Performance Improvement on Python API

python/requirements.txt

@@ -3,3 +3,4 @@ protobuf
 numpy
 websockets
 pytest
+pillow

python/test/test_builder.py

@@ -1,8 +1,11 @@
 import json
-from easydict import EasyDict as edict
-
-from xviz_avs.builder import XVIZBuilder, XVIZUIPrimitiveBuilder, XVIZTimeSeriesBuilder, XVIZVariableBuilder
 import unittest
+import numpy as np
+
+from easydict import EasyDict as edict
+from PIL import Image
+from xviz_avs.builder import (XVIZBuilder, XVIZTimeSeriesBuilder,
+                              XVIZUIPrimitiveBuilder, XVIZVariableBuilder)
 
 PRIMARY_POSE_STREAM = '/vehicle_pose'
 
@@ -69,7 +72,8 @@ def setUp(self):
         setup_pose(self.builder)
 
     def test_image(self):
-        data = bytes(b'12345')
+        data = np.array([[1,2],[3,4]])
+        data = Image.fromarray(data.astype('u1')).convert('RGB')
         self.builder.primitive('/camera/1')\
             .image(data)
 
@@ -82,7 +86,12 @@ def test_image(self):
                 '/camera/1': {
                     'images': [
                         {
-                            'data': 'MTIzNDU='
+                            'width_px': 2,
+                            'height_px': 2,
+                            'data': b'\x89PNG\r\n\x1a\n\x00\x00\x00\rIHDR\x00\x00\x00\x02\x00'\
+                                    b'\x00\x00\x02\x08\x02\x00\x00\x00\xfd\xd4\x9as\x00\x00'  \
+                                    b'\x00\x16IDATx\x9ccdddddddabbbdd\x04\x00\x00\x9b\x00\x15'\
+                                    b'\x86\xe2,\xcc\x00\x00\x00\x00IEND\xaeB`\x82'
                         }
                     ]
                 }
@@ -132,10 +141,10 @@ def setUp(self):
         setup_pose(self.builder)
 
     def test_null(self):
-        builder = XVIZUIPrimitiveBuilder(None, None)
+        builder = XVIZUIPrimitiveBuilder(None)
         data = builder.stream('/test').get_data()
 
-        assert data is None
+        assert not data
 
     def test_treetable_no_rows(self):
         TEST_COLUMNS = [{'display_text': 'Name', 'type': 'STRING'}]
@@ -269,10 +278,10 @@ def setUp(self):
         setup_pose(self.builder)
 
     def test_null(self):
-        builder = XVIZTimeSeriesBuilder(None, None)
+        builder = XVIZTimeSeriesBuilder(None)
         data = builder.stream('/test').get_data()
 
-        assert data is None
+        assert not data
 
     def test_single_entry(self):
         self.builder = XVIZBuilder()
@@ -530,10 +539,10 @@ def setUp(self):
         setup_pose(self.builder)
 
     def test_null(self):
-        builder = XVIZVariableBuilder(None, None)
+        builder = XVIZVariableBuilder(None)
         data = builder.stream('/test').get_data()
 
-        assert data is None
+        assert not data
 
     def test_int32s_variable(self):
         self.builder.variable('/test_var').values([1, 2, 3])
@@ -666,3 +675,8 @@ def test_bools_variable(self):
         }
 
         assert data == expected
+
+if __name__ == "__main__":
+    t = TestFutureInstanceBuilder()
+    t.setUp()
+    t.test_primitives()

python/test/test_io.py

@@ -227,17 +227,17 @@ def test_glb_point_cloud_writer(self):
 
