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Merge pull request strawlab#66 from larsmans/cosmit
cosmetics: make tests pep8 and pyflakes-clean
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‎tests/test.py

Lines changed: 99 additions & 83 deletions
Original file line numberDiff line numberDiff line change
@@ -10,36 +10,35 @@
1010
from numpy.testing import assert_array_almost_equal, assert_array_equal
1111

1212

13-
_data = [(i,2*i,3*i+0.2) for i in range(5)]
14-
_DATA = \
15-
"""0.0, 0.0, 0.2;
16-
1.0, 2.0, 3.2;
17-
2.0, 4.0, 6.2;
18-
3.0, 6.0, 9.2;
19-
4.0, 8.0, 12.2"""
13+
_data = [(i, 2 * i, 3 * i + 0.2) for i in range(5)]
14+
_DATA = """0.0, 0.0, 0.2;
15+
1.0, 2.0, 3.2;
16+
2.0, 4.0, 6.2;
17+
3.0, 6.0, 9.2;
18+
4.0, 8.0, 12.2"""
2019

21-
class TestListIO(unittest.TestCase):
2220

21+
class TestListIO(unittest.TestCase):
2322
def setUp(self):
2423
self.p = pcl.PointCloud(_data)
2524

2625
def testFromList(self):
27-
for i,d in enumerate(_data):
26+
for i, d in enumerate(_data):
2827
pt = self.p[i]
2928
assert np.allclose(pt, _data[i])
3029

3130
def testToList(self):
3231
l = self.p.to_list()
3332
assert np.allclose(l, _data)
3433

35-
class TestNumpyIO(unittest.TestCase):
3634

35+
class TestNumpyIO(unittest.TestCase):
3736
def setUp(self):
3837
self.a = np.array(np.mat(_DATA, dtype=np.float32))
3938
self.p = pcl.PointCloud(self.a)
4039

4140
def testFromNumpy(self):
42-
for i,d in enumerate(_data):
41+
for i, d in enumerate(_data):
4342
pt = self.p[i]
4443
assert np.allclose(pt, _data[i])
4544

@@ -49,7 +48,7 @@ def testToNumpy(self):
4948

5049
def test_asarray(self):
5150
p = pcl.PointCloud(self.p) # copy
52-
old0 = p[0]
51+
# old0 = p[0]
5352
a = np.asarray(p) # view
5453
a[:] += 6
5554
assert_array_almost_equal(p[0], a[0])
@@ -61,43 +60,41 @@ def test_pickle(self):
6160
p = pickle.loads(s)
6261
self.assertTrue(np.all(self.a == p.to_array()))
6362

64-
#copy the output of seg
65-
SEGDATA = \
66-
"""0.352222 -0.151883 2;
67-
-0.106395 -0.397406 1;
68-
-0.473106 0.292602 1;
69-
-0.731898 0.667105 -2;
70-
0.441304 -0.734766 1;
71-
0.854581 -0.0361733 1;
72-
-0.4607 -0.277468 4;
73-
-0.916762 0.183749 1;
74-
0.968809 0.512055 1;
75-
-0.998983 -0.463871 1;
76-
0.691785 0.716053 1;
77-
0.525135 -0.523004 1;
78-
0.439387 0.56706 1;
79-
0.905417 -0.579787 1;
80-
0.898706 -0.504929 1"""
81-
82-
SEGINLIERS = \
83-
"""-0.106395 -0.397406 1;
84-
-0.473106 0.292602 1;
85-
0.441304 -0.734766 1;
86-
0.854581 -0.0361733 1;
87-
-0.916762 0.183749 1;
88-
0.968809 0.512055 1;
89-
-0.998983 -0.463871 1;
90-
0.691785 0.716053 1;
91-
0.525135 -0.523004 1;
92-
0.439387 0.56706 1;
93-
0.905417 -0.579787 1;
94-
0.898706 -0.504929 1"""
63+
# copy the output of seg
64+
SEGDATA = """ 0.352222 -0.151883 2;
65+
-0.106395 -0.397406 1;
66+
-0.473106 0.292602 1;
67+
-0.731898 0.667105 -2;
68+
0.441304 -0.734766 1;
69+
0.854581 -0.0361733 1;
70+
-0.4607 -0.277468 4;
71+
-0.916762 0.183749 1;
72+
0.968809 0.512055 1;
73+
-0.998983 -0.463871 1;
74+
0.691785 0.716053 1;
75+
0.525135 -0.523004 1;
76+
0.439387 0.56706 1;
77+
0.905417 -0.579787 1;
78+
0.898706 -0.504929 1"""
79+
80+
SEGINLIERS = """-0.106395 -0.397406 1;
81+
-0.473106 0.292602 1;
82+
0.441304 -0.734766 1;
83+
0.854581 -0.0361733 1;
84+
-0.916762 0.183749 1;
85+
0.968809 0.512055 1;
86+
-0.998983 -0.463871 1;
87+
0.691785 0.716053 1;
88+
0.525135 -0.523004 1;
89+
0.439387 0.56706 1;
90+
0.905417 -0.579787 1;
91+
0.898706 -0.504929 1"""
9592
SEGINLIERSIDX = [1, 2, 4, 5, 7, 8, 9, 10, 11, 12, 13, 14]
9693

