def test_median_filter_zero_previous_scans_with_list(self):
self.filter = TemporalMedianFilter(0)
scan_list = [[0.0, 1.0, 2.0, 1.0, 3.0], [1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0], [3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]]
expected_result = scan_list
num_scans = len(scan_list)
for idx in range(num_scans):
actual_result = self.filter.update(scan_list[idx])
self.assertEqual(expected_result[idx], actual_result)
def test_median_filter_zero_previous_scans_with_numpy_array(self):
self.filter = TemporalMedianFilter(0)
scan_array = np.array([[0.0, 1.0, 2.0, 1.0, 3.0],
[1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0],
[3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]])
expected_result = scan_array.tolist()
num_scans = scan_array.shape[0]
for idx in range(num_scans):
actual_result = self.filter.update(scan_array[idx])
self.assertEqual(expected_result[idx], actual_result)
def test_median_filter_inconsistent_num_measurement_list(self):
self.filter = TemporalMedianFilter(3)
scan_list = [[0.0, 1.0], [1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0], [3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]]
num_scans = len(scan_list)
for idx in range(num_scans):
try:
actual_result = self.filter.update(scan_list[idx])
except ValueError:
with self.assertRaises(ValueError):
actual_result = self.filter.update(scan_list[idx])
def test_median_filter_inconsistent_num_measurement_numpy_array(self):
self.filter = TemporalMedianFilter(3)
scan_array = np.array([[0.0, 1.0], [1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0],
[3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]])
num_scans = scan_array.shape[0]
for idx in range(num_scans):
try:
actual_result = self.filter.update(scan_array[idx])
except ValueError:
with self.assertRaises(ValueError):
actual_result = self.filter.update(scan_array[idx])
class TestTemporalMedianFilter(unittest.TestCase):
def test_median_filter_zero_previous_scans_with_numpy_array(self):
self.filter = TemporalMedianFilter(0)
scan_array = np.array([[0.0, 1.0, 2.0, 1.0, 3.0],
[1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0],
[3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]])
expected_result = scan_array.tolist()
num_scans = scan_array.shape[0]
for idx in range(num_scans):
actual_result = self.filter.update(scan_array[idx])
self.assertEqual(expected_result[idx], actual_result)
def test_median_filter_zero_previous_scans_with_list(self):
self.filter = TemporalMedianFilter(0)
scan_list = [[0.0, 1.0, 2.0, 1.0, 3.0], [1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0], [3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]]
expected_result = scan_list
num_scans = len(scan_list)
for idx in range(num_scans):
actual_result = self.filter.update(scan_list[idx])
self.assertEqual(expected_result[idx], actual_result)
def test_median_filter_three_previous_scans_with_numpy_array(self):
self.filter = TemporalMedianFilter(3)
scan_array = np.array([[0.0, 1.0, 2.0, 1.0, 3.0],
[1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0],
[3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]])
expected_result = [[0.0, 1.0, 2.0, 1.0,
3.0], [0.5, 3.0, 4.5, 1.0, 3.0],
[1.0, 3.0, 4.0, 1.0,
3.0], [1.5, 3.0, 3.5, 1.0, 3.0],
[2.5, 3.0, 4.0, 1.0, 1.5]]
num_scans = scan_array.shape[0]
for idx in range(num_scans):
actual_result = self.filter.update(scan_array[idx])
self.assertEqual(expected_result[idx], actual_result)
def test_median_filter_three_previous_scans_with_list(self):
self.filter = TemporalMedianFilter(3)
scan_list = [[0.0, 1.0, 2.0, 1.0, 3.0], [1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0], [3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]]
expected_result = [[0.0, 1.0, 2.0, 1.0,
3.0], [0.5, 3.0, 4.5, 1.0, 3.0],
[1.0, 3.0, 4.0, 1.0,
3.0], [1.5, 3.0, 3.5, 1.0, 3.0],
[2.5, 3.0, 4.0, 1.0, 1.5]]
