fix bug

Signed-off-by: Shunsuke Miura <[email protected]>

perception_dataset/t4_dataset/keyframe_consistency_resolver.py

@@ -77,7 +77,7 @@ def _remove_sample_of_non_keyframe(
 
     def _change_sample_token_to_next_closest_keyframe(self, sample_data_list: list):
         for sample_data in sample_data_list[:]:
-            if sample_data["is_key_frame"]:
+            if sample_data["is_key_frame"] or not sample_data["is_valid"]:
                 continue
             sample_data["sample_token"] = self._get_next_closest_keyframe(
                 sample_data, sample_data_list
@@ -164,7 +164,9 @@ def connect_sample_data_next_prev_tokens(self, sample_data_list: list):
         new_sample_data_list = []
         for sensor in sensor_list:
             sensor_sample_data_list = [
-                data for data in sample_data_list if data["calibrated_sensor_token"] == sensor
+                data
+                for data in sample_data_list
+                if data["calibrated_sensor_token"] == sensor and data["is_valid"]
             ]
             self.connect_sample_next_prev_tokens(sensor_sample_data_list)
             new_sample_data_list.extend(sensor_sample_data_list)

tests/test_t4_dataset_conversion.py

@@ -336,9 +336,9 @@ def test_sample_data_json(t4_dataset_path):
         assert sample_data["filename"], "filename is empty"
         assert sample_data["width"] >= 0, "width is empty"
         assert sample_data["height"] >= 0, "height is empty"
-        assert (
-            sample_data["is_key_frame"] == sample_data["is_valid"]
-        ), f"is_key_frame is {sample_data['is_key_frame']}, is_valid is {sample_data['is_valid']}"
+        assert (not sample_data["is_valid"] and not sample_data["is_key_frame"]) or sample_data[
+            "is_valid"
+        ], f"is_key_frame is {sample_data['is_key_frame']}, is_valid is {sample_data['is_valid']}"
         assert "next" in sample_data.keys(), "next is empty"
         assert "prev" in sample_data.keys(), "prev is empty"