         expected = b'glTF\x02\x00\x00\x00D\x03\x00\x00\xf8\x02\x00\x00JSON{"asset":{"version":"2"'\
             b'},"buffers":[{"byteLength":48}],"bufferViews":[{"buffer":0,"byteOffset":0,"byteLeng'\
-            b'th":36},{"buffer":0,"byteOffset":36,"byteLength":12}],"accessors":[{"bufferView":0,'\
-            b'"type":"VEC3","componentType":5126,"count":3},{"bufferView":1,"type":"VEC4","compon'\
-            b'entType":5121,"count":3}],"images":[],"meshes":[],"extensions":{"AVS_xviz":{"type":'\
+            b'th":12},{"buffer":0,"byteOffset":12,"byteLength":36}],"accessors":[{"bufferView":0,'\
+            b'"type":"VEC4","componentType":5121,"count":3},{"bufferView":1,"type":"VEC3","compon'\
+            b'entType":5126,"count":3}],"images":[],"meshes":[],"extensions":{"AVS_xviz":{"type":'\
             b'"xviz/state_update","data":{"update_type":"INCREMENTAL","updates":[{"timestamp":2.0'\
             b'00000000001,"poses":{"/vehicle_pose":{"timestamp":2.000000000001,"map_origin":{"lon'\
             b'gitude":4.4,"latitude":5.5,"altitude":6.6},"position":[44.0,55.0,66.0],"orientation'\
-            b'":[0.44,0.55,0.66]}},"primitives":{"/test_primitive":{"points":[{"points":"#/access'\
-            b'ors/0","colors":"#/accessors/1"}]}}}]}}},"extensionsUsed":["AVS_xviz"]}  0\x00\x00'\
-            b'\x00BIN\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80?\x00\x00'\
-            b'\x80?\x00\x00\x80?\x00\x00\x00@\x00\x00\x00@\x00\x00\x00@\xff\x00\x00\x80\x00\xff'\
-            b'\x00\x80\x00\x00\xff\x80'
+            b'":[0.44,0.55,0.66]}},"primitives":{"/test_primitive":{"points":[{"colors":"#/access'\
+            b'ors/0","points":"#/accessors/1"}]}}}]}}},"extensionsUsed":["AVS_xviz"]}  0\x00\x00' \
+            b'\x00BIN\x00\xff\x00\x00\x80\x00\xff\x00\x80\x00\x00\xff\x80\x00\x00\x00\x00\x00\x00'\
+            b'\x00\x00\x00\x00\x00\x00\x00\x00\x80?\x00\x00\x80?\x00\x00\x80?\x00\x00\x00@\x00'   \
+            b'\x00\x00@\x00\x00\x00@'
 
         assert data == expected
 
@@ -257,7 +257,7 @@ def test_glb_polyline_writer(self):
             b'ehicle_pose":{"timestamp":2.000000000001,"map_origin":{"longitude":4.4,"latitude":5'\
             b'.5,"altitude":6.6},"position":[44.0,55.0,66.0],"orientation":[0.44,0.55,0.66]}},"pr'\
             b'imitives":{"/test_primitive":{"polylines":[{"vertices":"#/accessors/0"}]}}}]}}},"ex'\
-            b'tensionsUsed":["AVS_xviz"]} \x18\x00\x00\x00BIN\x00\x00\x00\x80?\x00\x00\x80?\x00'\
+            b'tensionsUsed":["AVS_xviz"]} \x18\x00\x00\x00BIN\x00\x00\x00\x80?\x00\x00\x80?\x00'  \
             b'\x00\x80?\x00\x00\x00@\x00\x00\x00@\x00\x00\x00@'
 
         assert data == expected
@@ -279,8 +279,8 @@ def test_glb_polygon_writer(self):
             b'":5.5,"altitude":6.6},"position":[44.0,55.0,66.0],"orientation":[0.44,0.55,0.66]}},'\
             b'"primitives":{"/test_primitive":{"polygons":[{"base":{"style":{"height":2.0}},"vert'\
             b'ices":"#/accessors/0"}]}}}]}}},"extensionsUsed":["AVS_xviz"]}  <\x00\x00\x00BIN\x00'\
-            b'\x00\x00\x80?\x00\x00\x80?\x00\x00\x80?\x00\x00\x00@\x00\x00\x00@\x00\x00\x00@\x00'\
-            b'\x00@@\x00\x00@@\x00\x00@@\x00\x00\x80@\x00\x00\x80@\x00\x00\x80@\x00\x00\x80?\x00'\
+            b'\x00\x00\x80?\x00\x00\x80?\x00\x00\x80?\x00\x00\x00@\x00\x00\x00@\x00\x00\x00@\x00' \
+            b'\x00@@\x00\x00@@\x00\x00@@\x00\x00\x80@\x00\x00\x80@\x00\x00\x80@\x00\x00\x80?\x00' \
             b'\x00\x80?\x00\x00\x80?'
 
