Remove unused TimeIndexedPose

equinor · Mar 6, 2023 · f79bf82 · f79bf82
1 parent 96837ed
commit f79bf82
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Showing 7 changed files with 33 additions and 67 deletions.
diff --git a/src/isar/storage/slimm_storage.py b/src/isar/storage/slimm_storage.py
@@ -98,7 +98,7 @@ def _construct_multiform_request_image(
         filename: str, inspection: Inspection, metadata: MissionMetadata
     ):
         array_of_orientation = (
-            inspection.metadata.time_indexed_pose.pose.orientation.to_quat_array().tolist()
+            inspection.metadata.pose.orientation.to_quat_array().tolist()
         )
         multiform_body: MultipartEncoder = MultipartEncoder(
             fields={
@@ -114,15 +114,9 @@ def _construct_multiform_request_image(
                 "Mission.MissionId": metadata.mission_id,
                 "Mission.Client": "Equinor",
                 "ImageMetadata.Timestamp": inspection.metadata.start_time.isoformat(),  # noqa: E501
-                "ImageMetadata.X": str(
-                    inspection.metadata.time_indexed_pose.pose.position.x
-                ),
-                "ImageMetadata.Y": str(
-                    inspection.metadata.time_indexed_pose.pose.position.y
-                ),
-                "ImageMetadata.Y": str(
-                    inspection.metadata.time_indexed_pose.pose.position.z
-                ),
+                "ImageMetadata.X": str(inspection.metadata.pose.position.x),
+                "ImageMetadata.Y": str(inspection.metadata.pose.position.y),
+                "ImageMetadata.Y": str(inspection.metadata.pose.position.z),
                 "ImageMetadata.CameraOrientation1": str(array_of_orientation[0]),
                 "ImageMetadata.CameraOrientation2": str(array_of_orientation[1]),
                 "ImageMetadata.CameraOrientation3": str(array_of_orientation[2]),
@@ -145,7 +139,7 @@ def _construct_multiform_request_video(
         metadata: MissionMetadata,
     ):
         array_of_orientation = (
-            inspection.metadata.time_indexed_pose.pose.orientation.to_quat_array().tolist()
+            inspection.metadata.pose.orientation.to_quat_array().tolist()
         )
         multiform_body: MultipartEncoder = MultipartEncoder(
             fields={
@@ -162,15 +156,9 @@ def _construct_multiform_request_video(
                 "Mission.Client": "Equinor",
                 "VideoMetadata.Timestamp": inspection.metadata.start_time.isoformat(),  # noqa: E501
                 "VideoMetadata.Duration": str(inspection.metadata.duration),  # type: ignore
-                "VideoMetadata.X": str(
-                    inspection.metadata.time_indexed_pose.pose.position.x
-                ),
-                "VideoMetadata.Y": str(
-                    inspection.metadata.time_indexed_pose.pose.position.y
-                ),
-                "VideoMetadata.Y": str(
-                    inspection.metadata.time_indexed_pose.pose.position.z
-                ),
+                "VideoMetadata.X": str(inspection.metadata.pose.position.x),
+                "VideoMetadata.Y": str(inspection.metadata.pose.position.y),
+                "VideoMetadata.Y": str(inspection.metadata.pose.position.z),
                 "VideoMetadata.CameraOrientation1": str(array_of_orientation[0]),
                 "VideoMetadata.CameraOrientation2": str(array_of_orientation[1]),
                 "VideoMetadata.CameraOrientation3": str(array_of_orientation[2]),

diff --git a/src/isar/storage/utilities.py b/src/isar/storage/utilities.py
@@ -53,12 +53,12 @@ def construct_metadata_file(
                     {
                         "file_name": filename,
                         "timestamp": inspection.metadata.start_time,
-                        "x": inspection.metadata.time_indexed_pose.pose.position.x,
-                        "y": inspection.metadata.time_indexed_pose.pose.position.y,
-                        "z": inspection.metadata.time_indexed_pose.pose.position.z,
+                        "x": inspection.metadata.pose.position.x,
+                        "y": inspection.metadata.pose.position.y,
+                        "z": inspection.metadata.pose.position.z,
                         "tag": inspection.metadata.tag_id,
                         "additional_media_metadata": {
-                            "orientation": inspection.metadata.time_indexed_pose.pose.orientation.to_quat_array()  # noqa: E501
+                            "orientation": inspection.metadata.pose.orientation.to_quat_array()  # noqa: E501
                         },
                     }
                 ],

