more validation in extr

Author: sashankaryal

fiftyone/core/dataset.py

@@ -1322,12 +1322,13 @@ def _validate_sensor_extrinsics(self, extrinsics):
                     f"but got source_frame='{value.source_frame}'"
                 )
 
-            if value.target_frame is not None:
-                if value.target_frame != expected_target:
-                    raise ValueError(
-                        f"Key '{key}' expects target_frame='{expected_target}' "
-                        f"but got target_frame='{value.target_frame}'"
-                    )
+            # Treat target_frame=None as "world" for comparison
+            actual_target = value.target_frame or "world"
+            if actual_target != expected_target:
+                raise ValueError(
+                    f"Key '{key}' expects target_frame='{expected_target}' "
+                    f"but got target_frame='{value.target_frame}'"
+                )
 
     def resolve_intrinsics(self, sample):
         """Resolves camera intrinsics for the given sample.

tests/unittests/camera_tests.py

@@ -1969,19 +1969,20 @@ def test_sensor_extrinsics_multiple_valid(self):
 
     @drop_datasets
     def test_sensor_extrinsics_partial_fields_source_only(self):
-        """Test validation with only source_frame set (target_frame can be None)."""
+        """Test validation with only source_frame set (target_frame=None implies world)."""
         dataset = fo.Dataset()
 
-        # source_frame matches (required), target_frame is None (optional)
+        # source_frame matches (required), target_frame is None (implies "world")
         extrinsics = SensorExtrinsics(
             translation=[1.5, 0.0, 1.2],
             quaternion=[0.0, 0.0, 0.0, 1.0],
             source_frame="camera_front",
-            # target_frame is None
+            # target_frame is None, which is treated as "world"
         )
 
-        dataset.sensor_extrinsics = {"camera_front::ego": extrinsics}
-        self.assertIn("camera_front::ego", dataset.sensor_extrinsics)
+        # Key uses implied "world" target (no ::target suffix)
+        dataset.sensor_extrinsics = {"camera_front": extrinsics}
+        self.assertIn("camera_front", dataset.sensor_extrinsics)
 
     def test_sensor_extrinsics_partial_fields_target_only_raises(self):
         """Test that missing source_frame raises ValueError at construction even if target_frame is set."""