def test_constructor(self):
""" Test that we can make an instance """
rgb = np.zeros((10, 10, 3), np.uint8)
range = np.zeros((10, 10), np.float32)
category = np.zeros((10, 10), np.uint16)
instance = np.zeros((10, 10), np.uint16)
rgbdci_360 = Rgbdci360(rgb, range, category, instance)
self.assertTrue(isinstance(rgbdci_360, Rgbdci360))
def test_rgbdci_tiff(self):
"""We can write and read a tiff file"""
tiff_path = os.path.join(self.temp_directory, "test.tif")
rgb = np.random.randint(0, 255, size=(5, 5, 3)).astype(np.uint8)
# Note near plane is 0.3, which is minimum representable range
range = np.random.uniform(0.3, 10.0,
size=(100, 100)).astype(np.float32)
category = np.random.randint(0, 32000,
size=(100, 100)).astype(np.uint16)
instance = np.random.randint(0, 32000,
size=(100, 100)).astype(np.uint16)
rgbdci_360 = Rgbdci360(rgb, range, category, instance)
rgbdci_360.save(tiff_path)
rgbdci_360_read = Rgbdci360.load(tiff_path)
np.testing.assert_array_equal(rgbdci_360_read.rgb, rgbdci_360.rgb)
np.testing.assert_array_almost_equal(rgbdci_360_read.range,
rgbdci_360.range,
decimal=2)
np.testing.assert_array_equal(rgbdci_360_read.category,
rgbdci_360.category)
np.testing.assert_array_equal(rgbdci_360_read.instance,
rgbdci_360.instance)
def test_create_point_cloud(self):
"Create point cloud from random data and check the number of points."
rgb = np.random.randint(0, 255, size=(100, 100, 3)).astype(np.uint8)
# Note near plane is 0.3, which is minimum representable range
range = np.random.uniform(0.3, 10.0,
size=(100, 100)).astype(np.float32)
category = np.random.randint(0, 32000,
size=(100, 100)).astype(np.uint16)
instance = np.random.randint(0, 32000,
size=(100, 100)).astype(np.uint16)
rgbdci_360 = Rgbdci360(rgb, range, category, instance)
point_cloud = rgbdci_360.create_point_cloud()
self.assertEqual(point_cloud.num_points(), 10000)