diff --git a/navipy/comparing/test.py b/navipy/comparing/test.py
index 041eba06e66c0d9958abc0956019d9617f0f6464..7770aa46493072404e44960c6ce6d0f356f3e2d3 100644
--- a/navipy/comparing/test.py
+++ b/navipy/comparing/test.py
@@ -13,10 +13,8 @@ class TestCase(unittest.TestCase):
self.mydb = database.DataBaseLoad(self.mydb_filename)
def test_imagediff_curr(self):
- curr = self.mydb.read_image(rowid=1)
- mem = self.mydb.read_image(rowid=2)
- curr = np.expand_dims(curr, axis=3)
- mem = np.expand_dims(mem, axis=3)
+ curr = self.mydb.scene(rowid=1)
+ mem = self.mydb.scene(rowid=2)
curr2 = curr.copy()
curr2[3, 5, 2, 0] = np.nan
curr3 = [[1, 2, 3], [1, 2, 3], [1, 2, 3]]
@@ -41,10 +39,8 @@ class TestCase(unittest.TestCase):
self.assertTrue(is_numeric_array(diff))
def test_imagediff_memory(self):
- curr = self.mydb.read_image(rowid=1)
- mem = self.mydb.read_image(rowid=2)
- curr = np.expand_dims(curr, axis=3)
- mem = np.expand_dims(mem, axis=3)
+ curr = self.mydb.scene(rowid=1)
+ mem = self.mydb.scene(rowid=2)
mem2 = curr.copy()
mem2[3, 5, 2] = np.nan
mem3 = [[1, 2], [1, 2], [1, 2]]
@@ -68,10 +64,8 @@ class TestCase(unittest.TestCase):
self.assertTrue(is_numeric_array(diff))
def test_rot_imagediff_curr(self):
- curr = self.mydb.read_image(rowid=1)
- mem = self.mydb.read_image(rowid=2)
- curr = np.expand_dims(curr, axis=3)
- mem = np.expand_dims(mem, axis=3)
+ curr = self.mydb.scene(rowid=1)
+ mem = self.mydb.scene(rowid=2)
curr2 = curr.copy()
curr2[3, 5, 2] = np.nan
curr3 = [[1, 2, 3], [1, 2, 3], [1, 2, 3]]
@@ -95,10 +89,8 @@ class TestCase(unittest.TestCase):
self.assertTrue(is_numeric_array(diff))
def test_rotimagediff_memory(self):
- curr = self.mydb.read_image(rowid=1)
- mem = self.mydb.read_image(rowid=2)
- curr = np.expand_dims(curr, axis=3)
- mem = np.expand_dims(mem, axis=3)
+ curr = self.mydb.scene(rowid=1)
+ mem = self.mydb.scene(rowid=2)
mem2 = curr.copy()
mem2[3, 5, 2] = np.nan
mem3 = [[1, 2, 3], [1, 2, 3], [1, 2, 3]]
@@ -122,10 +114,8 @@ class TestCase(unittest.TestCase):
self.assertTrue(is_numeric_array(diff))
def test_simple_imagediff_curr(self):
- curr = self.mydb.read_image(rowid=1)
- mem = self.mydb.read_image(rowid=2)
- curr = np.expand_dims(curr, axis=3)
- mem = np.expand_dims(mem, axis=3)
+ curr = self.mydb.scene(rowid=1)
+ mem = self.mydb.scene(rowid=2)
curr2 = curr.copy()
curr2[3, 5, 2] = np.nan
curr3 = [[1, 2, 3], [1, 2, 3], [1, 2, 3]]
@@ -151,10 +141,8 @@ class TestCase(unittest.TestCase):
# self.assertTrue(diff.shape[3] == 1)
def test_simple_imagediff_mem(self):
- curr = self.mydb.read_image(rowid=1)
- mem = self.mydb.read_image(rowid=2)
- curr = np.expand_dims(curr, axis=3)
- mem = np.expand_dims(mem, axis=3)
+ curr = self.mydb.scene(rowid=1)
+ mem = self.mydb.scene(rowid=2)
mem2 = curr.copy()
mem2[3, 5, 2] = np.nan
mem3 = [[1, 2, 3], [1, 2, 3], [1, 2, 3]]
@@ -180,10 +168,8 @@ class TestCase(unittest.TestCase):
# self.assertTrue(diff.shape[3] == 1)
def test_diff_optic_flow_memory(self):
- curr = self.mydb.read_image(rowid=1)
- mem = self.mydb.read_image(rowid=2)
- curr = np.expand_dims(curr, axis=3)
- mem = np.expand_dims(mem, axis=3)
+ curr = self.mydb.scene(rowid=1)
+ mem = self.mydb.scene(rowid=2)
mem2 = curr.copy()
mem2[3, 5, 2] = np.nan
mem3 = [[1, 2, 3], [1, 2, 3], [1, 2, 3]]
@@ -206,10 +192,8 @@ class TestCase(unittest.TestCase):
self.assertTrue(is_numeric_array(vec))
def test_diff_optic_flow_curr(self):
- curr = self.mydb.read_image(rowid=1)
- mem = self.mydb.read_image(rowid=2)
- curr = np.expand_dims(curr, axis=3)
- mem = np.expand_dims(mem, axis=3)
+ curr = self.mydb.scene(rowid=1)
+ mem = self.mydb.scene(rowid=2)
curr2 = curr.copy()
curr2[3, 5, 2] = np.nan
curr3 = [[1, 2], [1, 2], [1, 2]]
diff --git a/navipy/moving/agent.py b/navipy/moving/agent.py
index f6f10f98d5e558e4d75193b81a698a4b33710e8e..9b1d786094b7cf6a900f3f1ef1ed48daaec7a121 100644
