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_write(self):
"""Can we write a cwipc to a ply file and read it back?"""
pc = self._build_pointcloud()
filename = os.path.join(TEST_OUTPUT_DIR, 'test_cwipc_write.ply')
cwipc.cwipc_write(filename, pc)
pc2 = cwipc.cwipc_read(filename, 0)
self.assertEqual(list(pc.get_points()), list(pc2.get_points()))
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_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_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 _get(self, fn):
return cwipc.cwipc_read(fn, int(time.time()))
def getpointcloud(self):
pc = cwipc.cwipc_read(self.pcFilename, 0)
return Pointcloud.from_cwipc(pc)
def test_cwipc_read_nonexistent(self):
"""When we read a cwipc from a nonexistent ply file do we get an exception?"""
with self.assertRaises(cwipc.CwipcError):
pc = cwipc.cwipc_read(PLY_FILENAME + '.nonexistent', 1234)
def test_cwipc_read(self):
"""Can we read a cwipc from a ply file?"""
pc = cwipc.cwipc_read(PLY_FILENAME, 1234)
self.assertEqual(pc.timestamp(), 1234)
self._verify_pointcloud(pc)
pc.free()
def from_file(klass, filename):
"""Create Pointcloud from ply file"""
self = klass()
pc = cwipc.cwipc_read(filename)
self.cwipc = pc
return self
