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import os |
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from tempfile import NamedTemporaryFile |
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import pcl |
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import numpy as np |
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from patty import utils |
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from numpy.testing import assert_array_almost_equal |
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from nose.tools import assert_equal, assert_raises |
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def _compare( pcA, pcB ): |
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''' compare two pointclouds point-by-point''' |
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pcA_arr = np.asarray(pcA) |
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pcB_arr = np.asarray(pcB) |
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# dont use set_srs function, they will be tested later |
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if hasattr(pcA, 'offset' ): |
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pcA_arr += pcA.offset |
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if hasattr(pcB, 'offset' ): |
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pcB_arr += pcB.offset |
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assert_array_almost_equal(pcA_arr, pcB_arr, 2, |
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"Written/read point clouds are different!") |
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def test_read_write(): |
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''' Test read and write LAS files functionality''' |
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filename = './testIO.las' |
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# make and save a pointcloud |
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pc1 = pcl.PointCloud(10) |
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pc1_arr = np.asarray(pc1) |
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pc1_arr[:] = np.random.randn(*pc1_arr.shape) |
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utils.save(pc1, filename) |
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# reload it |
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pc2 = utils.load(filename) |
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_compare( pc1, pc2 ) |
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os.remove(filename) |
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def test_auto_file_format(): |
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"""Test saving and loading pointclouds via the pcl loader""" |
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# make and save a pointcloud |
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pc = pcl.PointCloud(10) |
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pc_arr = np.asarray(pc) |
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pc_arr[:] = np.random.randn(*pc_arr.shape) |
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with NamedTemporaryFile(suffix='.ply') as f: |
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utils.save(pc, f.name) |
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pc2 = utils.load(f.name) |
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_compare( pc, pc2 ) |
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with NamedTemporaryFile(suffix='.pcd') as f: |
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utils.save(pc, f.name) |
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pc2 = utils.load(f.name) |
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_compare( pc, pc2 ) |
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with NamedTemporaryFile(suffix='.las') as f: |
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utils.save(pc, f.name, format="PLY") |
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pc2 = utils.load(f.name, format="PLY") |
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_compare( pc, pc2 ) |
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with NamedTemporaryFile(suffix='.las') as f: |
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utils.save(pc, f.name, format="PCD") |
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pc2 = utils.load(f.name, format="PCD") |
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_compare( pc, pc2 ) |
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def test_downsample_random(): |
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pc = pcl.PointCloud(10) |
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a = np.asarray(pc) |
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a[:] = np.random.randn(*a.shape) |
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assert_raises(ValueError, utils.downsample_random, pc, 0) |
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assert_raises(ValueError, utils.downsample_random, pc, 2) |
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assert_equal(len(utils.downsample_random(pc, .39)), 4) |
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NLeSC /
PattyAnalytics
