diff --git a/src/isar/storage/slimm_storage.py b/src/isar/storage/slimm_storage.py index 70e9c099..65fab491 100644 --- 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 index b9bfc47f..f4461753 100644 --- 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 index 28fd00fd..67b8c45f 100644 --- 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 index 49f6f3ea..d184675b 100644 --- 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 index 7b507c90..e4f96108 100644 --- 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 index ad254f36..9cfa4549 100644 --- 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 index 7ee8a791..13943620 100644 --- 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", )