def test_cwipc_new_encoder_bad_parameters(self):
"""Do we get exceptions when creating an encoder with unimplemented parameters?"""
with self.assertRaises(cwipc.CwipcError):
encoder = _cwipc_codec.cwipc_new_encoder(do_inter_frame=True)
with self.assertRaises(cwipc.CwipcError):
encoder = _cwipc_codec.cwipc_new_encoder(gop_size=0)
with self.assertRaises(cwipc.CwipcError):
encoder = _cwipc_codec.cwipc_new_encoder(gop_size=2)
def test_cwipc_encoder_octree_depth(self):
"""Test that octree_bits encoder param makes a significant difference"""
pc = cwipc.cwipc_read(PLY_FILENAME, 1234)
decoder = _cwipc_codec.cwipc_new_decoder()
depth = 11
decoded_npoints_per_depth = {}
cellsize_per_depth = {}
while depth >= 0:
encoder = _cwipc_codec.cwipc_new_encoder(octree_bits=depth)
encoder.feed(pc)
encoded_data = encoder.get_bytes()
encoded_size = len(encoded_data)
decoder.feed(encoded_data)
assert decoder.available(True)
decoded_pc = decoder.get()
points = decoded_pc.get_points()
decoded_npoints = len(points)
decoded_npoints_per_depth[depth] = decoded_npoints
cellsize_per_depth[depth] = decoded_pc.cellsize()
encoder.free()
decoded_pc.free()
depth = depth - 1
# Some sanity checks
for i in range(11):
self.assertLessEqual(decoded_npoints_per_depth[i],
decoded_npoints_per_depth[i + 1])
for i in range(11):
self.assertGreater(cellsize_per_depth[i],
cellsize_per_depth[i + 1])
if decoded_npoints_per_depth[11] < 80000:
self.assertLessEqual(decoded_npoints_per_depth[0], 16)
else:
self.assertLessEqual(decoded_npoints_per_depth[0],
decoded_npoints_per_depth[11] / 10000)
pc.free()
def test_cwipc_encoder_close(self):
"""Can we close a encoder"""
encoder = _cwipc_codec.cwipc_new_encoder()
self.assertFalse(encoder.eof())
self.assertFalse(encoder.available(False))
encoder.close()
self.assertTrue(encoder.eof())
self.assertFalse(encoder.available(True))
encoder.free()
def test_cwipc_encoder_plyfile_multiple_same(self):
"""Test that we can encode a ply file multiple times and the results are the same"""
pc = cwipc.cwipc_read(PLY_FILENAME, 1234)
encoder = _cwipc_codec.cwipc_new_encoder()
encoder.feed(pc)
data_one = encoder.get_bytes()
encoder.feed(pc)
data_two = encoder.get_bytes()
self.assertEqual(data_one, data_two)
encoder.free()
pc.free()
def test_cwipc_encoder_plyfile(self):
"""Test that we can encode a PLY file and the available flags behaves correct"""
pc = cwipc.cwipc_read(PLY_FILENAME, 1234)
self._verify_pointcloud(pc)
encoder = _cwipc_codec.cwipc_new_encoder()
self.assertFalse(encoder.available(False))
encoder.feed(pc)
self.assertTrue(encoder.available(False))
self.assertTrue(encoder.at_gop_boundary())
data = encoder.get_bytes()
self.assertNotEqual(len(data), 0)
self.assertFalse(encoder.available(False))
encoder.free()
pc.free()
def test_cwipc_encoder_plyfile_multiple_different(self):
"""Test that we can encode a ply file multiple times and the results are the same, and different for different timestamps"""
pc = cwipc.cwipc_read(PLY_FILENAME, 1234)
encoder = _cwipc_codec.cwipc_new_encoder()
encoder.feed(pc)
data_one = encoder.get_bytes()
pc3 = cwipc.cwipc_read(PLY_FILENAME, 4567)
encoder.feed(pc3)
data_three = encoder.get_bytes()
self.assertNotEqual(data_one, data_three)
encoder.free()
pc.free()
pc3.free()
def test_cwipc_encoder_jpeg_quality(self):
"""Test that jpeg_quality encoder param makes a difference"""
pc = cwipc.cwipc_read(PLY_FILENAME, 1234)
quality = 90
prev_size = None
while quality >= 10:
params = _cwipc_codec.cwipc_new_encoder_params(
jpeg_quality=quality)
encoder = _cwipc_codec.cwipc_new_encoder(params=params)
encoder.feed(pc)
encoded_data = encoder.get_bytes()
encoded_size = len(encoded_data)
if prev_size != None:
self.assertLess(encoded_size, prev_size)
prev_size = encoded_size
encoder.free()
quality = quality - 10
pc.free()
def test_cwipc_codec_roundtrip(self):
"""Check that we can roundtrip encoder-decoder and get at most as many points back"""
timestamp = 0x1122334455667788
pc = cwipc.cwipc_read(PLY_FILENAME, timestamp)
encoder = _cwipc_codec.cwipc_new_encoder()
decoder = _cwipc_codec.cwipc_new_decoder()
encoder.feed(pc)
data = encoder.get_bytes()
decoder.feed(data)
pc2 = decoder.get()
self._verify_pointcloud(pc2)
points = pc.get_points()
points2 = pc2.get_points()
self.assertGreaterEqual(len(points), len(points2))
self.assertEqual(pc2.timestamp(), timestamp)
encoder.free()
decoder.free()
pc.free()
pc2.free()
def test_cwipc_codec_roundtrip_empty(self):
"""Check that we can roundtrip an empty pointcloud"""
timestamp = 0x2233445566778899
pc = cwipc.cwipc_from_points([], timestamp)
encoder = _cwipc_codec.cwipc_new_encoder()
decoder = _cwipc_codec.cwipc_new_decoder()
encoder.feed(pc)
data = encoder.get_bytes()
self.assertNotEqual(len(data), 0)
decoder.feed(data)
pc2 = decoder.get()
points = pc.get_points()
points2 = pc2.get_points()
self.assertEqual(len(points), 0)
self.assertEqual(len(points2), 0)
self.assertEqual(pc2.timestamp(), timestamp)
encoder.free()
decoder.free()
pc.free()
pc2.free()
def test_cwipc_new_encoder(self):
"""Can we create and free a cwipc_encoder object"""
encoder = _cwipc_codec.cwipc_new_encoder()
self.assertFalse(encoder.eof())
self.assertFalse(encoder.available(False))
encoder.free()