: Tue, 24 Oct 2023 10:23:43 +0100
Subject: [PATCH] Add initial integration test (#1)

* Add initial integration test

* Fix type issue with path

* Change integration test job

* Fix None to Path conversion

* Fix test job name

---------

Co-authored-by: Anton Elmiger <anton.elmiger@dfki.de>
---
 .github/workflows/integration_test.yaml       |  73 +++++++++
 .../__example_assets__/test_job.syclops.yaml  | 149 ++++++++++++++++++
 syclops/cli.py                                |  13 ++
 syclops/utility/setup_utils.py                |   6 +-
 4 files changed, 238 insertions(+), 3 deletions(-)
 create mode 100644 .github/workflows/integration_test.yaml
 create mode 100644 syclops/__example_assets__/test_job.syclops.yaml

diff --git a/.github/workflows/integration_test.yaml b/.github/workflows/integration_test.yaml
new file mode 100644
index 0000000..c3b3661
--- /dev/null
+++ b/.github/workflows/integration_test.yaml
@@ -0,0 +1,73 @@
+name: Syclops Pipeline Test
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build-and-test:
+    name: Syclops Pipeline Test
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v3
+
+    - name: Install dependencies
+      run: |
+        sudo apt-get update -q
+        sudo apt-get install -y --no-install-recommends libgl1-mesa-glx libglib2.0-0 libsm6 libxrender1 libxext6 libxi6 libxkbcommon0
+    - name: Set up Python 3.10
+      uses: actions/setup-python@v4
+      with:
+        python-version: '3.10' 
+
+    - name: Install package
+      run: |
+        pip install .
+
+    - name: Run Syclops
+      run: |
+        syclops -if ./ --test-job -log
+
+    # Check for expected output files and report any missing ones
+    - name: Check for output files
+      run: |
+        patterns=(
+          "./output/*/main_camera/rect/*.png"
+          "./output/*/main_camera/rect/*metadata.yaml"
+          "./output/*/main_camera/extrinsics/*.yaml"
+          "./output/*/main_camera/extrinsics/*metadata.yaml"
+          "./output/*/calibration/*intrinsics.yaml"
+          "./output/*/calibration/*metadata.yaml"
+          "./output/*/main_camera_annotations/bounding_box/*.txt"
+          "./output/*/main_camera_annotations/bounding_box/*metadata.yaml"
+          "./output/*/main_camera_annotations/depth/*.npz"
+          "./output/*/main_camera_annotations/depth/*metadata.yaml"
+          "./output/*/main_camera_annotations/instance_segmentation/*.npz"
+          "./output/*/main_camera_annotations/instance_segmentation/*metadata.yaml"
+          "./output/*/main_camera_annotations/semantic_segmentation/*.npz"
+          "./output/*/main_camera_annotations/semantic_segmentation/*metadata.yaml"
+          "./output/*/main_camera_annotations/pointcloud/*.npz"
+          "./output/*/main_camera_annotations/pointcloud/*metadata.yaml"
+          "./output/*/main_camera_annotations/object_volume/*.npz"
+          "./output/*/main_camera_annotations/object_volume/*metadata.yaml"
+          "./output/*/object_positions/*.json"
+          "./output/*/object_positions/*metadata.yaml"
+        )
+        
+        missing=false
+        
+        for pattern in "${patterns[@]}"; do
+          files=$(find . -path "$pattern")
+          if [[ ! $files ]]; then
+            echo "MISSING: $pattern"
+            missing=true
+          fi
+        done
+
+        if [ "$missing" = true ]; then
+          exit 1
+        fi
\ No newline at end of file
diff --git a/syclops/__example_assets__/test_job.syclops.yaml b/syclops/__example_assets__/test_job.syclops.yaml
new file mode 100644
index 0000000..94db738
--- /dev/null
+++ b/syclops/__example_assets__/test_job.syclops.yaml
@@ -0,0 +1,149 @@
+steps: 1
+seeds:
+  numpy: 42
+  cycles: 42
+render_device: "CPU"
+render_hardware: "CUDA"
+denoising_enabled: False
+denoising_algorithm: "OPENIMAGEDENOISE"
+
+# TRANSFORMATION CONFIG
+transformations:
+  map:          
+    location: [0, 0, 0]
+    rotation: [0, 0, 0]
+    children:
+      camera_link:
+        location:
+          linear: [[-20,0,2],[0.5,0,0]]
+        rotation: 
+          normal: [[0.785398, 0, 0],[0.05,0.05,0.05]]
+      iso_object:
+        location:
+          uniform: [[-20,-20,0],[20,20,0]]
+        rotation: [0,0,0]
+
+textures:
+  plain_noise:
+    config:
+      image_size: [512, 512]
+      bit_depth: 16
+      seed: 2
+      num_textures: 2
+    ops:
+      - perlin:
+          res: 4
+          octaves: 4
+      - math_expression: "((x-0.5) * 100 + 65535 / 2)/65535"
+
+# SCENE CONFIG
+scene:
+  syclops_plugin_ground:
+    - name: "Ground"
+      size: 50 # m
+      texture: Example Assets/Muddy Dry Ground
+      # displacement_texture: Example Assets/Ground Displacement 1
+      displacement_texture: Preprocessed Assets/plain_noise
+      class_id: 1
+
+  syclops_plugin_environment:
+    - type: hdri
+      environment_image: 
+        random_selection: [Example Assets/Sunflower Field]
+
+  syclops_plugin_scatter:
+    - name: "Corn Scatter"
+      models: [Example Assets/Corn]
+      floor_object: Ground
+      max_texture_size: 512
+      density_max: 10 # per m^2
+      distance_min: 0.05 # m
+      scale_standard_deviation: 0.5
+      class_id: 2
+      class_id_offset:
+        Stem: 1
+      seed: 1
+      clumps:
+        ratio: 0.3
+        size: 3
+        size_std: 2
+        position_std: 0.02
+        scale_std: 0.4
+    - name: "Weed Scatter"
+      models: [Example Assets/Plain Weeds]
+      floor_object: Ground
+      max_texture_size: 512
+      density_max: 15 # per m^2
+      distance_min: 0.01 # m
+      scale_standard_deviation: 0.5
+      class_id: 4
+      seed: 2
+      clumps:
+        ratio: 0.3
+        size: 3
+        size_std: 2
+        position_std: 0.02
+        scale_std: 0.4
+
+  syclops_plugin_object:
+    - name: iso_object
+      frame_id: iso_object
+      class_id: 5
+      place_on_ground: true
+      models: [Example Assets/ISO Object]
+      floor_object: Ground
+
+
+# SENSOR CONFIG
+sensor:
+  syclops_sensor_camera:
+    - name: "main_camera"
+      # Location, rotation and velocity of camera is optional if frame_id is set
+      frame_id: "camera_link"
+      resolution: [1280, 960]
+      focal_length: 65 # mm
+      shutter_speed: 0.02 # s Currently only affects motion blur
+      sensor_width: 35 # mm
+
+      exposure: 0.0 # Exposure (stops) shift of camera
+      gamma: 1.0 # Gamma correction applied to the image
+
+      depth_of_field:
+        aperture: 8 # f-number (no influence on exposure)
+        autofocus: true
+        #focus_distance: 2 # m (disabled because of autofocus)
+
+      motion_blur:
+        enabled: true
+        rolling_shutter: # Only top to bottom supported
+          enabled: true
+          duration: 0.03 # s (Scanline "exposure" time)
+      outputs:
+        syclops_output_rgb:
+          - samples: 16
+            compositor:
+              chromatic_aberration: 0.007 #Strong aberration can cause shift between ground truth and rgb
+              bloom:
+                threshold: 0.99 # higher is less bloom
+            id: main_cam_rgb
+        syclops_output_object_positions:
+          - id: main_cam_object_positions
+        syclops_output_pixel_annotation:
+          - semantic_segmentation:
+              id: main_cam_semantic
+            instance_segmentation:
+              id: main_cam_instance
+            pointcloud:
+              id: main_cam_pointcloud
+            depth:
+              id: main_cam_depth
+            object_volume:
+              id: main_cam_object_volume
+
+postprocessing:
+  syclops_postprocessing_bounding_boxes:
+    - type: "YOLO"
+      classes_to_skip: [0,1]
+      id: yolo_bound_boxes
+      sources: ["main_cam_instance", "main_cam_semantic"]
+      multiple_bb_per_instance: False
\ No newline at end of file
diff --git a/syclops/cli.py b/syclops/cli.py
index aaeeb72..0d77521 100644
--- a/syclops/cli.py
+++ b/syclops/cli.py
@@ -36,6 +36,11 @@
     help="Use example job description file",
     action="store_true",
 )
+parser.add_argument(
+    "--test-job",
+    help="Run test job for an integration test",
+    action="store_true",
+)
 parser.add_argument(
     "-log",
     "--show-logging",
@@ -349,6 +354,14 @@ def main():
         )
         _run_syclops_job(args, install_folder, job_filepath)
 
