def test_set_srs():
"""Test the set_srs() function"""
rdnew = osr.SpatialReference()
rdnew.SetFromUserInput("EPSG:28992")
latlon = osr.SpatialReference()
latlon.SetFromUserInput("EPSG:4326")
adam_latlon = np.array(
[4.904153991281891, 52.372337993959924, 42.97214563656598],
dtype=np.float64)
adam_rdnew = np.array([122104.0, 487272.0, 0.0], dtype=np.float64)
pcA = pcl.PointCloud([[0., 0., 0.]])
force_srs(pcA, srs=latlon, offset=adam_latlon)
pcB = pcl.PointCloud([[0., 0., 0.]])
force_srs(pcB, srs=rdnew, offset=adam_rdnew)
# latlon [degrees] -> rdnew [m]
set_srs(pcA, same_as=pcB)
assert_less(
np.max(np.square(np.asarray(pcA))), 1e-3**2,
"Coordinate transform not accurate to 1 mm %s" % np.asarray(pcA))
# rdnew [m] -> latlon [degrees]
set_srs(pcB, srs=latlon, offset=[0, 0, 0])
# check horizontal error [degrees]
error = np.asarray(pcB)[0] - adam_latlon
assert_less(
np.max(np.square(error[0:2])), (1e-6)**2,
"Coordinate transform rdnew->latlon not accurate to 1e-6 degree %s" %
error[0:2])
# check vertical error [m]
assert_less(
abs(error[2]), (1e-6),
"Vertical Coordinate in of transform not accurate to 1e-6 meter %s" %
abs(error[2]))
def test_set_srs():
"""Test the set_srs() function"""
rdnew = osr.SpatialReference()
rdnew.SetFromUserInput( "EPSG:28992" )
latlon = osr.SpatialReference()
latlon.SetFromUserInput( "EPSG:4326" )
adam_latlon = np.array(
[4.904153991281891, 52.372337993959924, 42.97214563656598],
dtype=np.float64)
adam_rdnew = np.array([122104.0, 487272.0, 0.0], dtype=np.float64)
pcA = pcl.PointCloud ( [[0.,0.,0.]] )
force_srs( pcA, srs=latlon, offset=adam_latlon )
pcB = pcl.PointCloud ( [[0., 0., 0.]] )
force_srs( pcB, srs=rdnew, offset=adam_rdnew )
# latlon [degrees] -> rdnew [m]
set_srs( pcA, same_as=pcB )
assert_less( np.max( np.square( np.asarray( pcA ) ) ), 1e-3 ** 2,
"Coordinate transform not accurate to 1 mm %s" % np.asarray(pcA) )
# rdnew [m] -> latlon [degrees]
set_srs( pcB, srs=latlon, offset=[0,0,0] )
# check horizontal error [degrees]
error = np.asarray(pcB)[0] - adam_latlon
assert_less( np.max( np.square(error[0:2]) ), (1e-6) ** 2,
"Coordinate transform rdnew->latlon not accurate to 1e-6 degree %s"
% error[0:2] )
# check vertical error [m]
assert_less( abs(error[2]) , (1e-6) ,
"Vertical Coordinate in of transform not accurate to 1e-6 meter %s"
% abs(error[2]) )
assert os.path.exists(footprintcsv), footprintcsv + ' does not exist'
#####
# Setup * the low-res drivemap
# * footprint
# * pointcloud
# * up-vector
log("Reading drivemap", drivemapfile)
drivemap = load(drivemapfile)
force_srs(drivemap, srs="EPSG:32633")
log("Reading footprint", footprintcsv)
footprint = load(footprintcsv)
force_srs(footprint, srs="EPSG:32633")
set_srs(footprint, same_as=drivemap)
log("Reading object", sourcefile)
pointcloud = load(sourcefile)
Up = None
try:
with open(up_file) as f:
dic = json.load(f)
Up = np.array(dic['estimatedUpDirection'])
log("Reading up_file", up_file)
except:
log("Cannot parse upfile, skipping")
initial_registration(pointcloud,
Up,
assert os.path.exists(footprintcsv), footprintcsv + ' does not exist'
#####
# Setup * the low-res drivemap
# * footprint
# * pointcloud
# * up-vector
log("Reading drivemap", drivemapfile)
drivemap = load(drivemapfile)
force_srs(drivemap, srs="EPSG:32633")
log("Reading footprint", footprintcsv)
footprint = load(footprintcsv)
force_srs(footprint, srs="EPSG:32633")
set_srs(footprint, same_as=drivemap)
log("Reading object", sourcefile)
pointcloud = load(sourcefile)
Up = None
try:
with open(up_file) as f:
dic = json.load(f)
Up = np.array(dic['estimatedUpDirection'])
log("Reading up_file", up_file)
except:
log("Cannot parse upfile, skipping")
initial_registration(pointcloud, Up, drivemap,
trust_up=Trust_up, initial_scale=Initial_scale)