Struct TestFixtures 

pub struct TestFixtures {
    pub metadata: DatasetMetadata,
    /* private fields */
}

Pre-rendered test fixtures loaded from disk

Fields

metadata: DatasetMetadata

Dataset metadata

Implementations

impl TestFixtures

pub fn load<P: AsRef<Path>>(path: P) -> Result<Self, FixtureError>

Load test fixtures from a directory

Arguments

• path - Path to the fixtures directory (e.g., “test_fixtures/renders”)

Returns

• Ok(TestFixtures) if loaded successfully
• Err(FixtureError) if loading fails

pub fn exists<P: AsRef<Path>>(path: P) -> bool

Check if fixtures exist at the given path

pub fn objects(&self) -> &[String]

Get list of available objects

pub fn viewpoints_per_rotation(&self) -> usize

Get number of viewpoints per rotation

pub fn rotations_per_object(&self) -> usize

Get number of rotations per object

pub fn renders_for_object(&self, object_id: &str) -> usize

Get total renders available for an object

pub fn intrinsics(&self) -> CameraIntrinsics

Get camera intrinsics

pub fn get_render( &self, object_id: &str, rotation_idx: usize, viewpoint_idx: usize, ) -> Result<RenderOutput, FixtureError>

Load a specific render by object, rotation index, and viewpoint index

Arguments

• object_id - YCB object ID (e.g., “003_cracker_box”)
• rotation_idx - Rotation index (0-2 for benchmark rotations)
• viewpoint_idx - Viewpoint index (0-23 for default config)

pub fn get_all_renders( &self, object_id: &str, ) -> Result<Vec<RenderOutput>, FixtureError>

Load all renders for an object

pub fn iter_renders<'a>( &'a self, object_id: &'a str, ) -> impl Iterator<Item = Result<(usize, usize, RenderOutput), FixtureError>> + 'a

Iterate over all renders for an object