def test_construction_methods(self, max_num_points, batch_size,
batch_shape):
points, sizes = utils._create_random_point_cloud_padded(
max_num_points, batch_shape)
num_points = np.sum(sizes)
sizes_flat = sizes.reshape([batch_size])
points_flat = points.reshape([batch_size, max_num_points, 3])
batch_ids = np.repeat(np.arange(0, batch_size), sizes_flat)
points_seg = np.empty([num_points, 3])
cur_id = 0
for pts, size in zip(points_flat, sizes_flat):
points_seg[cur_id:cur_id + size] = pts[:size]
cur_id += size
pc_from_padded = PointCloud(points, sizes=sizes)
self.assertAllEqual(batch_ids, pc_from_padded._batch_ids)
self.assertAllClose(points_seg, pc_from_padded._points)
pc_from_ids = PointCloud(points_seg, batch_ids)
pc_from_ids.set_batch_shape(batch_shape)
pc_from_sizes = PointCloud(points_seg, sizes=sizes_flat)
pc_from_sizes.set_batch_shape(batch_shape)
self.assertAllEqual(batch_ids, pc_from_sizes._batch_ids)
points_from_padded = pc_from_padded.get_points(
max_num_points=max_num_points)
points_from_ids = pc_from_ids.get_points(max_num_points=max_num_points)
points_from_sizes = pc_from_sizes.get_points(
max_num_points=max_num_points)
self.assertAllEqual(points_from_padded, points_from_ids)
self.assertAllEqual(points_from_ids, points_from_sizes)
self.assertAllEqual(points_from_sizes, points_from_padded)
def test_flatten_unflatten_padded(self, batch_shape, num_points,
dimension):
batch_size = np.prod(batch_shape)
points, sizes = utils._create_random_point_cloud_padded(
num_points, batch_shape, dimension=dimension)
point_cloud = PointCloud(points, sizes=sizes)
retrieved_points = point_cloud.get_points().numpy()
self.assertAllEqual(points.shape, retrieved_points.shape)
points = points.reshape([batch_size, num_points, dimension])
retrieved_points = retrieved_points.reshape(
[batch_size, num_points, dimension])
sizes = sizes.reshape([batch_size])
for i in range(batch_size):
self.assertAllClose(points[i, :sizes[i]],
retrieved_points[i, :sizes[i]])
self.assertTrue(np.all(retrieved_points[i, sizes[i]:] == 0))