diff --git a/navipy/processing/pcode.py b/navipy/processing/pcode.py
index 8ed0ead6aae61fcd727dd7a30bf0fd211f42bd55..07c10a2b2c03914defb8bbcc1c2fc5b0a8964dd8 100644
--- a/navipy/processing/pcode.py
+++ b/navipy/processing/pcode.py
@@ -133,6 +133,12 @@ def pcv(place_code, viewing_directions):
should be 1'.format(place_code.shape[component_dim]))
elevation = viewing_directions[..., __spherical_indeces__['elevation']]
azimuth = viewing_directions[..., __spherical_indeces__['azimuth']]
+ # if (np.any(elevation < -np.pi/2) or np.any(elevation > np.pi/2)):
+ if (np.any(elevation < -2*np.pi) or np.any(elevation > 2*np.pi)):
+ raise ValueError(" Elevation must be radians in range [-2*pi;2*pi]")
+ # if (np.any(azimuth < 0) or np.any(azimuth > np.pi*2)):
+ if (np.any(azimuth < -2*np.pi) or np.any(azimuth > np.pi*2)):
+ raise ValueError(" Azimuth must be radians in range [-2*pi;2*pi]")
x, y, z = spherical_to_cartesian(elevation, azimuth, radius=1)
unscaled_lv = np.zeros((viewing_directions.shape[0],
viewing_directions.shape[1],
diff --git a/navipy/processing/test.py b/navipy/processing/test.py
index ff13c23084fe5212967bd6bf97cfe752e5bc212a..9286e9a938c6f62a425cd565214b8bd5c8779240 100644
--- a/navipy/processing/test.py
+++ b/navipy/processing/test.py
@@ -15,6 +15,19 @@ class TestCase(unittest.TestCase):
self.mydb = database.DataBaseLoad(self.mydb_filename)
def test_scene_posorient(self):
+ """
+ this test checks that the correct errors are raised if
+ wrong values for the input parameters are passed to the
+ function scene of the navipy.database module
+ it also contains some test where correct parameter values
+ were passed to the scene function and the output was
+ checked for correctness.
+ test cases:
+ missing entries in the posorient pd.series
+ None, NaN values in the posorient pd.series
+ posorient is of wrong type (dictionary instead of pd.series)
+ empty posorient pd.series
+ """
conn = sqlite3.connect(self.mydb_filename)
c = conn.cursor()
c.execute(""" SELECT * FROM position_orientation WHERE (rowid=1) """)
@@ -89,6 +102,18 @@ class TestCase(unittest.TestCase):
image = self.mydb.scene(posorient=posorient2)
def test_skyline_scene(self):
+ """
+ this test checks that the correct errors are raised if
+ wrong values for the input parameters are passed to the
+ function skyline_scene of the navipy.database module
+ it also contains some test where correct parameter values
+ were passed to the scene function and the output was
+ checked for correctness.
+ test cases:
+ None, NaN values in the the scene
+ scene is of wrong type (np.array)
+ scene is of wrong size
+ """
scene = self.mydb.scene(rowid=1)
scene2 = scene.copy()
scene2[3, 5, 2, 0] = np.nan
@@ -97,11 +122,13 @@ class TestCase(unittest.TestCase):
scene3 = np.array(scene3)
scene4 = np.zeros((3, 4, 5, 0))
- # put useless stuff here
+ # contains nan
with self.assertRaises(ValueError):
pcode.skyline(scene2)
+ # np.array instead of
with self.assertRaises(TypeError):
pcode.skyline(scene3)
+ # wrong size
with self.assertRaises(Exception):
pcode.skyline(scene4)
@@ -118,6 +145,20 @@ class TestCase(unittest.TestCase):
self.assertTrue(skyline.shape[1] > 0)
def test_id(self):
+ """
+ this test checks that the correct errors are raised if
+ wrong values for the input parameters id of the
+ function scene of the navipy.database module
+ it also contains some test where correct parameter values
+ were passed to the scene function and the output was
+ checked for correctness.
+ test cases:
+ zero and negative id
+ char for the id
+ None for the id
+ NaN for the id
+ float for the id
+ """
for rowid in [0, -2]:
with self.assertRaises(ValueError):
# print("rowid",rowid)
@@ -131,6 +172,7 @@ class TestCase(unittest.TestCase):
with self.assertRaises(TypeError):
self.mydb.scene(rowid=4.5)
+ # working cases
for rowid in [1, 2, 3, 4, 5]:
image = self.mydb.scene(rowid=rowid)
# image=np.array(image)
@@ -144,6 +186,17 @@ class TestCase(unittest.TestCase):
self.assertTrue(image.shape[1] > 0)
def test_distance_channel(self):
+ """
+ this test checks that the correct errors are raised if
+ wrong values for the input parameters distance_channel is passed to the
+ function scene of the navipy.database module
+ it also contains some test where correct parameter values
+ were passed to the scene function and the output was
+ checked for correctness.
+ test cases:
+ None, NaN, float, char values in the for the distance channel
+ negative int for the distance channel
+ """
scene = self.mydb.scene(rowid=1)
# should not be working
@@ -166,6 +219,18 @@ class TestCase(unittest.TestCase):
self.assertEqual(weighted_scene.shape, scene.shape)
def test_contr_weight_scene(self):
+ """
+ this test checks that the correct errors are raised if
+ wrong values for the input parameter scene is passed to the
+ function contr_weight_scene of the navipy.database module
+ it also contains some test where correct parameter values
+ were passed to the scene function and the output was
+ checked for correctness.
