def test_convert_xyz_returns_correct_X_Y_Z_for_simple_array(self):
test_array = np.array([[1, 1, 1], [2, 2, 2], [3, 3, 3], [4, 4, 4]])
result = GLConverter().convert_xyz(test_array)
self.assertEqual((4, 8), result.shape)
self.assertListAlmostEqual([1, 1, 1], result[0][:3])
self.assertListAlmostEqual([2, 2, 2], result[1][:3])
self.assertListAlmostEqual([3, 3, 3], result[2][:3])
self.assertListAlmostEqual([4, 4, 4], result[3][:3])
def test_convert_xyz_returns_correct_X_Y_Z_for_simple_array_with_scale(
self):
test_array = np.array([[9, 8, 8], [7, 6, 8], [5, 4, 8], [3, 2, 8]])
result = GLConverter().convert_xyz(test_array, scale=0.1)
self.assertEqual((4, 8), result.shape)
self.assertListAlmostEqual([0.9, 0.8, 0.8], result[0, :3])
self.assertListAlmostEqual([0.7, 0.6, 0.8], result[1, :3])
self.assertListAlmostEqual([0.5, 0.4, 0.8], result[2, :3])
self.assertListAlmostEqual([0.3, 0.2, 0.8], result[3, :3])
def test_convert_xyz_calculates_texture_coordanates(self):
test_array = np.array([[1, 1, 1], [-1, -1, -1], [-1, 1, 1],
[1, -1, -1]])
result = GLConverter().convert_xyz(test_array)
self.assertEqual((4, 8), result.shape)
self.assertListAlmostEqual([0.125, 0.644], result[0, 6:8], decimals=3)
self.assertListAlmostEqual([0.625, 0.356], result[1, 6:8], decimals=3)
self.assertListAlmostEqual([0.875, 0.644], result[2, 6:8], decimals=3)
self.assertListAlmostEqual([0.375, 0.356], result[3, 6:8], decimals=3)
def test_convert_xyz_calculates_simple_normals(self):
test_array = np.array([[9, 8, 8], [7, 6, 8], [5, 4, 8], [3, 2, 8]])
unit_vectors = test_array / np.linalg.norm(test_array)
result = GLConverter().convert_xyz(test_array)
self.assertEqual((4, 8), result.shape)
self.assertListAlmostEqual(unit_vectors[0], result[0, 3:6])
self.assertListAlmostEqual(unit_vectors[1], result[1, 3:6])
self.assertListAlmostEqual(unit_vectors[2], result[2, 3:6])
self.assertListAlmostEqual(unit_vectors[3], result[3, 3:6])
def test_convert_xyz_is_fast(self):
points = 10000
test_array = np.random.rand(points, 3)
start = time.time()
result = GLConverter().convert_xyz(test_array)
total = time.time() - start
print "Total time: {}".format(total)
print "ms per point: {}".format((total * 1000) / points)
print "pps: {:.0f}".format(points / total)
self.assertTrue(total < 1 / 120.0)
def setUp(self):
self.stub_point_thinner = StubPointThinner()
self.writer = PLYWriter(GLConverter(), self.stub_point_thinner)
def __init__(self, scanner, **kwargs):
super(PointsCapture, self).__init__(**kwargs)
self.scanner = scanner
self._converter = GLConverter()
self.raw_points_xyz = np.array([])
class PointsCapture(Screen):
def __init__(self, scanner, **kwargs):
super(PointsCapture, self).__init__(**kwargs)
self.scanner = scanner
self._converter = GLConverter()
self.raw_points_xyz = np.array([])
def on_pre_enter(self):
self.go_buttons.clear_widgets()
self.clear()
laser_pos = [("{: 5.2f}".format(np.rad2deg(rad)), rad) for rad in self.scanner.get_scanner_posisitions()]
for (human, rad) in laser_pos:
button = GoButton(rad, self.start_points_capture, text=str(human))
self.go_buttons.add_widget(button)
def on_leave(self):
self.go_buttons.clear_widgets()
self.clear()
def clear(self,):
# self.image_box.clear()
self.render.clear()
self.raw_points_xyz = np.array([])
def start_points_capture(self, theta):
self._disable_all()
points = self.raw_points_xyz if self.raw_points_xyz.size != 0 else None
self.scanner.capture_points_xyz(theta, points=points, call_back=self._capture_points_callback)
# self.scanner.capture_image(self._capture_image_callback, 200 - 25)
# def _capture_image_callback(self, handler):
# self._image = handler.image
# Clock.schedule_once(self._update_image)
def _capture_points_callback(self, handler):
self.raw_points_xyz = handler.points_xyz
self.progress.value = int(handler.status * 100)
if handler.complete:
self._enable_all()
# Logger.info('Done: {}'.format(self.raw_points_tyr))
self.save_button.disabled = False
Clock.unschedule(self.update_model)
Clock.schedule_once(self.update_model)
def dismiss_popup(self):
self._popup.dismiss()
def show_save(self):
content = SaveDialog(save=self.save_points, cancel=self.dismiss_popup)
self._popup = Popup(title="Save file", content=content,
size_hint=(0.9, 0.9))
self._popup.open()
def save_points(self, path, filename):
with open(os.path.join(path, filename), 'w') as afile:
thinner = PointThinner()
converter = GLConverter()
PLYWriter(converter, thinner).write_cartisien_points(afile, self.raw_points_xyz)
self.dismiss_popup()
def _enable_all(self):
self.go_buttons.disabled = False
self.clear_button.disabled = False
def _disable_all(self):
self.go_buttons.disabled = True
self.clear_button.disabled = True
# def _update_image(self, *args):
# if hasattr(self, '_image'):
# self.image_box.set_image(self._image)
# self.render.update_texture(self.image_box.texture)
def update_model(self, *largs):
amax = np.amax(self.raw_points_xyz)
if amax > 0:
scale = min(0.05, 1.0 / np.amax(self.raw_points_xyz))
points = self._converter.convert_xyz(self.raw_points_xyz, scale=scale)
self.render.update_mesh(points)
def save_points(self, path, filename):
with open(os.path.join(path, filename), 'w') as afile:
thinner = PointThinner()
converter = GLConverter()
PLYWriter(converter, thinner).write_cartisien_points(afile, self.raw_points_xyz)
self.dismiss_popup()
def test_convert_xyz_returns_empty_for_empty_array(self):
result = GLConverter().convert_xyz(np.array([]))
self.assertEqual(0, len(result))