9794
SEGCOEFF = [0.0, 0.0, 1.0, -1.0]
9895

99-
class TestSegmentPlane(unittest.TestCase):
10096

97+
class TestSegmentPlane(unittest.TestCase):
10198
def setUp(self):
10299
self.a = np.array(np.mat(SEGDATA, dtype=np.float32))
103100
self.p = pcl.PointCloud()
@@ -111,15 +108,16 @@ def testLoad(self):
111108

112109
def testSegmentPlaneObject(self):
113110
seg = self.p.make_segmenter()
114-
seg.set_optimize_coefficients (True)
111+
seg.set_optimize_coefficients(True)
115112
seg.set_model_type(pcl.SACMODEL_PLANE)
116113
seg.set_method_type(pcl.SAC_RANSAC)
117-
seg.set_distance_threshold (0.01)
114+
seg.set_distance_threshold(0.01)
118115

119116
indices, model = seg.segment()
120117
self.assertListEqual(indices, SEGINLIERSIDX)
121118
self.assertListEqual(model, SEGCOEFF)
122119

120+
123121
def test_pcd_read():
124122
TMPL = """
125123
# .PCD v.7 - Point Cloud Data file format
@@ -137,15 +135,15 @@ def test_pcd_read():
137135

138136
a = np.array(np.mat(SEGDATA, dtype=np.float32))
139137
npts = a.shape[0]
140-
with open("/tmp/test.pcd","w") as f:
141-
f.write(TMPL % {"npts":npts,"data":SEGDATA.replace(";","")})
138+
with open("/tmp/test.pcd", "w") as f:
139+
f.write(TMPL % {"npts": npts, "data": SEGDATA.replace(";", "")})
142140

143141
p = pcl.load("/tmp/test.pcd")
144142

145143
assert p.width == npts
146144
assert p.height == 1
147145

148-
for i,row in enumerate(a):
146+
for i, row in enumerate(a):
149147
pt = np.array(p[i])
150148
ssd = sum((row - pt) ** 2)
151149
assert ssd < 1e-6
@@ -163,32 +161,35 @@ def test_copy():
163161
assert_array_equal(p2.to_array(), a)
164162

165163

166-
SEGCYLMOD = [0.0552167, 0.0547035, 0.757707, -0.0270852, -4.41026, -2.88995, 0.0387603]
164+
SEGCYLMOD = [0.0552167, 0.0547035, 0.757707,
165+
-0.0270852, -4.41026, -2.88995, 0.0387603]
167166
SEGCYLIN = 11462
168167

168+
169169
class TestSegmentCylinder(unittest.TestCase):
170170

171171
def setUp(self):
172172
self.p = pcl.load("tests/table_scene_mug_stereo_textured_noplane.pcd")
173173