         assert data == expected
@@ -293,13 +293,12 @@ def test_protobuf_normal_writer(self):
         writer.write_message(builder.get_message())
         data = source.read()
 
-        expected = b'glTF\x02\x00\x00\x004\x02\x00\x00\x18\x02\x00\x00JSON{"asset":{"version":"2"'\
-            b'},"buffers":[{"byteLength":0}],"bufferViews":[],"accessors":[],"image":[],"meshes":'\
-            b'[],"extensions":{"AVS_xviz":{"type":"#xviz/state_update","data":{"update_type":"#IN'\
-            b'CREMENTAL","updates":[{"timestamp":2.000000000001,"poses":{"/vehicle_pose":{"timest'\
-            b'amp":2.000000000001,"map_origin":{"longitude":4.4,"latitude":5.5,"altitude":6.6},"p'\
-            b'osition":[44.0,55.0,66.0],"orientation":[0.44,0.55,0.66]}},"primitives":{"/test_pri'\
-            b'mitive":{"circles":[{"center":[0.0,0.0,0.0],"radius":2.0}]}}}]}}},"extensionsUsed":'\
-            b'["AVS_xviz"]}\x00\x00\x00\x00\x00\x00BIN\x00'
-
-        # XXX: assert data == expected
+        expected = b'PBE1\n\x11xviz/state_update\x12\xd1\x01\n\'type.googleapis.com/xviz.v2.State'\
+            b'Update\x12\xa5\x01\x08\x02\x12\xa0\x01\t\xcc\x08\x00\x00\x00\x00\x00@\x12k\n\r/vehi'\
+            b'cle_pose\x12Z\t\xcc\x08\x00\x00\x00\x00\x00@\x12\x1b\t\x9a\x99\x99\x99\x99\x99\x11@'\
+            b'\x11\x00\x00\x00\x00\x00\x00\x16@\x19ffffff\x1a@\x1a\x18\x00\x00\x00\x00\x00\x00F@' \
+            b'\x00\x00\x00\x00\x00\x80K@\x00\x00\x00\x00\x00\x80P@"\x18)\\\x8f\xc2\xf5(\xdc?\x9a' \
+            b'\x99\x99\x99\x99\x99\xe1?\x1f\x85\xebQ\xb8\x1e\xe5?\x1a(\n\x0f/test_primitive\x12'  \
+            b'\x15"\x13\x12\x0c\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1d\x00\x00\x00@'
+
+        assert data == expected

python/xviz_avs/builder/__init__.py

@@ -13,7 +13,7 @@
     PRIMITIVE_TYPES,\
     UIPRIMITIVE_TYPES
 from .xviz_builder import XVIZBuilder
-from .xviz_ui_builder import XVIZUIBuilder
+from .ui_builder import XVIZUIBuilder
 
 from .metadata import XVIZMetadataBuilder
 from .pose import XVIZPoseBuilder

python/xviz_avs/builder/base_builder.py

@@ -1,18 +1,27 @@
 import logging
-from typing import Union
+from typing import Union, NewType
 from easydict import EasyDict as edict
 
 from xviz_avs.message import XVIZMessage
 from xviz_avs.v2.session_pb2 import Metadata, StreamMetadata
 from xviz_avs.v2.style_pb2 import StyleStreamValue
 
+# expose the constants
 ANNOTATION_TYPES = StreamMetadata.AnnotationType
 CATEGORY = StreamMetadata.Category
 COORDINATE_TYPES = StreamMetadata.CoordinateType
 SCALAR_TYPE = StreamMetadata.ScalarType
 PRIMITIVE_TYPES = StreamMetadata.PrimitiveType
 UIPRIMITIVE_TYPES = StreamMetadata.UIPrimitiveType
 
