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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
_data = [(i, 2 * i, 3 * i + 0.2) for i in range(5)]
_DATA = """0.0, 0.0, 0.2;
1.0, 2.0, 3.2;
2.0, 4.0, 6.2;
3.0, 6.0, 9.2;
4.0, 8.0, 12.2"""
# keyPoints
### HarrisKeypoint3D ###
class TestHarrisKeypoint3D(unittest.TestCase):
def setUp(self):
self.p = pcl.load(
"tests" +
os.path.sep +
"tutorials" +
os.path.sep +
"bunny.pcd")
self.kp = self.p.make_HarrisKeypoint3D()
def test_HarrisKeyPoint3D(self):
# 397
base_point_count = 397
self.assertEqual(self.p.size, base_point_count)
self.kp.set_NonMaxSupression(True)
self.kp.set_Radius(0.01)
# self.kp.set_RadiusSearch (0.01)
keypoints = self.kp.compute()
# pcl - 1.8, 51
# pcl - 1.7, 48
# keypoint_count = 51
# self.assertEqual(keypoints.size, keypoint_count)
self.assertNotEqual(keypoints.size, 0)
count = 0
minIts = 999.00
maxIts = -999.00
points = np.zeros((keypoints.size, 3), dtype=np.float32)
# Generate the data
for i in range(0, keypoints.size):
# set Point Plane
points[i][0] = keypoints[i][0]
points[i][1] = keypoints[i][1]
points[i][2] = keypoints[i][2]
intensity = keypoints[i][3]
if intensity > maxIts:
print("coords: " +
str(keypoints[i][0]) +
";" +
str(keypoints[i][1]) +
";" +
str(keypoints[i][2]))
maxIts = intensity
if intensity < minIts:
minIts = intensity
count = count + 1
# points.resize(count, 3)
# print(points)
# keypoints3D.from_array(points)
# print("maximal responce: " + str(maxIts) + " min responce: " + str(minIts) )
##
# coords: 0.008801460266113281;0.12533344328403473;0.03247201442718506
# coords: 0.02295708656311035;0.12180554866790771;0.029724061489105225
# coords: -0.06679701805114746;0.15040874481201172;0.03854072093963623
# coords: -0.0672549456357956;0.11913366615772247;0.05214547738432884
# coords: -0.05888630822300911;0.1165248453617096;0.03698881343007088
# coords: 0.04757949709892273;0.07463110238313675;0.018482372164726257
# maximal responce: 0.0162825807929039 min responce: 0.0
# pcl 1.7 : 0.01632295921444893
# self.assertEqual(maxIts, 0.0162825807929039)
self.assertGreaterEqual(maxIts, 0.0)
self.assertEqual(minIts, 0.0)
### NarfKeypoint ###
@attr('pcl_ver_0_4')
class TestNarfKeypoint(unittest.TestCase):
def setUp(self):
self.p = pcl.PointCloud(_data)
# self.kp = pcl.NarfKeypoint()
# self.kp.setInputCloud(self.p)
def test_NarfKeypoint(self):
pass
### UniformSampling ###
@attr('pcl_ver_0_4')
class TestUniformSampling(unittest.TestCase):
def setUp(self):
self.p = pcl.PointCloud(_data)
# self.kp = pcl.UniformSampling()
def test_UniformSampling(self):
pass
def suite():
suite = unittest.TestSuite()
# keypoints
suite.addTests(unittest.makeSuite(TestHarrisKeypoint3D))
# RangeImage no set
# suite.addTests(unittest.makeSuite(TestNarfKeypoint))
# no add pxiInclude
# suite.addTests(unittest.makeSuite(TestUniformSampling))
return suite
if __name__ == '__main__':
testSuite = suite()
unittest.TextTestRunner().run(testSuite)
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