feat(tests): add unit tests

.github/workflows/tests.yaml

@@ -0,0 +1,30 @@
+name: Tests
+
+on: [push]
+
+jobs:
+  test-and-lint:
+    strategy:
+      matrix:
+        os: [ ubuntu-22.04 ]
+        python-version: [ "3.10" ]
+
+    runs-on: ${{ matrix.os }}
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install Python${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install -r requirements.txt
+
+      - name: Run pytest
+        run: |
+          python -m pytest tests/

requirements.txt

@@ -3,4 +3,6 @@ numpy==1.25.2
 open3d==0.17.0
 octreelib @ git+https://github.com/true-real-michael/octreelib@v0.0.5
 scikit-learn==1.3.1
-PyYAML~=6.0.1
+PyYAML~=6.0.1
+pytest~=7.4.3
+k3d==2.16.0

slam/backend/mrob_backend.py

@@ -104,7 +104,11 @@ def __get_unused_features(self) -> List[int]:
         unused_features: List[int]
             IDs list of unused features
         """
-        robust_mask = self._graph.get_eigen_factors_robust_mask()
+        try:
+            robust_mask = self._graph.get_eigen_factors_robust_mask()
+        except AttributeError:
+            return []
+
         unused_features = []
 
         for voxel_id, plane_id in self._planes.items():

slam/utils/pose_readwriter.py

@@ -49,8 +49,11 @@ def write(filepath: str, pose: Array4x4[float]) -> None:
         pose: Array4x4[float]
             Matrix with pose values to write
         """
+        assert pose.shape == (4, 4)
+
         with open(filepath, "w+") as file:
-            for pose_line in pose:
-                for value in pose_line:
-                    file.write(f"{value} ")
-                file.write("\n")
+            for ind, pose_line in enumerate(pose):
+                file.write(" ".join(str(x) for x in pose_line))
+
+                if ind != pose.shape[0]:
+                    file.write("\n")

tests/data/poses/correct_pose.txt

@@ -0,0 +1,4 @@
+1 2 3 4
+1 2 3 4
+1 2 3 4
+0 0 0 1

tests/data/poses/incorrect_pose.txt

@@ -0,0 +1,2 @@
+1 2 3 4
+1 2

tests/data/yaml_configurations/correct_configuration.yaml

@@ -0,0 +1,24 @@
+dataset:
+  path: "path/to/dataset"
+  patches:
+    start: 0
+    end: 100
+    step: 10
+    iterations: 1
+grid:
+  voxel_edge_length: 8
+subdividers:
+  size: 2
+segmenters:
+  ransac:
+    threshold: 0.01
+    initial_points: 6
+    iterations: 5000
+backend:
+  type: "eigen_factor"
+  parameters:
+    iterations_number: 5000
+    robust_type: HUBER
+output:
+  visualization_path: "output"
+  optimisation_path: "output"

tests/data/yaml_configurations/incorrect_configuration_backend.yaml

@@ -0,0 +1,19 @@
+dataset:
+  path: "path/to/dataset"
+  patches:
+    start: 0
+    end: 100
+    step: 10
+    iterations: 1
+grid:
+  voxel_edge_length: 8
+subdividers:
+  size: 2
+segmenters:
+  ransac:
+    threshold: 0.01
+    initial_points: 6
+    iterations: 5000
+output:
+  visualization_path: "output"
+  optimisation_path: "output"

tests/data/yaml_configurations/incorrect_configuration_dataset.yaml

@@ -0,0 +1,17 @@
+grid:
+  voxel_edge_length: 8
+subdividers:
+  size: 2
+segmenters:
+  ransac:
+    threshold: 0.01
+    initial_points: 6
+    iterations: 5000
+backend:
+  type: "eigen_factor"
+  parameters:
+    iterations_number: 5000
+    robust_type: HUBER
+output:
+  visualization_path: "output"
+  optimisation_path: "output"

tests/data/yaml_configurations/incorrect_configuration_patches.yaml

@@ -0,0 +1,19 @@
+dataset:
+  path: "path/to/dataset"
+grid:
+  voxel_edge_length: 8
+subdividers:
+  size: 2
+segmenters:
+  ransac:
+    threshold: 0.01
+    initial_points: 6
+    iterations: 5000
+backend:
+  type: "eigen_factor"
+  parameters:
+    iterations_number: 5000
+    robust_type: HUBER
+output:
+  visualization_path: "output"
+  optimisation_path: "output"

tests/data/yaml_configurations/incorrect_configuration_segmenters.yaml

@@ -0,0 +1,19 @@
+dataset:
+  path: "path/to/dataset"
+  patches:
+    start: 0
+    end: 100
+    step: 10
+    iterations: 1
+grid:
+  voxel_edge_length: 8
+subdividers:
+  size: 2
+backend:
+  type: "eigen_factor"
+  parameters:
+    iterations_number: 5000
+    robust_type: HUBER
+output:
+  visualization_path: "output"
+  optimisation_path: "output"

