def test_load_ply_by_attrib_real_sweep():
""" Load an actual LiDAR sweep, with valid attribute specification """
ply_fpath = os.path.join(
_TEST_DIR, "test_data",
"d60558d2-d1aa-34ee-a902-e061e346e02a__PC_315971347819783000.ply")
pc = load_ply_by_attrib(ply_fpath, attrib_spec="xyzil")
assert pc.shape == (91083, 5)
# intensities should be bounded between [0,255]
assert np.all(np.logical_and(pc[:, 3] >= 0, pc[:, 3] <= 255))
# laser numbers should be bounded between [0,31]
assert np.all(np.logical_and(pc[:, 4] >= 0, pc[:, 4] <= 31))
# make sure it matches the "xyz"-only API
assert np.allclose(load_ply_by_attrib(ply_fpath, attrib_spec="xyz"),
load_ply(ply_fpath))
def test_load_ply_by_attrib():
""" Ensure intensity (i.e. reflectance) and ring index can be loaded from toy sweep """
ply_fpath = _TEST_DIR / "test_data/tracking/1/lidar/PC_0.ply"
pc = load_ply_by_attrib(ply_fpath, attrib_spec="xyzil")
assert pc.shape == (10, 5)
# intensities should be bounded between [0,255]
assert np.all(np.logical_and(pc[:, 3] >= 0, pc[:, 3] <= 255))
def test_load_ply_by_attrib_invalid_attributes():
"""Try to load a toy sweep, using invalid attribute specification """
ply_fpath = _TEST_DIR / "test_data/tracking/1/lidar/PC_0.ply"
# "a" is an invalid point attribute
pc = load_ply_by_attrib(ply_fpath, "xya")
assert pc is None