+# for type hints
+ANNOTATION_TYPES_T = NewType("ANNOTATION_TYPES", int)
+CATEGORY_T = NewType("CATEGORY", int)
+COORDINATE_TYPES_T = NewType("COORDINATE_TYPES", int)
+SCALAR_TYPE_T = NewType("SCALAR_TYPE", int)
+PRIMITIVE_TYPES_T = NewType("PRIMITIVE_TYPES", int)
+UIPRIMITIVE_TYPES_T = NewType("UIPRIMITIVE_TYPES", int)
+
 PRIMITIVE_STYLE_MAP = dict([
     (PRIMITIVE_TYPES.CIRCLE, [
         'opacity',
@@ -82,26 +91,26 @@ class XVIZBaseBuilder:
     # Reference
     [@xviz/builder/xviz-base-builder]/(https://github.com/uber/xviz/blob/master/modules/builder/src/builders/xviz-base-builder.js)
     """
-    def __init__(self, category, metadata: Union[Metadata, XVIZMessage], logger=None):
+    def __init__(self, category, metadata: Union[Metadata, XVIZMessage]):
         self._stream_id = None
         self._category = category
-        self._metadata = metadata.data if isinstance(metadata, XVIZMessage) else metadata
-        self._logger = logger or logging.getLogger("xviz")
+        self._metadata = metadata._data if isinstance(metadata, XVIZMessage) else metadata
+        self._logger = logging.getLogger("xviz")
 
-    def stream(self, stream_id):
+    def stream(self, stream_id: str):
         if self._stream_id:
             self._flush()
         self._stream_id = stream_id
         return self
 
     @property
-    def stream_id(self):
+    def stream_id(self) -> str:
         return self._stream_id
     @property
-    def category(self):
+    def category(self) -> CATEGORY:
         return self._category
     @property
-    def metadata(self):
+    def metadata(self) -> XVIZMessage:
         return self._metadata
 
     def _flush(self):
@@ -149,22 +158,39 @@ def _validate(self):
 import array
 from xviz_avs.v2.style_pb2 import StyleObjectValue, StyleStreamValue
 
-def build_object_style(style):
+def build_color(color: Union[list, tuple, bytes, str]) -> bytes:
+    '''
+    Convert css style color string to bytes
+    '''
+    if isinstance(color, (list, tuple, bytes)):
+        return bytes(color)
+    elif isinstance(color, str):
+        color = color.lstrip('#')
+        if len(color) in [3, 4]: # '#rgb' or '#rgba' style
+            return bytes([16 * int(c, 16) for c in color])
+        elif len(color) in [6, 8]: # '#rrggbb' or '#rrggbbaa' style
+            return bytes([int(color[i*2:i*2+2], 16)
+                          for i in range(len(color) // 2)])
+        else:
+            raise ValueError("Unrecognized color string!")
+    raise ValueError("Unrecognized color object!")
+
+def build_object_style(style: dict) -> StyleObjectValue:
     '''
     Create StyleObjectValue from dictionary. It basically deal with list of bytes.
     '''
     if 'fill_color' in style.keys():
-        style['fill_color'] = bytes(style['fill_color'])
+        style['fill_color'] = build_color(style['fill_color'])
     if 'stroke_color' in style.keys():
-        style['stroke_color'] = bytes(style['stroke_color'])
+        style['stroke_color'] = build_color(style['stroke_color'])
     return StyleObjectValue(**style)
 
-def build_stream_style(style):
+def build_stream_style(style: dict) -> StyleStreamValue:
     '''
     Create StyleStreamValue from dictionary. It basically deal with list of bytes.
     '''
     if 'fill_color' in style.keys():
-        style['fill_color'] = bytes(style['fill_color'])
+        style['fill_color'] = build_color(style['fill_color'])
     if 'stroke_color' in style.keys():
-        style['stroke_color'] = bytes(style['stroke_color'])
+        style['stroke_color'] = build_color(style['stroke_color'])
     return StyleStreamValue(**style)

