def test_GetPointCloudPoint(self):
""" Should not raise exception. """
pc = test_tools.generate_tiny_test_point_cloud()
x, y, z = utils.get_point(pc, 1)
self.assertEqual(2, x)
self.assertEqual(3, y)
self.assertEqual(4, z)
def test_CopyEmptyPointCloud(self):
""" Should not raise exception. """
pc = test_tools.generate_tiny_test_point_cloud()
pc[keys.point]["x"]["data"] = np.array([])
pc[keys.point]["y"]["data"] = np.array([])
pc[keys.point]["z"]["data"] = np.array([])
copypc = utils.copy_point_cloud(pc)
self.assertEqual(0, len(copypc[keys.point]["x"]["data"]))
def test_GetPointCloudPointFeature(self):
""" Should not raise exception. """
pc = test_tools.generate_tiny_test_point_cloud()
cols = 0.5 * (pc[keys.point]["x"]["data"] +
pc[keys.point]["y"]["data"])
pc[keys.point]["color"] = {"type": "double", "data": cols}
x, y, z = utils.get_point(pc, 1)
c = utils.get_attribute_value(pc, 1, "color")
self.assertEqual(c, 0.5 * (x + y))
def test_CopyNonEmptyPointCloud(self):
""" Test whether coordinates are copied """
pc = test_tools.generate_tiny_test_point_cloud()
x = pc[keys.point]["x"]["data"]
y = pc[keys.point]["y"]["data"]
z = pc[keys.point]["z"]["data"]
copypc = utils.copy_point_cloud(pc)
self.assertTrue(all(x == copypc[keys.point]["x"]["data"]))
self.assertTrue(all(y == copypc[keys.point]["y"]["data"]))
self.assertTrue(all(z == copypc[keys.point]["z"]["data"]))
def test_AddToPointCloudEmpty(self):
pc_1 = utils.create_point_cloud([], [], [])
pc_2 = test_tools.generate_tiny_test_point_cloud()
utils.add_to_point_cloud(pc_1, pc_2)
for attr in pc_2[keys.point].keys():
self.assertIn(attr, pc_1[keys.point])
self.assertEqual(pc_1[keys.point][attr]['type'],
pc_2[keys.point][attr]['type'])
self.assertTrue(
all(pc_1[keys.point][attr]['data'] == pc_2[keys.point][attr]
['data']))
def test_CopyNonEmptyPointCloudBoolMask(self):
""" Test whether coordinates are copied with boolean mask """
pc = test_tools.generate_tiny_test_point_cloud()
x = pc[keys.point]["x"]["data"][2]
y = pc[keys.point]["y"]["data"][2]
z = pc[keys.point]["z"]["data"][2]
copypc = utils.copy_point_cloud(pc,
array_mask=np.array(
[False, False, True]))
self.assertTrue(all(np.array([x]) == copypc[keys.point]["x"]["data"]))
self.assertTrue(all(np.array([y]) == copypc[keys.point]["y"]["data"]))
self.assertTrue(all(np.array([z]) == copypc[keys.point]["z"]["data"]))
def test_GetPointCloudPointFeatures(self):
""" Should not raise exception. """
pc = test_tools.generate_tiny_test_point_cloud()
cols = 0.5 * (pc[keys.point]["x"]["data"] +
pc[keys.point]["y"]["data"])
flavs = 0.5 * (pc[keys.point]["x"]["data"] -
pc[keys.point]["y"]["data"])
pc[keys.point]["color"] = {"type": "double", "data": cols}
pc[keys.point]["flavor"] = {"type": "double", "data": flavs}
x, y, z = utils.get_point(pc, 2)
c, f = utils.get_features(pc, ("color", "flavor"), 2)
self.assertEqual(c, 0.5 * (x + y))
self.assertEqual(f, 0.5 * (x - y))
def test_CopyNonEmptyPointCloudIntMask(self):
""" Test whether coordinates are copied with array indexing """
pc = test_tools.generate_tiny_test_point_cloud()
x0, x1 = pc[keys.point]["x"]["data"][0], pc[keys.point]["x"]["data"][1]
y0, y1 = pc[keys.point]["y"]["data"][0], pc[keys.point]["y"]["data"][1]
z0, z1 = pc[keys.point]["z"]["data"][0], pc[keys.point]["z"]["data"][1]
copypc = utils.copy_point_cloud(pc, array_mask=np.array([1, 0]))
self.assertTrue(
all(np.array([x1, x0]) == copypc[keys.point]["x"]["data"]))
self.assertTrue(
all(np.array([y1, y0]) == copypc[keys.point]["y"]["data"]))
self.assertTrue(
all(np.array([z1, z0]) == copypc[keys.point]["z"]["data"]))
def test_CopyPointCloudMetaData(self):
""" Test whether metadata are copied """
pc = test_tools.generate_tiny_test_point_cloud()
pc["log"] = [{
"time": datetime.datetime(2018, 1, 23, 12, 15, 59),
"module": "filter",
"parameters": [("z", "gt", 0.5)]
}]
copypc = utils.copy_point_cloud(pc)
self.assertEqual(datetime.datetime(2018, 1, 23, 12, 15, 59),
copypc["log"][0]["time"])
self.assertEqual("filter", copypc["log"][0]["module"])
self.assertEqual([("z", "gt", 0.5)], copypc["log"][0]["parameters"])
def test_AddMetaDataToPointCloud(self):
""" Test adding info to the point cloud for test module """
pc = test_tools.generate_tiny_test_point_cloud()
from laserchicken import select as somemodule
utils.add_metadata(pc, somemodule, params=(0.5, "cylinder", 4))
self.assertEqual(len(pc[keys.provenance]), 1)
