test_binding.py

import unittest
import numpy as np

try:
    import pyct_icp as pct

    _with_pct = True
except ImportError as e:
    print(e.msg)
    _with_pct = False


class TestBinding(unittest.TestCase):

    def test_installation(self):
        self.assertEqual(True, _with_pct)  # add assertion here

    def test_frame(self):
        self.test_installation()

        frame = pct.LiDARFrame()

        n = 100
        np_array = np.random.randn(n, 3)
        np_raw_points = np.random.randn(n, 3)
        timestamps = np.random.rand(n)
        alpha_timestamps = np.random.rand(n)
        index_frames = np.random.randint(0, 10, n)

        struct_array = np.rec.fromarrays([np_raw_points, np_array, timestamps, alpha_timestamps, index_frames],
                                         dtype=[
                                             ("raw_point", 'f8', 3),
                                             ("pt", 'f8', 3),
                                             ("alpha_timestamp", 'f8', 1),
                                             ("timestamp", 'f8', 1),
                                             ("index_frame", 'i4', 1)])

        frame.SetFrame(struct_array)
        array = frame.GetStructuredArrayRef()

        diff2 = np.abs(array["pt"] - np_array).max()
        diff0 = np.abs(array["raw_point"] - np_raw_points).max()
        self.assertEqual(diff2, 0.0)
        self.assertEqual(diff0, 0.0)

        array[:10]["pt"] = 0.0

        array_bis = frame.GetStructuredArrayRef()

        xs = array["pt"]
        xs_bis = array_bis["pt"]
        diff = np.abs(xs - xs_bis).max()
        self.assertEqual(diff, 0.0)

        # Check that GetWrappingArray returns a reference
        # And SetFrame makes a copy

    def test_odometry(self):
        self.test_installation()
        options = pct.OdometryOptions()
        options.motion_compensation = pct.NONE
        pct.Odometry(options)


if __name__ == '__main__':
    unittest.main()