diff --git a/src/robot_interface/models/inspection/__init__.py b/src/robot_interface/models/inspection/__init__.py
@@ -1,14 +1,12 @@
 from .inspection import (
+    Image,
     ImageMetadata,
-    TimeIndexedPose,
-    InspectionMetadata,
-    ImageMetadata,
-    ThermalImageMetadata,
-    VideoMetadata,
-    ThermalVideoMetadata,
     Inspection,
-    Image,
+    InspectionMetadata,
     ThermalImage,
+    ThermalImageMetadata,
     ThermalVideo,
+    ThermalVideoMetadata,
     Video,
+    VideoMetadata,
 )
diff --git a/src/robot_interface/models/inspection/inspection.py b/src/robot_interface/models/inspection/inspection.py
@@ -1,22 +1,16 @@
 from abc import ABC
 from dataclasses import dataclass, field
 from datetime import datetime
-from typing import List, Optional, Type
+from typing import List, Optional
 from uuid import UUID, uuid4
 
 from alitra import Pose
 
 
-@dataclass
-class TimeIndexedPose:
-    pose: Pose
-    time: datetime
-
-
 @dataclass
 class InspectionMetadata(ABC):
     start_time: datetime
-    time_indexed_pose: TimeIndexedPose
+    pose: Pose
     file_type: str
     analysis: Optional[List] = field(default_factory=list, init=False)
     tag_id: Optional[str] = field(default=None, init=False)

diff --git a/tests/isar/storage/test_blob_storage.py b/tests/isar/storage/test_blob_storage.py
@@ -2,18 +2,15 @@
 
 from alitra import Frame, Orientation, Pose, Position
 
-from robot_interface.models.inspection.inspection import ImageMetadata, TimeIndexedPose
+from robot_interface.models.inspection.inspection import ImageMetadata
 
 MISSION_ID = "some-mission-id"
 ARBITRARY_IMAGE_METADATA = ImageMetadata(
     datetime.now(),
-    TimeIndexedPose(
-        Pose(
-            Position(0, 0, 0, Frame("asset")),
-            Orientation(0, 0, 0, 1, Frame("asset")),
-            Frame("asset"),
-        ),
-        datetime.now(),
+    Pose(
+        Position(0, 0, 0, Frame("asset")),
+        Orientation(0, 0, 0, 1, Frame("asset")),
+        Frame("asset"),
     ),
     file_type="jpg",
 )

diff --git a/tests/isar/storage/test_uploader.py b/tests/isar/storage/test_uploader.py
@@ -12,22 +12,15 @@
 from isar.models.mission_metadata.mission_metadata import MissionMetadata
 from isar.storage.storage_interface import StorageInterface
 from isar.storage.uploader import Uploader
-from robot_interface.models.inspection.inspection import (
-    ImageMetadata,
-    Inspection,
-    TimeIndexedPose,
-)
+from robot_interface.models.inspection.inspection import ImageMetadata, Inspection
 
 MISSION_ID = "some-mission-id"
 ARBITRARY_IMAGE_METADATA = ImageMetadata(
     datetime.now(),
-    TimeIndexedPose(
-        Pose(
-            Position(0, 0, 0, Frame("asset")),
-            Orientation(x=0, y=0, z=0, w=1, frame=Frame("asset")),
-            Frame("asset"),
-        ),
-        datetime.now(),
+    Pose(
+        Position(0, 0, 0, Frame("asset")),
+        Orientation(x=0, y=0, z=0, w=1, frame=Frame("asset")),
+        Frame("asset"),
     ),
     file_type="jpg",
 )

diff --git a/tests/mocks/robot_interface.py b/tests/mocks/robot_interface.py
@@ -10,7 +10,6 @@
     Image,
     ImageMetadata,
     Inspection,
-    TimeIndexedPose,
 )
 from robot_interface.models.mission import InspectionStep, Step, StepStatus
 from robot_interface.models.mission.status import RobotStatus
@@ -63,13 +62,10 @@ def robot_status(self) -> RobotStatus:
 def mock_image_metadata() -> ImageMetadata:
     return ImageMetadata(
         datetime.now(),
-        TimeIndexedPose(
-            Pose(
-                Position(0, 0, 0, Frame("robot")),
-                Orientation(0, 0, 0, 1, Frame("robot")),
-                Frame("robot"),
-            ),
-            datetime.now(),
+        Pose(
+            Position(0, 0, 0, Frame("robot")),
+            Orientation(0, 0, 0, 1, Frame("robot")),
+            Frame("robot"),
         ),
         file_type="jpg",
     )