def test_extend_pointcloud1(self):
LOG.info("Testing pointcloud extension - bad")
pc1 = pointcloud.Pointcloud(
np.ones((2, 2)), np.ones(2), some_attr=np.ones(2))
pc2 = pointcloud.Pointcloud(np.ones((2, 2)), np.ones(2))
with self.assertRaises(ValueError):
pc1.extend(pc2)
def test_extend_pointcloud3(self):
LOG.info("Testing pointcloud extension - least common")
pc1 = pointcloud.Pointcloud(np.ones((2, 2)), np.ones(
2), some_attr=np.ones(2), some_other=np.ones(2))
pc2 = pointcloud.Pointcloud(
np.ones((2, 2)), np.ones(2), some_attr=np.ones(2) * 3)
pc1.extend(pc2, least_common=True)
self.assertSetEqual(pc1.attributes, {"some_attr"})
def test_extend_pointcloud2(self):
LOG.info("Testing pointcloud extension - ok")
pc1 = pointcloud.Pointcloud(
np.ones((2, 2)), np.ones(2), some_attr=np.ones(2))
pc2 = pointcloud.Pointcloud(
np.ones((2, 2)), np.ones(2), some_attr=np.ones(2) * 3)
pc1.extend(pc2)
self.assertEqual(pc1.size, 4)
self.assertIn("some_attr", pc1.attributes)
def test_pointcloud_empty_like(self):
LOG.info("Testing pointcloud empty_like factory function")
pc = pointcloud.Pointcloud(
np.ones((2, 2)), np.ones(2), some_attr=np.ones(2))
empty = pointcloud.empty_like(pc)
self.assertSetEqual(pc.attributes, empty.attributes)
self.assertEqual(empty.size, 0)
def test_pointcloud_min_filter(self):
LOG.info("Test pointcloud min filter")
pc = pointcloud.Pointcloud(
((0, 0), (1, 0), (2, 0), (3, 0)), (1, 2, 3, 4))
pc.sort_spatially(2)
z = pc.min_filter(1.5)
self.assertTrue((z == (1, 1, 2, 3)).all())
def test_pointcloud_conversion(self):
LOG.info("Testing pointcloud conversion")
pc = pointcloud.Pointcloud(np.ones((5, 2)), np.ones(5),
c=np.ones(5, dtype=np.uint8))
lpc1 = pc.astype(pointcloud.LidarPointcloud)
lpc2 = lpc1.cut_to_class(1)
self.assertEqual(lpc1.size, lpc2.size)
def test_cut_pointcloud(self):
LOG.info("Testing cut poincloud")
pc = pointcloud.Pointcloud(np.ones((5, 2)), np.ones(5),
some_attr=np.ones(5), some_other=np.ones(5))
M = np.array([1, 0, 1, 1, 0]).astype(np.bool)
pc = pc.cut(M)
self.assertEqual(pc.size, M.sum())
self.assertSetEqual(pc.attributes, {"some_attr", "some_other"})
def test_spike_filter(self):
LOG.info("Test pointcloud spike filter")
pc = pointcloud.Pointcloud.from_array(np.ones((2, 2)), [-0.5, 1, 0, 1.5, 0, -1])
pc.extend(pointcloud.Pointcloud([[0.5, 0.5]], (-5.0,)))
pc.sort_spatially(2)
vlim = (0.4) ** 2
M = pc.spike_filter(2, vlim)
self.assertTrue(M.sum() == 1)
self.assertEqual(pc.z[np.where(M)[0][0]], -5.0)
def test_sort_pointcloud(self):
LOG.info("Test pointcloud sorting")
r = np.linspace(0, np.pi * 2, 100)
xy = np.column_stack((r * np.cos(r), r * np.sin(r))) * 5
c = np.arange(xy.shape[0])
pc = pointcloud.Pointcloud(xy, np.ones(xy.shape[0]), c=c)
pc.sort_spatially(1, keep_sorting=True)
self.assertTrue((c != pc.c).any())
pc.sort_back()
self.assertTrue((pc.c == c).all())
def test_pointcloud_attributes(self):
LOG.info("Test pointcloud attributes")
pc = pointcloud.Pointcloud(
np.ones((10, 2)), np.ones(10), a=np.arange(10))
with self.assertRaises(pointcloud.InvalidArrayError):
pc.xy = 10
with self.assertRaises(pointcloud.InvalidArrayError):
pc.a = "abc"
# Should be ok
pc.a = range(10, 0, -1)
self.assertEqual(pc.a[0], 10)
def test_pointcloud_constructor_bad(self):
LOG.info("Testing pointcloud constructor -bad")
with self.assertRaises(AssertionError):
pc = pointcloud.Pointcloud(np.ones((2, 2)), np.ones(
2), some_attr=np.ones(4, dtype=np.uint8))
def test_pointcloud_constructor1(self):
LOG.info("Testing pointcloud constructor")
pc = pointcloud.Pointcloud(np.ones((2, 2)), np.ones(
2), some_attr=np.ones(2, dtype=np.uint8))
self.assertIn("some_attr", pc.attributes)
self.assertTrue(pc.some_attr.dtype == np.uint8)