174174
def testSegment(self):
175175
seg = self.p.make_segmenter_normals(50)
176-
seg.set_optimize_coefficients (True);
177-
seg.set_model_type (pcl.SACMODEL_CYLINDER)
178-
seg.set_method_type (pcl.SAC_RANSAC)
179-
seg.set_normal_distance_weight (0.1)
180-
seg.set_max_iterations (10000)
181-
seg.set_distance_threshold (0.05)
182-
seg.set_radius_limits (0, 0.1)
176+
seg.set_optimize_coefficients(True)
177+
seg.set_model_type(pcl.SACMODEL_CYLINDER)
178+
seg.set_method_type(pcl.SAC_RANSAC)
179+
seg.set_normal_distance_weight(0.1)
180+
seg.set_max_iterations(10000)
181+
seg.set_distance_threshold(0.05)
182+
seg.set_radius_limits(0, 0.1)
183183

184184
indices, model = seg.segment()
185185

186186
self.assertEqual(len(indices), SEGCYLIN)
187187

188-
npexp = np.array(SEGCYLMOD)
189-
npmod = np.array(model)
190-
ssd = sum((npexp - npmod) ** 2)
191-
#self.assertLess(ssd, 1e-6)
188+
# npexp = np.array(SEGCYLMOD)
189+
# npmod = np.array(model)
190+
# ssd = sum((npexp - npmod) ** 2)
191+
# self.assertLess(ssd, 1e-6)
192+
192193

193194
class TestSave(unittest.TestCase):
194195

@@ -206,6 +207,7 @@ def testSave(self):
206207
p = pcl.load(d)
207208
self.assertEqual(self.p.size, p.size)
208209

210+
209211
class TestFilter(unittest.TestCase):
210212

211213
def setUp(self):
@@ -217,28 +219,31 @@ def testFilter(self):
217219
mls.set_polynomial_order(2)
218220
mls.set_polynomial_fit(True)
219221
f = mls.process()
220-
#new instance is returned
222+
# new instance is returned
221223
self.assertNotEqual(self.p, f)
222-
#mls filter retains the same number of points
224+
# mls filter retains the same number of points
223225
self.assertEqual(self.p.size, f.size)
224226

227+
225228
class TestExtract(unittest.TestCase):
226229

227230
def setUp(self):
228231
self.p = pcl.load("tests/flydracyl.pcd")
229232

230233
def testExtractPos(self):
231-
p2 = self.p.extract([1,2,3],False)
232-
#new instance is returned
234+
p2 = self.p.extract([1, 2, 3], False)
235+
# new instance is returned
233236
self.assertNotEqual(self.p, p2)
234237
self.assertEqual(p2.size, 3)
235238

236239
def testExtractNeg(self):
237-
p2 = self.p.extract([1,2,3],True)
240+
p2 = self.p.extract([1, 2, 3], True)
238241
self.assertNotEqual(self.p, p2)
239242
self.assertEqual(p2.size, self.p.size - 3)
240243

244+
241245
class TestExceptions(unittest.TestCase):
246+
242247
def setUp(self):
243248
self.p = pcl.PointCloud(np.arange(9, dtype=np.float32).reshape(3, 3))
244249

@@ -252,6 +257,7 @@ def testResize(self):
252257
# better exceptions.
253258
self.assertRaises(MemoryError, self.p.resize, -1)
254259

260+
255261
class TestSegmenterNormal(unittest.TestCase):
256262

257263
def setUp(self):
@@ -271,17 +277,17 @@ def _tneg(self, c):
271277

272278
def testFilterPos(self):
273279
fil = self.p.make_statistical_outlier_filter()
274-
fil.set_mean_k (50)
280+
fil.set_mean_k(50)
275281
self.assertEqual(fil.k, 50)
276-
fil.set_std_dev_mul_thresh (1.0)
282+
fil.set_std_dev_mul_thresh(1.0)
277283
self.assertEqual(fil.stddev_mul_thresh, 1.0)
278284
c = fil.filter()
279285
self._tpos(c)
280286

281287
def testFilterNeg(self):
282288
fil = self.p.make_statistical_outlier_filter()
283-
fil.set_mean_k (50)
284-
fil.set_std_dev_mul_thresh (1.0)
289+
fil.set_mean_k(50)
290+
fil.set_std_dev_mul_thresh(1.0)
285291
self.assertEqual(fil.negative, False)
286292
fil.set_negative(True)
287293
self.assertEqual(fil.negative, True)
@@ -290,53 +296,58 @@ def testFilterNeg(self):
290296