+ test cases:
+ None, NaN values in the the scene
+ scene is of wrong type (np.array)
+ scene is of wrong size
+ """
scene = self.mydb.scene(rowid=1)
# working cases
@@ -194,6 +259,18 @@ class TestCase(unittest.TestCase):
contrast = pcode.contrast_weighted_nearness(scene4)
def test_contr_weight_contrast(self):
+ """
+ this test checks that the correct errors are raised if
+ wrong values for the input parameter contrast_size are passed to the
+ function skyline_scene of the navipy.database module.
+ correct values are in the range between 2 and 5.
+ it also contains some test where correct parameter values
+ were passed to the scene function and the output was
+ checked for correctness.
+ test cases:
+ None, NaN values, chars, floats for the contrast_size
+ int values that are out of range (<2;>5)
+ """
scene = self.mydb.scene(rowid=1)
for size in [9.4, 'g', None, np.nan]:
with self.assertRaises(TypeError):
@@ -219,10 +296,26 @@ class TestCase(unittest.TestCase):
self.assertEqual(contrast.shape[1], scene.shape[1])
def test_pcv(self):
+ """
+ this test checks that the correct errors are raised if
+ wrong values for the input parameter direction is passed to the
+ function pcv of the navipy.database module.
+ correct values are in the range between 2 and 5.
+ it also contains some test where correct parameter values
+ were passed to the scene function and the output was
+ checked for correctness.
+ test cases:
+ wrong shape (must match the scenes shape)
+ last dimension shape does not match (must 2, azimuth, elevation)
+ direction has too many dimensions
+ is empty
+ contains wrong values (None, nan)
+ """
# working case
rowid = 1
my_scene = self.mydb.scene(rowid=rowid)
- directions = self.mydb.viewing_directions
+ directions = self.mydb.viewing_directions.copy()
+ directions = np.radians(directions)
my_pcv = pcode.pcv(my_scene, directions)
self.assertIsNotNone(my_pcv)
self.assertFalse(sum(my_pcv.shape) == 0)
@@ -259,12 +352,51 @@ class TestCase(unittest.TestCase):
with self.assertRaises(ValueError):
my_pcv = pcode.pcv(my_scene, testdirection)
+ # test if error is throught for elevation or azimuth out of range
+ # check elevation, should be in [-pi*2;pi*2]
+ testdirections = np.zeros((180, 360, 2))
+ testdirections[10, 15, 0] = -np.pi*2 - 0.001
+ with self.assertRaises(ValueError):
+ my_pcv = pcode.pcv(my_scene, testdirections)
+
+ testdirections = np.zeros((180, 360, 2))
+ testdirections[10, 15, 0] = np.pi*2 + 0.001
+ with self.assertRaises(ValueError):
+ my_pcv = pcode.pcv(my_scene, testdirections)
+
+ # check azimuth, should be in [-2*pi;2*pi]
+ testdirections = np.zeros((180, 360, 2))
+ testdirections[10, 15, 1] = -2 * np.pi - 0.001
+ with self.assertRaises(ValueError):
+ my_pcv = pcode.pcv(my_scene, testdirections)
+
+ testdirections = np.zeros((180, 360, 2))
+ testdirections[10, 15, 1] = 2*np.pi + 0.001
+ with self.assertRaises(ValueError):
+ my_pcv = pcode.pcv(my_scene, testdirections)
+
def test_apcv(self):
+ """
+ this test checks that the correct errors are raised if
+ wrong values for the input parameter direction is passed to the
+ function apcv of the navipy.database module.
+ correct values are in the range between 2 and 5.
+ it also contains some test where correct parameter values
+ were passed to the scene function and the output was
+ checked for correctness.
+ test cases:
+ wrong shape (must match the scenes shape)
+ last dimension shape does not match (must 2, azimuth, elevation)
+ direction has too many dimensions
+ is empty
+ contains wrong values (None, nan)
+ """
# working case
rowid = 1
my_scene = self.mydb.scene(rowid=rowid)
- # print("scene shape",my_scene.shape)
- directions = self.mydb.viewing_directions
+ directions = self.mydb.viewing_directions.copy()
+ directions = np.radians(directions)
+
my_pcv = pcode.apcv(my_scene, directions)
self.assertIsNotNone(my_pcv)
@@ -303,6 +435,18 @@ class TestCase(unittest.TestCase):
my_pcv = pcode.apcv(my_scene, testdirection)
def test_size(self):
+ """
+ this test checks that the correct errors are raised if
+ wrong values for the input parameter size are passed to the
+ function michelson_contrast of the navipy.database module.
+ correct values are in the range between 2 and 5.
+ it also contains some test where correct parameter values
+ were passed to the scene function and the output was
+ checked for correctness.
+ test cases:
+ None, NaN values, chars, floats for the contrast_size
+ int values that are out of range (<2;>5)
+ """
# not working cases:
scene = self.mydb.scene(rowid=1)
@@ -328,6 +472,18 @@ class TestCase(unittest.TestCase):
self.assertTrue(contrast.shape[1] > 0)
def test_michelsoncontrast_scene(self):
+ """
+ this test checks that the correct errors are raised if
+ wrong values for the input parameter scene is passed to the
+ function michelson_contrast of the navipy.database module
+ it also contains some test where correct parameter values
+ were passed to the scene function and the output was
+ checked for correctness.
+ test cases:
+ None, NaN values in the the scene
+ scene is of wrong type (np.array)
+ scene is of wrong size
+ """
scene = self.mydb.scene(rowid=1)