def setUp(self):
self.datadir = 'data/stillscans/'
self.Pall, self.Q, self.guesspose, self.res = generate_tst_data_from_file(self.datadir + 'empty-map.txt', self.datadir + '1271124950-scan.txt', self.datadir + '1271124950-pose.txt')
# override guess pose to make it harder for the algorithms
self.guesspose = np.array([-2, 42, 80, 0.2, 0.1, 2.58])
# sampling
self.P = util.volumetricsample(self.Pall, self.res) # shuffles P as well
# setup the mrol for the alignment
self.mapmrol = mrol.MROL(self.res, levels=5)
self.mapmrol.addpoints(self.Q)
# setup the occupiedlist for the segmentation
mv = occupiedlist.pointstovoxels(self.Q, self.res)
self.mapvoxels = {}
occupiedlist.increment(self.mapvoxels, mv)
# setup a dilated occupiedlist for segmentation
self.dilated = {}
mv = occupiedlist.dilate(self.mapmrol.getvoxels().keys())
occupiedlist.increment(self.dilated, mv)
# setup a mapset for fast alignment
self.mapset = set(occupiedlist.hashrows(self.mapvoxels.keys()))
# Ground truths and tolerances
self.lin_tol = 1e-1
self.ang_tol = np.deg2rad(2.0)
self.truepose = np.array([-1.8572, 41.7913, 79.3341, np.deg2rad(12.4607), np.deg2rad(4.3733), np.deg2rad(147.2011)]) # Overlap: 6094, Pose (m, degrees): -1.8572 41.7913 79.3341 12.4607 4.3733 147.2011
self.truePoints = poseutil.transformPoints(self.Pall, poseutil.mat(self.truepose))
# list the aligners to be tested
self.aligners = [
self.align_mrol_optimize_00001,
self.align_mrol_optimize_11111,
]
# list the segmenters to be tested
self.segmenters = [ self.segment_ovl,
self.segment_ovl_dilated
]
def testdilate(self):
X = ((0,0,0), (100,100,100))
dilated = occupiedlist.dilate(X)
expected = set([(0, 1, 1), (99, 100, 99), (100, 100, 99), (100, 100, 101), (100, 100, 100), (1, 0, 0), (-1, -1, -1), (-1, 1, -1), (101, 100, 99), (99, 101, 101), (101, 101, 100), (99, 101, 100), (100, 101, 99), (101, 99, 101), (101, 99, 99), (100, 101, 100), (0, -1, -1), (0, 0, -1), (-1, 0, 1), (100, 101, 101), (0, -1, 1), (-1, 0, 0), (101, 100, 100), (1, -1, 1), (99, 99, 99), (100, 99, 100), (1, -1, -1), (101, 100, 101), (101, 99, 100), (-1, 0, -1), (0, 0, 1), (99, 99, 101), (99, 100, 100), (0, 0, 0), (101, 101, 99), (0, -1, 0), (99, 100, 101), (1, 1, 1), (1, 0, 1), (-1, 1, 0), (1, 1, 0), (-1, 1, 1), (-1, -1, 1), (100, 99, 101), (1, 0, -1), (1, -1, 0), (-1, -1, 0), (99, 101, 99), (100, 99, 99), (1, 1, -1), (0, 1, 0), (101, 101, 101), (0, 1, -1), (99, 99, 100)])
self.assertEquals(54, len(expected.intersection(dilated)))
