def test_thin(self):
n = 100 # number of points in original cloud, which we will thin to n/2
cloud = PointCloud(np.zeros((3, n)), np.zeros((3, n), np.uint8))
thinned = cloud.thin(int(n / 2))
self.assertEquals(thinned.num_points(), n / 2)
self.assertTrue(thinned.colored())
self.assertEquals(cloud.num_points(), n)
def test_write_ply_with_colors(self):
n = 100 # number of colors in original cloud, which we will thin to n/2
cloud_input = PointCloud(np.zeros((3, n)), np.zeros((3, n), np.uint8))
# Write test signal into write_ply
folder_path = parutil.get_file_path('sumo/threedee/test_data')
file_path = os.path.join(folder_path, 'example_write.ply')
cloud_input.write_ply(file_path)
def test_transform_from(self):
'''Test transform_from.'''
t = Vector3(1, 1, 1)
R = Rot3()
T = Pose3(R, t).inverse()
cloud = PointCloud(np.zeros((3, 1)))
new_cloud = cloud.transform_from(T)
np.testing.assert_array_equal(new_cloud.points(),
[[-1.0], [-1.0], [-1.0]])
def test_register(self):
''' Test registering point clouds in different frames. '''
t = Vector3(1, 1, 1)
R = Rot3()
T = Pose3(R, t).inverse()
cloud = PointCloud(np.zeros((3, 1)))
registred_cloud = PointCloud.register([(Pose3(), cloud), (T, cloud)])
np.testing.assert_array_equal(
registred_cloud.points(),
np.column_stack([Vector3(0, 0, 0),
Vector3(-1.0, -1.0, -1.0)]))
def test_write_ply(self):
# Prepare input test signal
folder_path = parutil.get_file_path('sumo/threedee/test_data')
file_path = os.path.join(folder_path, 'example_tetrahedron.ply')
cloud_input = PointCloud.load_ply(file_path)
# Write test signal into write_ply
file_path = os.path.join(folder_path, 'example_write.ply')
cloud_input.write_ply(file_path)
cloud_output = PointCloud.load_ply(file_path)
self.assertTrue(isinstance(cloud_output, PointCloud))
self.assertEqual(cloud_output.num_points(), cloud_input.num_points())
np.testing.assert_array_equal(cloud_output.points(),
cloud_input.points())
def test_write_ply_with_colors(self):
n = 100 # number of colors in original cloud
cloud_input = PointCloud(np.zeros((3, n)), np.zeros((3, n), np.uint8))
# Write test signal into a file
temp_dir = tempfile.mkdtemp()
file_path = os.path.join(temp_dir, 'example_write.ply')
cloud_input.write_ply(file_path)
# TODO: The current PointCloud class does not actually read
# colors. Add implementation.
# cloud_output = PointCloud.load_ply(file_path)
# self.assertTrue(isinstance(cloud_output, PointCloud))
# self.assertTrue(cloud_output.colored())
# self.assertEqual(cloud_output.colors().shape, [3, n])
os.remove(file_path)
def test_sum(self):
''' Test overloads of add for merging point clouds. '''
cloud = PointCloud(np.zeros((3, 10)), np.zeros((3, 10), np.uint8))
twice = cloud + cloud
self.assertTrue(isinstance(twice, PointCloud))
self.assertEquals(twice.num_points(), 20)
five = sum([twice, twice, cloud])
self.assertTrue(isinstance(five, PointCloud))
self.assertTrue(five.colored())
self.assertEquals(five.num_points(), 50)
self.assertEquals(five.colors().shape, (3, 50))
def test_append(self):
''' Test (imperative!) append method.'''
cloud = PointCloud(np.zeros((3, 10)), np.zeros((3, 10), np.uint8))
cloud.append(cloud)
self.assertEquals(cloud.num_points(), 20)
self.assertEquals(cloud.colors().shape, (3, 20))
def test_load_ply(self):
file_path = parutil.get_file_path(
'sumo/threedee/test_data/example_tetrahedron.ply')
cloud = PointCloud.load_ply(file_path)
self.assertTrue(isinstance(cloud, PointCloud))
self.assertEquals(cloud.num_points(), 12)
def test_colors(self):
n = 100 # number of colors in original cloud, which we will thin to n/2
cloud = PointCloud(np.zeros((3, n)), np.zeros((3, n), np.uint8))
self.assertTrue(cloud.colored())
def test_constructor(self):
points = np.reshape(np.arange(18), (3, 6))
cloud = PointCloud(points)
self.assertEquals(cloud.num_points(), 6)
np.testing.assert_array_equal(cloud.points(), points)
self.assertFalse(cloud.colored())
