tests.TestFindRotation

Complexity

Total Complexity

3

Size/Duplication

Total Lines	27
Duplicated Lines	0 %

3 Methods

Rating	Name	Duplication	Size	Complexity
A	test_rotated()	0	5	1
A	setUp()	0	13	1
A	test_perfectly_aligned()	0	4	1

import numpy as np
from patty.registration import find_rotation_xy
import pcl

from numpy.testing import assert_almost_equal
import unittest


class TestFindRotation(unittest.TestCase):
    '''Test rotation TestCase'''

    def setUp(self):
        '''Setup test'''
        angle = 0.3
        self.rotation = np.array([[np.cos(angle),  np.sin(angle), 0],
                                  [-np.sin(angle),  np.cos(angle), 0],
                                  [0,              0, 1]])

        data = np.random.random_sample(
            [200, 3]) * [5.0, 10.0, 1.0] - [2.5, 5, 0.5]
        self.pc1 = pcl.PointCloudXYZRGB(data.astype(np.float32))

        self.pc2 = pcl.PointCloudXYZRGB(data.astype(np.float32))
        self.pc2.rotate(self.rotation)

    def test_perfectly_aligned(self):
        '''Test find_rotation_xy function'''
        rotation = find_rotation_xy(self.pc1, self.pc1)
        assert_almost_equal(rotation, np.eye(3))

    def test_rotated(self):
        '''Test find_rotation_xy function'''
        rotation = find_rotation_xy(self.pc1, self.pc2)
        w1, v1 = np.linalg.eig(rotation[0:2, 0:2])
        w2, v2 = np.linalg.eig(self.rotation[0:2, 0:2])
        # assert_almost_equal( rotation, self.rotation )