+    elif args.test_job:
+        job_filepath = (
+            get_module_path("syclops").parent
+            / "__example_assets__"
+            / "test_job.syclops.yaml"
+        )
+        _run_syclops_job(args, install_folder, job_filepath)
+
     elif args.texture_viewer:
         texture_viewer(args)
 
diff --git a/syclops/utility/setup_utils.py b/syclops/utility/setup_utils.py
index d04fcdf..c9cc2ef 100644
--- a/syclops/utility/setup_utils.py
+++ b/syclops/utility/setup_utils.py
@@ -95,12 +95,12 @@ def install_blender(version: str, install_dir: Path) -> None:
     # Clean up
     dest_file.unlink()
 
-def get_or_create_install_folder(install_folder_path: Path) -> Path:
+def get_or_create_install_folder(install_folder_path: str) -> Path:
     """
     Get the install folder from the config file, or ask the user for a folder.
 
     Args:
-        install_folder_path (Path): The path to the install folder, if it exists.
+        install_folder_path (str): The path to the install folder, if it exists.
 
     Returns:
         Path: The path to the install folder.
@@ -110,7 +110,7 @@ def get_or_create_install_folder(install_folder_path: Path) -> Path:
 
     def determine_folder():
         if install_folder_path is not None:
-            return install_folder_path.resolve()
+            return Path(install_folder_path).resolve()
         return _ask_directory().resolve()
 
     # If 'install_folder' is not in the config or the saved folder doesn't exist