tests/data/yaml_configurations/incorrect_configuration_subdividers.yaml

@@ -0,0 +1,22 @@
+dataset:
+  path: "path/to/dataset"
+  patches:
+    start: 0
+    end: 100
+    step: 10
+    iterations: 1
+grid:
+  voxel_edge_length: 8
+segmenters:
+  ransac:
+    threshold: 0.01
+    initial_points: 6
+    iterations: 5000
+backend:
+  type: "eigen_factor"
+  parameters:
+    iterations_number: 5000
+    robust_type: HUBER
+output:
+  visualization_path: "output"
+  optimisation_path: "output"

tests/test_cape_segmenter.py

@@ -0,0 +1,42 @@
+import numpy as np
+import pytest
+
+import random
+
+from slam.segmenter import CAPESegmenter
+from slam.typing import ArrayNx3
+
+
+@pytest.mark.parametrize(
+    "points, correlation, points_size",
+    [
+        (
+            [
+                np.array(
+                    [random.uniform(0, 1), random.uniform(0, 1), random.uniform(0, 1)]
+                )
+                for _ in range(100)
+            ],
+            100,
+            100,
+        ),
+        (
+            [
+                np.array(
+                    [random.uniform(0, 1), random.uniform(0, 1), random.uniform(0, 1)]
+                )
+                for _ in range(100)
+            ],
+            0,
+            0,
+        ),
+    ],
+)
+def test_cape_segmenter(
+    points: ArrayNx3[float],
+    correlation: float,
+    points_size: int,
+):
+    cape_segmenter = CAPESegmenter(correlation)
+    actual_points = cape_segmenter(points)
+    assert len(actual_points) == points_size

tests/test_count_segmenter.py

@@ -0,0 +1,23 @@
+import numpy as np
+import pytest
+
+from slam.segmenter import CountSegmenter
+from slam.typing import ArrayNx3
+
+
+@pytest.mark.parametrize(
+    "points, count, expected_points",
+    [
+        (np.array([[0, 0, 0]]), 0, np.array([[0, 0, 0]])),
+        (np.array([[0, 0, 0]]), 10, np.empty((0, 3))),
+    ],
+)
+def test_count_segmenter(
+    points: ArrayNx3[float],
+    count: int,
+    expected_points: ArrayNx3[float],
+):
+    count_segmenter = CountSegmenter(count=count)
+    actual_points = count_segmenter(points)
+    assert len(actual_points) == len(expected_points)
+    assert np.all(actual_points == expected_points)

tests/test_count_subdivider.py

@@ -0,0 +1,46 @@
+import numpy as np
+import pytest
+
+from slam.subdivider import CountSubdivider
+from slam.typing import ArrayNx3
+
+
+@pytest.mark.parametrize(
+    "points, count, expected_decision",
+    [
+        (
+            np.array(
+                [
+                    [0, 0, 0],
+                    [0, 1, 0],
+                    [1, 1, 1],
+                ]
+            ),
+            1,
+            True,
+        ),
+        (
+            np.array(
+                [
+                    [0, 0, 0],
+                    [0, 1, 0],
+                    [1, 1, 1],
+                ]
+            ),
+            5,
+            False,
+        ),
+        (
+            np.empty((0, 3)),
+            1,
+            False,
+        ),
+    ],
+)
+def test_count_subdivider(
+    points: ArrayNx3[float],
+    count: float,
+    expected_decision: bool,
+):
+    count_subdivider = CountSubdivider(count=count)
+    assert expected_decision == count_subdivider(points)

tests/test_eigen_value_subdivider.py

@@ -0,0 +1,46 @@
+import numpy as np
+import pytest
+
+import random
+
+from slam.subdivider import EigenValueSubdivider
+from slam.typing import ArrayNx3
+
+
+@pytest.mark.parametrize(
+    "points, eigen_value, expected_decision",
+    [
+        (
+            [
+                np.array(
+                    [random.uniform(0, 1), random.uniform(0, 1), random.uniform(0, 1)]
+                )
+                for _ in range(100)
+            ],
+            1,
+            False,
+        ),
+        (
+            [
+                np.array(
+                    [random.uniform(0, 1), random.uniform(0, 1), random.uniform(0, 1)]
+                )
+                for _ in range(100)
+            ],
+            1000,
+            False,
+        ),
+        (
+            np.empty((0, 3)),
+            1,
+            False,
+        ),
+    ],
+)
+def test_eigen_value_subdivider(
+    points: ArrayNx3[float],
+    eigen_value: float,
+    expected_decision: bool,
+):
+    eigen_value_subdivider = EigenValueSubdivider(value=eigen_value)
+    assert expected_decision == eigen_value_subdivider(points)

tests/test_empty_voxel_filter.py

@@ -0,0 +1,17 @@
+import numpy as np
+import pytest
+
+from slam.filter import EmptyVoxel
+from slam.typing import ArrayNx3
+
+
+@pytest.mark.parametrize(
+    "points, expected_decision",
+    [
+        (np.array([0, 0, 0]), True),
+        (np.empty(0), False),
+    ],
+)
+def test_empty_voxel(points: ArrayNx3[float], expected_decision: bool):
+    empty_voxel_filter = EmptyVoxel()
+    assert empty_voxel_filter(points) == expected_decision