def test_overlapping_sample_pair(self):
readouts = load_readouts(
get_test_file_path("samples/d19/overlapping.txt"))
rhs_frame, rhs_orientation = find_reference_frame(
readouts[0], readouts[1], 12)
rhs_aligned = realign_scanner(readouts[1], rhs_orientation)
rhs_beacons = [
apply_reference_frame(beacon, rhs_frame)
for beacon in rhs_aligned.beacons
]
lhs_beacons = {beacon for beacon in readouts[0].beacons}
common_beacons = {
beacon
for beacon in rhs_beacons if beacon in lhs_beacons
}
expected_beacons = {
Point(x=-618, y=-824, z=-621),
Point(x=-537, y=-823, z=-458),
Point(x=-447, y=-329, z=318),
Point(x=404, y=-588, z=-901),
Point(x=544, y=-627, z=-890),
Point(x=528, y=-643, z=409),
Point(x=-661, y=-816, z=-575),
Point(x=390, y=-675, z=-793),
Point(x=423, y=-701, z=434),
Point(x=-345, y=-311, z=381),
Point(x=459, y=-707, z=401),
Point(x=-485, y=-357, z=347)
}
self.assertSetEqual(common_beacons, expected_beacons)
def test_all_beacons(self):
readouts = load_readouts(
get_test_file_path("samples/d19/overlapping.txt"))
scanners = readouts
unique_beacons, frames = find_unique_points(scanners)
self.assertEqual(len(unique_beacons), 79)
self.assertEqual(
get_greatest_distance([frame for _, frame in frames.items()]),
3621)
def test_load_scanners(self):
readouts = load_readouts(get_test_file_path("samples/d19/tiny.txt"))
self.assertEqual(len(readouts), 2)
scanner_0 = ScannerReadout(
beacons=[Point(0, 2, 0),
Point(4, 1, 0),
Point(3, 3, 0)],
name="--- scanner 0 ---")
scanner_1 = ScannerReadout(
beacons=[Point(-1, -1, 0),
Point(-5, 0, 0),
Point(-2, 1, 0)],
name="--- scanner 1 ---")
self.assertListEqual(readouts, [scanner_0, scanner_1])
def test_tiny_example(self):
readouts = load_readouts(get_test_file_path("samples/d19/tiny.txt"))
lhs_frame, rhs_frame, orientation = find_aligned_frames(
readouts[0], readouts[1], 3)
lhs_beacons = [
apply_reference_frame(beacon, lhs_frame)
for beacon in readouts[0].beacons
]
rhs_beacons = [
apply_reference_frame(beacon, rhs_frame)
for beacon in readouts[1].beacons
]
lhs_beacons.sort()
rhs_beacons.sort()
self.assertListEqual(lhs_beacons, rhs_beacons)
def test_overlapping_pair_chain(self):
expected_beacons = {
Point(x=459, y=-707, z=401),
Point(x=-739, y=-1745, z=668),
Point(x=-485, y=-357, z=347),
Point(x=432, y=-2009, z=850),
Point(x=528, y=-643, z=409),
Point(x=423, y=-701, z=434),
Point(x=-345, y=-311, z=381),
Point(x=408, y=-1815, z=803),
Point(x=534, y=-1912, z=768),
Point(x=-687, y=-1600, z=576),
Point(x=-447, y=-329, z=318),
Point(x=-635, y=-1737, z=486),
}
readouts = load_readouts(
get_test_file_path("samples/d19/overlapping.txt"))
reference_scanner = readouts[0]
mid_scanner = readouts[1]
end_scanner = readouts[4]
self.assertEqual(reference_scanner.name, "--- scanner 0 ---")
self.assertEqual(mid_scanner.name, "--- scanner 1 ---")
self.assertEqual(end_scanner.name, "--- scanner 4 ---")
mid_frame, mid_orientation = find_reference_frame(
reference_scanner, mid_scanner, 12)
mid_aligned = realign_scanner(mid_scanner, mid_orientation)
mid_beacons = {
apply_reference_frame(beacon, mid_frame)
for beacon in mid_aligned.beacons
}
end_frame, end_orientation = find_reference_frame(
mid_aligned, end_scanner, 12)
end_aligned = realign_scanner(end_scanner, end_orientation)
end_beacons = [
apply_reference_frame(beacon, end_frame)
for beacon in end_aligned.beacons
]
end_beacons = [
apply_reference_frame(beacon, mid_frame) for beacon in end_beacons
]
common_beacons = {
beacon
for beacon in end_beacons if beacon in mid_beacons
}
self.assertSetEqual(common_beacons, expected_beacons)
def test_pair(self):
readouts = load_readouts(
get_test_file_path("samples/d19/overlapping.txt"))
scanners = [readouts[0], readouts[1]]
unique_beacons = find_unique_points(scanners)[0]
common_beacons = {
Point(x=-618, y=-824, z=-621),
Point(x=-537, y=-823, z=-458),
Point(x=-447, y=-329, z=318),
Point(x=404, y=-588, z=-901),
Point(x=544, y=-627, z=-890),
Point(x=528, y=-643, z=409),
Point(x=-661, y=-816, z=-575),
Point(x=390, y=-675, z=-793),
Point(x=423, y=-701, z=434),
Point(x=-345, y=-311, z=381),
Point(x=459, y=-707, z=401),
Point(x=-485, y=-357, z=347)
}
expected_beacons_count = len(readouts[0].beacons) + len(
readouts[1].beacons) - len(common_beacons)
self.assertEqual(len(unique_beacons), expected_beacons_count)
def test_small_fourth_rotation(self):
readouts = load_readouts(
get_test_file_path("samples/d19/small/roation_4.txt"))
self.find_and_apply_common_frame(readouts[0], readouts[1], 5)
def test_tiny_example_ref_frame(self):
readouts = load_readouts(get_test_file_path("samples/d19/tiny.txt"))
self.find_and_apply_common_frame(readouts[0], readouts[1], 3)
def test_sample_four(self):
readouts = load_readouts(
get_test_file_path("samples/d19/rotations/sample4.txt"))
self.find_common_rotation(readouts[0], readouts[1])
