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import os.path
import pickle
import shutil
import tempfile
import unittest
import pcl
import numpy as np
from nose.plugins.attrib import attr
class TestKdTree(unittest.TestCase):
def setUp(self):
rng = np.random.RandomState(42)
# Define two dense sets of points of sizes 30 and 170, resp.
a = rng.randn(100, 3).astype(np.float32)
a[:30] -= 42
self.pc = pcl.PointCloud(a)
self.kd = pcl.KdTreeFLANN(self.pc)
def testException(self):
self.assertRaises(TypeError, pcl.KdTreeFLANN)
self.assertRaises(TypeError, self.kd.nearest_k_search_for_cloud, None)
def testKNN(self):
# Small cluster
ind, sqdist = self.kd.nearest_k_search_for_point(self.pc, 0, k=2)
for i in ind:
self.assertGreaterEqual(i, 0)
self.assertLess(i, 30)
for d in sqdist:
self.assertGreaterEqual(d, 0)
# Big cluster
for ref, k in ((80, 1), (59, 3), (60, 10)):
ind, sqdist = self.kd.nearest_k_search_for_point(self.pc, ref, k=k)
for i in ind:
self.assertGreaterEqual(i, 30)
for d in sqdist:
self.assertGreaterEqual(d, 0)
class TestKdTreeFLANN(unittest.TestCase):
def setUp(self):
rng = np.random.RandomState(42)
# Define two dense sets of points of sizes 30 and 170, resp.
a = rng.randn(100, 3).astype(np.float32)
a[:30] -= 42
self.pc = pcl.PointCloud(a)
self.kd = pcl.KdTreeFLANN(self.pc)
def testException(self):
self.assertRaises(TypeError, pcl.KdTreeFLANN)
self.assertRaises(TypeError, self.kd.nearest_k_search_for_cloud, None)
def testKNN(self):
# Small cluster
ind, sqdist = self.kd.nearest_k_search_for_point(self.pc, 0, k=2)
for i in ind:
self.assertGreaterEqual(i, 0)
self.assertLess(i, 30)
for d in sqdist:
self.assertGreaterEqual(d, 0)
# Big cluster
for ref, k in ((80, 1), (59, 3), (60, 10)):
ind, sqdist = self.kd.nearest_k_search_for_point(self.pc, ref, k=k)
for i in ind:
self.assertGreaterEqual(i, 30)
for d in sqdist:
self.assertGreaterEqual(d, 0)
def suite():
suite = unittest.TestSuite()
# ketree
suite.addTests(unittest.makeSuite(TestKdTree))
suite.addTests(unittest.makeSuite(TestKdTreeFLANN))
return suite
if __name__ == '__main__':
testSuite = suite()
unittest.TextTestRunner().run(testSuite)
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