python/xviz_avs/builder/future_instance.py

@@ -1,25 +1,29 @@
+from typing import Tuple
+from collections import defaultdict
+
 from xviz_avs.builder.base_builder import CATEGORY, PRIMITIVE_TYPES
 from xviz_avs.builder.primitive import XVIZPrimitiveBuilder
 from xviz_avs.v2.core_pb2 import FutureInstances, PrimitiveState
 
 
 class XVIZFutureInstanceBuilder(XVIZPrimitiveBuilder):
-    def __init__(self, metadata, logger=None):
-        super().__init__(metadata, logger)
+    def __init__(self, metadata):
+        super().__init__(metadata)
         self._category = CATEGORY.FUTURE_INSTANCE  # Override category
 
         self.reset()
         self._futures = {}
+        self._futures_buffer = defaultdict(list)
 
         # Store entries in this list as (timestamp, type, primitive)
         # which we convert to Protobuf messages upon get_data()
-        self._futures_list = {}
+        self._futures_list = defaultdict(list)
 
     def reset(self):
         super().reset()
         self._ts = None
 
-    def timestamp(self, timestamp):
+    def timestamp(self, timestamp: float) -> 'XVIZFutureInstanceBuilder':
         self._ts = timestamp
         return self
 
@@ -39,7 +43,8 @@ def _get_primitives_type(self, primitives, primitive_type):
         elif primitive_type == PRIMITIVE_TYPES.TEXT:
             return primitives.texts
         else:
-            raise ValueError("FutureInstance type '{0}' is not recognized".format(primitive_type))
+            self._logger.error("FutureInstance type '%s' is not recognized", str(primitive_type))
+            return []
 
     def _flush_futures_list(self):
         # Since you cannot insert into a repeated message field
@@ -54,36 +59,35 @@ def _flush_futures_list(self):
                 entries.sort(key=lambda e: e[0])
                 last_ts = None
 
-                for entry in entries:
-                    if last_ts is None or entry[0] != last_ts:
+                for ets, etype, eprimitive, ebuffer in entries:
+                    if last_ts is None or ets != last_ts:
                         # Adding a new timestamp entry to the arrays
-                        last_ts = entry[0]
-                        futures.timestamps.append(entry[0])
+                        last_ts = ets
+                        futures.timestamps.append(ets)
                         future_prim = futures.primitives.add()
-                        future_prim_type = self._get_primitives_type(future_prim, entry[1])
-                        future_prim_type.append(entry[2])
+
                     else:
                         index = len(futures.timestamps)-1
                         future_prim = futures.primitives[index]
-                        future_prim_type = self._get_primitives_type(future_prim, entry[1])
-                        future_prim_type.append(entry[2])
+
+                    future_prim_type = self._get_primitives_type(future_prim, etype)
+                    future_prim_type.append(eprimitive)
+
+                    if ebuffer is not None:
+                        self._futures_buffer[(stream, ets)].append(ebuffer)
+
 
     def _flush(self):
-        if self._stream_id not in self._futures_list:
-            self._futures_list[self._stream_id] = []
+        primitive = self._format_primitive(len(self._futures_list[self._stream_id]))
 
-        primitive = self._format_primitive()
-        self._futures_list[self._stream_id].append((self._ts, self._type, primitive))
+        self._futures_list[self._stream_id].append((self._ts, self._type, primitive, self._vertices_buffer))
 
         self.reset()
 
-    def get_data(self):
+    def get_data(self) -> Tuple[FutureInstances, dict]:
         if self._type:
             self._flush()
 
         self._flush_futures_list()
 
-        if not self._futures:
-            return None
-
-        return self._futures
+        return self._futures, self._futures_buffer

python/xviz_avs/builder/link.py

@@ -2,12 +2,12 @@
 from xviz_avs.v2.core_pb2 import Link
 
 class XVIZLinkBuilder(XVIZBaseBuilder):
-    def __init__(self, metadata, logger=None):
-        super().__init__(None, metadata, logger)
+    def __init__(self, metadata):
+        super().__init__(None, metadata)
         self._links = None
         self._target_stream = None
 
-    def parent(self, target_stream):
+    def parent(self, target_stream: str):
         self._target_stream = target_stream
 
     def _flush(self):