def test_downsample_empty(self):
"""Check that the downsample returns an empty pointcloud when passed an empty pointcloud"""
pc_orig = cwipc.cwipc_from_points([], 0)
pc_filtered = cwipc.cwipc_downsample(pc_orig, 1)
self.assertEqual(len(pc_orig.get_points()), 0)
self.assertEqual(len(pc_filtered.get_points()), 0)
pc_orig.free()
pc_filtered.free()
def test_cwipc_from_points_empty(self):
"""Can we create a cwipc object from a empty list of values"""
points = cwipc.cwipc_point_array(values=[])
pc = cwipc.cwipc_from_points(points, 0)
newpoints = pc.get_points()
self.assertEqual(len(points), 0)
self.assertEqual(len(newpoints), 0)
pc.free()
def test_cwipc_timestamp_cellsize(self):
"""Can we set and retrieve the timestamp and cellsize in a cwipc"""
timestamp = 0x11223344556677
pc = cwipc.cwipc_from_points([], timestamp)
self.assertEqual(pc.timestamp(), timestamp)
self.assertEqual(pc.cellsize(), 0)
pc._set_cellsize(1.0)
self.assertEqual(pc.cellsize(), 1.0)
pc.free()
def _ensure_cwipc(self):
"""Internal - make sure the cwipc is valid"""
if self.cwipc: return
tilenum = 1
points = self.o3d.points
colors = self.o3d.colors
tiles = np.array([[tilenum]] * len(points))
cwiPoints = np.hstack((points, colors, tiles))
cwiPoints = list(
map(
lambda p: (p[0], p[1], p[2], int(p[3] * 255), int(p[4] * 255),
int(p[5] * 255), int(p[6])), list(cwiPoints)))
self.cwipc = cwipc.cwipc_from_points(cwiPoints, 0)
def test_cwipc_timestamp_cellsize(self):
"""Can we set and retrieve the timestamp and cellsize in a cwipc"""
timestamp = 0x11223344556677
pc = cwipc.cwipc_from_points([(0, 0, 0, 0, 0, 0, 1),
(1, 0, 0, 0, 0, 0, 1),
(2, 0, 0, 0, 0, 0, 1),
(3, 0, 0, 0, 0, 0, 1)], timestamp)
self.assertEqual(pc.timestamp(), timestamp)
self.assertEqual(pc.cellsize(), 0)
pc._set_cellsize(0.1)
self.assertAlmostEqual(pc.cellsize(), 0.1)
pc._set_cellsize(-1)
self.assertAlmostEqual(pc.cellsize(), 1.0)
pc.free()
def test_cwipc_from_points(self):
"""Can we create a cwipc object from a list of values"""
points = cwipc.cwipc_point_array(values=[(1, 2, 3, 0x10, 0x20, 0x30, 1), (4, 5, 6, 0x40, 0x50, 0x60, 2)])
pc = cwipc.cwipc_from_points(points, 0)
newpoints = pc.get_points()
self.assertEqual(len(points), len(newpoints))
for i in range(len(points)):
op = points[i]
np = newpoints[i]
self.assertEqual(op.x, np.x)
self.assertEqual(op.y, np.y)
self.assertEqual(op.z, np.z)
self.assertEqual(op.r, np.r)
self.assertEqual(op.g, np.g)
self.assertEqual(op.b, np.b)
self.assertEqual(op.tile, np.tile)
pc.free()
def test_cwipc_codec_roundtrip_empty(self):
"""Check that we can roundtrip an empty pointcloud"""
timestamp = 0x2233445566778899
pc = cwipc.cwipc_from_points([], timestamp)
encoder = _cwipc_codec.cwipc_new_encoder()
decoder = _cwipc_codec.cwipc_new_decoder()
encoder.feed(pc)
data = encoder.get_bytes()
self.assertNotEqual(len(data), 0)
decoder.feed(data)
pc2 = decoder.get()
points = pc.get_points()
points2 = pc2.get_points()
self.assertEqual(len(points), 0)
self.assertEqual(len(points2), 0)
self.assertEqual(pc2.timestamp(), timestamp)
encoder.free()
decoder.free()
pc.free()
pc2.free()
def _build_pointcloud(self):
points = cwipc.cwipc_point_array(
values=[(1, 2, 3, 0x10, 0x20, 0x30,
1), (4, 5, 6, 0x40, 0x50, 0x60, 2)])
return cwipc.cwipc_from_points(points, 0)
def from_points(klass, points):
"""Create Pointcloud from list of xyzrgbt tuples"""
self = klass()
pc = cwipc.cwipc_from_points(points, 0)
self.cwipc = pc
return self