1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
|
import os.path
import pickle
import shutil
import tempfile
import unittest
import pcl
import numpy as np
_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"""
from nose.plugins.attrib import attr
# class TestOctreePointCloud(unittest.TestCase):
#
# def setUp(self):
# self.p = pcl.load("tests" + os.path.sep + "table_scene_mug_stereo_textured_noplane.pcd")
# self.octree = pcl.OctreePointCloud(0.1)
#
# def testLoad(self):
# self.octree.set_input_cloud(self.p)
# self.octree.define_bounding_box()
# self.octree.add_points_from_input_cloud()
# good_point = [0.035296999, -0.074322999, 1.2074]
# rs = self.octree.is_voxel_occupied_at_point(good_point)
# self.assertTrue(rs)
# bad_point = [0.5, 0.5, 0.5]
# rs = self.octree.is_voxel_occupied_at_point(bad_point)
# self.assertFalse(rs)
# voxels_len = 44
# self.assertEqual(len(self.octree.get_occupied_voxel_centers()), voxels_len)
# self.octree.delete_voxel_at_point(good_point)
# self.assertEqual(len(self.octree.get_occupied_voxel_centers()), voxels_len - 1)
class TestOctreePointCloudSearch(unittest.TestCase):
def setUp(self):
self.octree = pcl.OctreePointCloudSearch(0.1)
self.p = pcl.load(
"tests" +
os.path.sep +
"tutorials" +
os.path.sep +
"table_scene_mug_stereo_textured_noplane.pcd")
self.octree.set_input_cloud(self.p)
self.octree.define_bounding_box()
self.octree.add_points_from_input_cloud()
def testConstructor(self):
self.assertRaises(ValueError, pcl.OctreePointCloudSearch, 0.)
def testRadiusSearch(self):
good_point = (0.035296999, -0.074322999, 1.2074)
rs = self.octree.radius_search(good_point, 0.5, 1)
self.assertEqual(len(rs[0]), 1)
self.assertEqual(len(rs[1]), 1)
rs = self.octree.radius_search(good_point, 0.5)
self.assertEqual(len(rs[0]), 19730)
self.assertEqual(len(rs[1]), 19730)
class TestOctreePointCloudChangeDetector(unittest.TestCase):
def setUp(self):
self.octree = pcl.OctreePointCloudSearch(0.1)
self.p = pcl.load(
"tests" +
os.path.sep +
"tutorials" +
os.path.sep +
"table_scene_mug_stereo_textured_noplane.pcd")
self.octree.set_input_cloud(self.p)
self.octree.define_bounding_box()
self.octree.add_points_from_input_cloud()
def testConstructor(self):
self.assertRaises(ValueError, pcl.OctreePointCloudChangeDetector, 0.)
def testRadiusSearch(self):
good_point = (0.035296999, -0.074322999, 1.2074)
rs = self.octree.radius_search(good_point, 0.5, 1)
self.assertEqual(len(rs[0]), 1)
self.assertEqual(len(rs[1]), 1)
rs = self.octree.radius_search(good_point, 0.5)
self.assertEqual(len(rs[0]), 19730)
self.assertEqual(len(rs[1]), 19730)
def suite():
suite = unittest.TestSuite()
# octree
# base class
# suite.addTests(unittest.makeSuite(TestOctreePointCloud))
suite.addTests(unittest.makeSuite(TestOctreePointCloudSearch))
suite.addTests(unittest.makeSuite(TestOctreePointCloudChangeDetector))
return suite
if __name__ == '__main__':
# unittest.main()
testSuite = suite()
unittest.TextTestRunner().run(testSuite)
|
