test(nuscenes): update camera intrinsics test for ideal pinhole model#151
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janickm merged 1 commit intoJun 14, 2026
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The nuScenes converter was changed to store camera intrinsics as IdealPinholeCameraModelParameters (distortion-free) instead of OpenCVPinholeCameraModelParameters, but test_camera_intrinsics_zero_distortion still asserted the OpenCV type and inspected its radial/tangential distortion coefficients. The test therefore failed on the current converter output. Update the test (renamed to test_camera_intrinsics_ideal_pinhole) to assert the IdealPinholeCameraModelParameters type and validate focal length and principal point; an ideal pinhole is distortion-free by construction so there are no distortion coefficients to check.
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Summary
tools/data_converter/nuscenes/converter_test.py::test_camera_intrinsics_zero_distortionfails on the current converter output:The nuScenes converter was changed to store camera intrinsics as
IdealPinholeCameraModelParameters(distortion-free) instead ofOpenCVPinholeCameraModelParameters, but the test still asserted the OpenCV type and inspected itsradial_coeffs/tangential_coeffs. The test was not updated alongside that converter change.Fix
Update the test (renamed to
test_camera_intrinsics_ideal_pinhole) to:IdealPinholeCameraModelParameterstype the converter now emits, andfocal_lengthandprincipal_pointinstead of distortion coefficients (an ideal pinhole is distortion-free by construction, so there are none to check).Validation
NUSCENES_DIR=... bazel test //tools/data_converter/nuscenes:pytest_converter_3_11passes (the full converter integration suite, bothitaranddirectorystore types).This is split out from the lidar-model fix (#148) since it is an independent, pre-existing test/converter inconsistency.