num_scans = len(scan_list)
for idx in range(num_scans):
actual_result = self.filter.update(scan_list[idx])
self.assertEqual(expected_result[idx], actual_result)
def test_median_filter_five_previous_scans_with_numpy_array(self):
self.filter = TemporalMedianFilter(5)
scan_array = np.array([[0.0, 1.0, 2.0, 1.0, 3.0],
[1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0],
[3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]])
expected_result = [[0.0, 1.0, 2.0, 1.0,
3.0], [0.5, 3.0, 4.5, 1.0, 3.0],
[1.0, 3.0, 4.0, 1.0,
3.0], [1.5, 3.0, 3.5, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 3.0]]
num_scans = scan_array.shape[0]
for idx in range(num_scans):
actual_result = self.filter.update(scan_array[idx])
self.assertEqual(expected_result[idx], actual_result)
def test_median_filter_inconsistent_num_measurement_numpy_array(self):
self.filter = TemporalMedianFilter(3)
scan_array = np.array([[0.0, 1.0], [1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0],
[3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]])
num_scans = scan_array.shape[0]
for idx in range(num_scans):
try:
actual_result = self.filter.update(scan_array[idx])
except ValueError:
with self.assertRaises(ValueError):
actual_result = self.filter.update(scan_array[idx])
def test_median_filter_inconsistent_num_measurement_list(self):
self.filter = TemporalMedianFilter(3)
scan_list = [[0.0, 1.0], [1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0], [3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]]
num_scans = len(scan_list)
for idx in range(num_scans):
try:
actual_result = self.filter.update(scan_list[idx])
except ValueError:
with self.assertRaises(ValueError):
actual_result = self.filter.update(scan_list[idx])
def test_median_filter_five_previous_scans_with_numpy_list(self):
self.filter = TemporalMedianFilter(5)
scan_list = [[0.0, 1.0, 2.0, 1.0, 3.0], [1.0, 5.0, 7.0, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 0.0], [3.0, 3.0, 3.0, 1.0, 3.0],
[10.0, 2.0, 4.0, 0.0, 0.0]]
expected_result = [[0.0, 1.0, 2.0, 1.0,
3.0], [0.5, 3.0, 4.5, 1.0, 3.0],
[1.0, 3.0, 4.0, 1.0,
3.0], [1.5, 3.0, 3.5, 1.0, 3.0],
[2.0, 3.0, 4.0, 1.0, 3.0]]
num_scans = len(scan_list)
for idx in range(num_scans):
actual_result = self.filter.update(scan_list[idx])
self.assertEqual(expected_result[idx], actual_result)
def test_negative_num_previous_scan(self):
with self.assertRaises(ValueError):
self.test_filter = TemporalMedianFilter(-1)
def test_float_zero_point_three_num_previous_scan(self):
with self.assertRaises(TypeError):
self.test_filter = TemporalMedianFilter(0.5)
def test_float_three_point_zero_num_previous_scan(self):
with self.assertRaises(TypeError):
self.test_filter = TemporalMedianFilter(3.0)
def test_char_num_previous_scan(self):
with self.assertRaises(TypeError):
self.test_filter = TemporalMedianFilter('a')
def test_string_num_previous_scan(self):
with self.assertRaises(TypeError):
self.test_filter = TemporalMedianFilter("Hello World")
def test_bool_num_previous_scan(self):
with self.assertRaises(TypeError):
self.test_filter = TemporalMedianFilter(True)
def test_complex_num_previous_scan(self):
with self.assertRaises(TypeError):
self.test_filter = TemporalMedianFilter(2 + 3j)
def test_complex_num_previous_scan(self):
with self.assertRaises(TypeError):
self.test_filter = TemporalMedianFilter(2 + 3j)
def test_bool_num_previous_scan(self):
with self.assertRaises(TypeError):
self.test_filter = TemporalMedianFilter(True)
def test_string_num_previous_scan(self):
with self.assertRaises(TypeError):
self.test_filter = TemporalMedianFilter("Hello World")
def test_float_three_point_zero_num_previous_scan(self):
with self.assertRaises(TypeError):
self.test_filter = TemporalMedianFilter(3.0)
def test_negative_num_previous_scan(self):
with self.assertRaises(ValueError):
self.test_filter = TemporalMedianFilter(-1)