291297
def testFilterPosNeg(self):
292298
fil = self.p.make_statistical_outlier_filter()
293-
fil.set_mean_k (50)
294-
fil.set_std_dev_mul_thresh (1.0)
299+
fil.set_mean_k(50)
300+
fil.set_std_dev_mul_thresh(1.0)
295301
c = fil.filter()
296302
self._tpos(c)
297303
fil.set_negative(True)
298304
c = fil.filter()
299305
self._tneg(c)
300306

307+
301308
class TestVoxelGridFilter(unittest.TestCase):
302309

303310
def setUp(self):
304311
self.p = pcl.load("tests/table_scene_mug_stereo_textured_noplane.pcd")
305312

306313
def testFilter(self):
307314
fil = self.p.make_voxel_grid_filter()
308-
fil.set_leaf_size(0.01,0.01,0.01)
315+
fil.set_leaf_size(0.01, 0.01, 0.01)
309316
c = fil.filter()
310317
self.assertTrue(c.size < self.p.size)
311318
self.assertEqual(c.size, 719)
312319

320+
313321
class TestPassthroughFilter(unittest.TestCase):
322+
314323
def setUp(self):
315324
self.p = pcl.load("tests/table_scene_mug_stereo_textured_noplane.pcd")
316325

317326
def testFilter(self):
318327
fil = self.p.make_passthrough_filter()
319-
fil.set_filter_field_name ("z")
320-
fil.set_filter_limits (0, 0.75)
328+
fil.set_filter_field_name("z")
329+
fil.set_filter_limits(0, 0.75)
321330
c = fil.filter()
322331
self.assertTrue(c.size < self.p.size)
323332
self.assertEqual(c.size, 7751)
324333

325334
def testFilterBoth(self):
326335
total = self.p.size
327336
fil = self.p.make_passthrough_filter()
328-
fil.set_filter_field_name ("z")
329-
fil.set_filter_limits (0, 0.75)
337+
fil.set_filter_field_name("z")
338+
fil.set_filter_limits(0, 0.75)
330339
front = fil.filter().size
331-
fil.set_filter_limits (0.75, 100)
340+
fil.set_filter_limits(0.75, 100)
332341
back = fil.filter().size
333-
self.assertEqual(total,front+back)
342+
self.assertEqual(total, front + back)
343+
334344

335345
class TestKdTree(unittest.TestCase):
346+
336347
def setUp(self):
337348
rng = np.random.RandomState(42)
338349
# Define two dense sets of points of sizes 30 and 170, resp.
339-
a = np.random.randn(100, 3).astype(np.float32)
350+
a = rng.randn(100, 3).astype(np.float32)
340351
a[:30] -= 42
341352

342353
self.pc = pcl.PointCloud(a)
@@ -363,7 +374,9 @@ def testKNN(self):
363374
for d in sqdist:
364375
self.assertGreaterEqual(d, 0)
365376

377+
366378
class TestOctreePointCloud(unittest.TestCase):
379+
367380
def setUp(self):
368381
self.t = pcl.OctreePointCloud(0.1)
369382

@@ -376,14 +389,17 @@ def testLoad(self):
376389
rs = self.t.is_voxel_occupied_at_point(good_point)
377390
self.assertTrue(rs)
378391
bad_point = (0.5, 0.5, 0.5)
379-
rs = self.t.is_voxel_occupied_at_point(bad_point)
392+
rs = self.t.is_voxel_occupied_at_point(bad_point)
380393
self.assertFalse(rs)
381394
voxels_len = 44
382395
self.assertEqual(len(self.t.get_occupied_voxel_centers()), voxels_len)
383396
self.t.delete_voxel_at_point(good_point)
384-
self.assertEqual(len(self.t.get_occupied_voxel_centers()), voxels_len - 1)
385-
397+
self.assertEqual(
398+
len(self.t.get_occupied_voxel_centers()), voxels_len - 1)
399+
400+
386401
class TestOctreePointCloudSearch(unittest.TestCase):
402+
387403
def setUp(self):
388404
self.t = pcl.OctreePointCloudSearch(0.1)
389405
pc = pcl.load("tests/table_scene_mug_stereo_textured_noplane.pcd")

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