def test_handle_adds_to_existing_points(self):
sections = 4
frame = np.ones((200, 200), dtype='uint8')
self.img2point = Mock()
points = [
np.array([[1.0, 1.0, 1.0]], dtype='float16'),
np.array([[2.0, 2.0, 2.0]], dtype='float16')
]
self.img2point.get_points.side_effect = points
point_capture = PointCaptureXYZ(sections,
self.img2point,
self.laser_theta,
points_xyz=np.array(
[[-1.0, -1.0, -1.0],
[-2.0, -2.0, -2.0]]))
expected = np.array([[-1.0, -1.0, -1.0], [-2.0, -2.0, -2.0],
[1.0, 1.0, 1.0], [2.0, 2.0, 2.0]])
point_capture.handle(laser_detection=frame, section=0, roi=self.roi)
point_capture.handle(laser_detection=frame, section=1, roi=self.roi)
actual = point_capture.points_xyz
self.assertEquals(expected.shape, actual.shape)
self.assertTrue((expected == actual).all())
def test_complete_should_be_false_if_all_sections_unhandled(self):
sections = 200
point_capture = PointCaptureXYZ(sections, self.img2point, self.laser_theta)
for idx in range(sections - 2):
point_capture.handle(laser_detection="BLA", section=idx, roi=self.roi)
self.assertFalse(point_capture.complete)
def test_handle_calls_img2points(self):
sections = 200
frame = np.ones((200,200), dtype='uint8')
point_capture = PointCaptureXYZ(sections, self.img2point, self.laser_theta)
point_capture.handle(laser_detection=frame, section=0, roi=self.roi)
self.img2point.get_points.assert_called_with(frame, 0, self.roi, self.laser_theta)
def test_status_should_return_amount_complete(self):
sections = 10
point_capture = PointCaptureXYZ(sections, self.img2point, self.laser_theta)
for idx in range(sections):
self.assertEquals(idx / float(sections), point_capture.status)
point_capture.handle(laser_detection="BLA", section=idx, roi=self.roi)
self.assertEquals(1.0, point_capture.status)
def test_should_handle_all_sections_if_starting_at_not_0_index(self):
sections = 200
point_capture = PointCaptureXYZ(sections, self.img2point, self.laser_theta)
for idx in range(sections):
index = (idx + 50) % 200
result = point_capture.handle(laser_detection="BLA", section=idx, roi=self.roi)
self.assertFalse(result)
def capture_points_xyz(self, laser_theta, points=None, call_back=None):
if call_back:
self.video_processor.subscribe(
PointCaptureXYZ(self.encoder.sections, self.img2points,
laser_theta, points), call_back)
else:
self.video_processor.subscribe(
PointCaptureXYZ(self.encoder.sections, self.img2points,
laser_theta, points))
def test_handle_calls_img2points(self):
sections = 200
frame = np.ones((200, 200), dtype='uint8')
point_capture = PointCaptureXYZ(sections, self.img2point,
self.laser_theta)
point_capture.handle(laser_detection=frame, section=0, roi=self.roi)
self.img2point.get_points.assert_called_with(frame, 0, self.roi,
self.laser_theta)
def test_complete_should_be_false_if_all_sections_unhandled(self):
sections = 200
point_capture = PointCaptureXYZ(sections, self.img2point,
self.laser_theta)
for idx in range(sections - 2):
point_capture.handle(laser_detection="BLA",
section=idx,
roi=self.roi)
self.assertFalse(point_capture.complete)
def test_handle_calls_img2points_with_correct_rad(self):
sections = 200
current_section = 50
expected_rad = np.pi / 2.0
frame = np.ones((200, 200), dtype='uint8')
point_capture = PointCaptureXYZ(sections, self.img2point, self.laser_theta)
point_capture.handle(laser_detection=frame, section=current_section, roi=self.roi)
self.img2point.get_points.assert_called_with(frame, expected_rad, self.roi, self.laser_theta)
def test_should_handle_all_sections_if_starting_at_not_0_index(self):
sections = 200
point_capture = PointCaptureXYZ(sections, self.img2point,
self.laser_theta)
for idx in range(sections):
index = (idx + 50) % 200
result = point_capture.handle(laser_detection="BLA",
section=idx,
roi=self.roi)
self.assertFalse(result)
def test_status_should_return_amount_complete(self):
sections = 10
