def test_data_helper():
# create fake data to test
xyz = rng.random((100, 3))
tmp_dir.mkdir(exist_ok=True)
# save fake cloud to read in as different return types
file_name = tmp_dir / Path('test_xyz.ply')
# test writing xyz data as las
pcio.write(xyz, file_name, verbose=True)
# test reading ply file as numpy return type
obj = pcio.read(file_name, return_type='numpy')
assert isinstance(obj, pcio.data_helper.rtypes['numpy'])
assert np.allclose(obj, xyz)
del obj
# test reading ply file as o3d return type
obj = pcio.read(file_name, return_type='o3d')
assert isinstance(obj, pcio.data_helper.rtypes['o3d'])
del obj
# test reading ply file as pandas return type
obj = pcio.read(file_name, return_type='pandas')
assert isinstance(obj, pcio.data_helper.rtypes['pandas'])
del obj
cleanup()
return
def test_data_helper_rgb():
# create fake data to test
xyz = rng.random((100, 3))
rgb = rng.uniform(low=0, high=1, size=xyz.shape)
tmp_dir.mkdir(exist_ok=True)
xyz_rgb = np.hstack((xyz, rgb))
# save fake cloud to read in as different return types
file_name = tmp_dir / Path('test_xyz_rgb.ply')
# test writing xyz data as las
pcio.write(xyz_rgb, file_name, verbose=True)
# test reading ply file as numpy return type
obj = pcio.read(file_name, return_type='numpy')
assert isinstance(obj, pcio.data_helper.rtypes['numpy'])
del obj
# test reading ply file as o3d return type
obj = pcio.read(file_name, return_type='o3d')
assert isinstance(obj, pcio.data_helper.rtypes['o3d'])
del obj
# test reading ply file as pandas return type
obj = pcio.read(file_name, return_type='pandas')
assert isinstance(obj, pcio.data_helper.rtypes['pandas'])
del obj
cleanup()
return
def test_las():
# create fake data to test
xyz = rng.random((100, 3))
rgb = rng.uniform(low=0, high=1, size=xyz.shape)
tmp_dir.mkdir(exist_ok=True)
file_name = tmp_dir / Path('test_xyz.las')
# test writing xyz data as las
pcio.write(xyz, file_name, verbose=True)
# test reading las file
new_xyz = pcio.read(file_name)
assert np.allclose(xyz, new_xyz, atol=1e-05)
cleanup()
# test with rgb
xyz_rgb = np.hstack((xyz, rgb))
tmp_dir.mkdir(exist_ok=True)
file_name = tmp_dir / Path('test_xyz_rgb.las')
# test writing xyz data as las
pcio.write(xyz_rgb, file_name, verbose=True)
# test reading las file
new_xyz_rgb = pcio.read(file_name)
assert new_xyz_rgb.shape == xyz_rgb.shape
# test xyz
assert np.allclose(xyz_rgb[:, :3], new_xyz_rgb[:, :3], atol=1e-05)
# test rgb
assert np.allclose(xyz_rgb[:, 3:] * 2**8, new_xyz_rgb[:, 3:], atol=1e-0)
cleanup()
return
def test_asc():
# create fake data to test
xyz = rng.random((100, 3))
rgb = rng.uniform(low=0, high=1, size=xyz.shape)
tmp_dir.mkdir(exist_ok=True)
file_name = tmp_dir / Path('test_xyz.asc')
# test writing .asc file with xyz
pcio.write(xyz, file_name, verbose=True)
# test reading .asc file with xyz
new_xyz = pcio.read(file_name)
assert np.allclose(xyz, new_xyz, atol=1e-05)
xyz_rgb = np.hstack((xyz, rgb))
file_name = tmp_dir / Path('test_xyz_rgb.asc')
# test writing xyz data as asc
pcio.write(xyz_rgb, file_name, verbose=True)
# test reading asc file with xyz and rgb
new_xyz_rgb = pcio.read(file_name)
assert new_xyz_rgb.shape == xyz_rgb.shape
# test xyz
assert np.allclose(xyz_rgb[:, :3], new_xyz_rgb[:, :3], atol=1e-05)
# test rgb
assert np.allclose(xyz_rgb[:, 3:], new_xyz_rgb[:, 3:], atol=1e-0)
cleanup()
def test_o3d_xyz():
# create fake data to test
xyz = rng.random((100, 3))
rgb = rng.uniform(low=0, high=1, size=xyz.shape)
tmp_dir.mkdir(exist_ok=True)
file_name = tmp_dir / Path('test_xyz.xyz')
# test writing xyz data as xyz
pcio.write(xyz, file_name, verbose=True)
# test reading las file
new_xyz = pcio.read(file_name)
assert np.allclose(xyz, new_xyz, atol=1e-05)
cleanup()
return
def test_o3d_xyzrgb():
xyz = rng.random((100, 3))
rgb = rng.uniform(low=0, high=1, size=xyz.shape)
tmp_dir.mkdir(exist_ok=True)
xyz_rgb = np.hstack((xyz, rgb))
file_name = tmp_dir / Path('test_xyz_rgb.xyzrgb')
# test writing xyz rgb data as xyz
pcio.write(xyz_rgb, file_name, verbose=True)
# test reading xyz rgb file
new_xyz_rgb = pcio.read(file_name)
assert new_xyz_rgb.shape == xyz_rgb.shape
# test xyz
assert np.allclose(xyz_rgb[:, :3], new_xyz_rgb[:, :3], atol=1e-05)
# test rgb
assert np.allclose(xyz_rgb[:, 3:], new_xyz_rgb[:, 3:], atol=1e-0)
cleanup()