point_capture = PointCaptureXYZ(sections, self.img2point,
self.laser_theta)
for idx in range(sections):
self.assertEquals(idx / float(sections), point_capture.status)
point_capture.handle(laser_detection="BLA",
section=idx,
roi=self.roi)
self.assertEquals(1.0, point_capture.status)
def test_handle_stores_points(self):
sections = 200
frame = np.ones((200, 200), dtype='uint8')
point_capture = PointCaptureXYZ(sections, self.img2point, self.laser_theta)
expected = np.array([[1.0, 1.0, 1.0]])
point_capture.handle(laser_detection=frame, section=0, roi=self.roi)
actual = point_capture.points_xyz
self.assertTrue((expected == actual).all())
def test_handle_stores_points(self):
sections = 200
frame = np.ones((200, 200), dtype='uint8')
point_capture = PointCaptureXYZ(sections, self.img2point,
self.laser_theta)
expected = np.array([[1.0, 1.0, 1.0]])
point_capture.handle(laser_detection=frame, section=0, roi=self.roi)
actual = point_capture.points_xyz
self.assertTrue((expected == actual).all())
def test_handle_calls_img2points_with_correct_rad(self):
sections = 200
current_section = 50
expected_rad = np.pi / 2.0
frame = np.ones((200, 200), dtype='uint8')
point_capture = PointCaptureXYZ(sections, self.img2point,
self.laser_theta)
point_capture.handle(laser_detection=frame,
section=current_section,
roi=self.roi)
self.img2point.get_points.assert_called_with(frame, expected_rad,
self.roi,
self.laser_theta)
def test_handle_stores_points_more_then_once(self):
sections = 4
frame = np.ones((200, 200), dtype='uint8')
self.img2point = Mock()
points = [np.array([[1.0, 1.0, 1.0]], dtype='float16'), np.array([[2.0, 2.0, 2.0]], dtype='float16')]
self.img2point.get_points.side_effect = points
point_capture = PointCaptureXYZ(sections, self.img2point, self.laser_theta)
expected = np.array([[1.0, 1.0, 1.0], [2.0, 2.0, 2.0]])
point_capture.handle(laser_detection=frame, section=0, roi=self.roi)
point_capture.handle(laser_detection=frame, section=1, roi=self.roi)
actual = point_capture.points_xyz
self.assertTrue((expected == actual).all())
def test_handle_adds_to_existing_points(self):
sections = 4
frame = np.ones((200, 200), dtype='uint8')
self.img2point = Mock()
points = [np.array([[1.0, 1.0, 1.0]], dtype='float16'), np.array([[2.0, 2.0, 2.0]], dtype='float16')]
self.img2point.get_points.side_effect = points
point_capture = PointCaptureXYZ(sections, self.img2point, self.laser_theta, points_xyz=np.array([[-1.0, -1.0, -1.0], [-2.0, -2.0, -2.0]]))
expected = np.array([[-1.0, -1.0, -1.0], [-2.0, -2.0, -2.0], [1.0, 1.0, 1.0], [2.0, 2.0, 2.0]])
point_capture.handle(laser_detection=frame, section=0, roi=self.roi)
point_capture.handle(laser_detection=frame, section=1, roi=self.roi)
actual = point_capture.points_xyz
self.assertEquals(expected.shape, actual.shape)
self.assertTrue((expected == actual).all())
def test_handle_stores_points_more_then_once(self):
sections = 4
frame = np.ones((200, 200), dtype='uint8')
self.img2point = Mock()
points = [
np.array([[1.0, 1.0, 1.0]], dtype='float16'),
np.array([[2.0, 2.0, 2.0]], dtype='float16')
]
self.img2point.get_points.side_effect = points
point_capture = PointCaptureXYZ(sections, self.img2point,
self.laser_theta)
expected = np.array([[1.0, 1.0, 1.0], [2.0, 2.0, 2.0]])
point_capture.handle(laser_detection=frame, section=0, roi=self.roi)
point_capture.handle(laser_detection=frame, section=1, roi=self.roi)
actual = point_capture.points_xyz
self.assertTrue((expected == actual).all())
def test_handle_ignores_extra_keywords(self):
point_capture = PointCaptureXYZ(10, self.img2point, self.laser_theta)
point_capture.handle(frame='pizza', laser_detection="BLA", section=0, roi=self.roi)
def test_handle_ignores_extra_keywords(self):
point_capture = PointCaptureXYZ(10, self.img2point, self.laser_theta)
point_capture.handle(frame='pizza',
laser_detection="BLA",
section=0,
roi=self.roi)