--- a/navipy/moving/agent.py
+++ b/navipy/moving/agent.py
@@ -90,7 +90,6 @@ class AbstractAgent():
columns=self.posorient_vel_col)
trajectory.loc[0, :] = self._posorient_vel.copy()
for stepi in range(1, max_nstep):
- print(stepi, self._posorient_vel)
self.move()
if return_tra:
trajectory.loc[stepi, :] = self._posorient_vel.copy()
diff --git a/navipy/moving/test_agent.py b/navipy/moving/test_agent.py
index 5f73a7a0e743a0cfba81b0dffd9b85c43f2e7dfe..65f2df4aceccb4a63e83b335fe5a542f89c44fc8 100644
--- a/navipy/moving/test_agent.py
+++ b/navipy/moving/test_agent.py
@@ -80,8 +80,6 @@ class TestNavipyMovingAgent(unittest.TestCase):
agent.mode_of_motion = mode_move
agent.fly(max_nstep=10)
obtained = agent.posorient
- print(obtained)
- print(initposorient.loc[obtained.index])
self.assertTrue(np.allclose(obtained,
initposorient.loc[obtained.index]))
diff --git a/navipy/processing/test.py b/navipy/processing/test.py
index daa12edf988a007de54ab8007f8f01289554c8e4..530c85af91b96bc81f9438502d6f838f661f11af 100644
--- a/navipy/processing/test.py
+++ b/navipy/processing/test.py
@@ -28,8 +28,7 @@ class TestCase(unittest.TestCase):
posorient.alpha_0 = rows[3]
posorient.alpha_1 = rows[2]
posorient.alpha_2 = rows[4]
- image = self.mydb.read_image(posorient=posorient)
- image = np.expand_dims(image, axis=3)
+ image = self.mydb.scene(posorient=posorient)
self.assertIsNotNone(image)
self.assertFalse(sum(image.shape) == 0)
# print("shape",image.shape)
@@ -45,7 +44,7 @@ class TestCase(unittest.TestCase):
posorient2.alpha_1 = posorient.alpha_1
posorient2.alpha_2 = posorient.alpha_2
with self.assertRaises(Exception):
- image = self.mydb.read_image(posorient=posorient2)
+ image = self.mydb.scene(posorient=posorient2)
# incorrect case None
posorient2 = pd.Series(index=['x', 'y', 'z',
@@ -57,7 +56,7 @@ class TestCase(unittest.TestCase):
posorient2.alpha_1 = posorient.alpha_1
posorient2.alpha_2 = posorient.alpha_2
with self.assertRaises(ValueError):
- image = self.mydb.read_image(posorient=posorient2)
+ image = self.mydb.scene(posorient=posorient2)
# incorrect case nan
posorient2 = pd.Series(index=['x', 'y', 'z',
@@ -69,7 +68,7 @@ class TestCase(unittest.TestCase):
posorient2.alpha_1 = posorient.alpha_1
posorient2.alpha_2 = posorient.alpha_2
with self.assertRaises(ValueError):
- image = self.mydb.read_image(posorient=posorient2)
+ image = self.mydb.scene(posorient=posorient2)
# incorrect case no pandas series but dict
posorient2 = {}
@@ -80,20 +79,18 @@ class TestCase(unittest.TestCase):
posorient2['alpha_1'] = posorient.alpha_1
posorient2['alpha_2'] = posorient.alpha_2
with self.assertRaises(TypeError):
- image = self.mydb.read_image(posorient=posorient2)
+ image = self.mydb.scene(posorient=posorient2)
# not working case empty
posorient2 = pd.Series(index=['x', 'y', 'z',
'alpha_0', 'alpha_1', 'alpha_2'])
with self.assertRaises(Exception):
- image = self.mydb.read_image(posorient=posorient2)
+ image = self.mydb.scene(posorient=posorient2)
def test_skyline_scene(self):
- scene = self.mydb.read_image(rowid=1)
+ scene = self.mydb.scene(rowid=1)
scene2 = scene.copy()
- scene = np.expand_dims(scene, axis=3)
- scene2 = np.expand_dims(scene2, axis=3)
scene2[3, 5, 2, 0] = np.nan
scene3 = [[1, 2, 3], [1, 2, 3], [1, 2, 3]]
scene3 = [scene3, scene3, scene3]
@@ -124,19 +121,18 @@ class TestCase(unittest.TestCase):
for rowid in [0, -2]:
with self.assertRaises(ValueError):
# print("rowid",rowid)
- self.mydb.read_image(rowid=rowid)
+ self.mydb.scene(rowid=rowid)
with self.assertRaises(TypeError):
- self.mydb.read_image(rowid='T')
+ self.mydb.scene(rowid='T')
with self.assertRaises(TypeError):
- self.mydb.read_image(rowid=None)
+ self.mydb.scene(rowid=None)
with self.assertRaises(TypeError):
- self.mydb.read_image(rowid=np.nan)
+ self.mydb.scene(rowid=np.nan)
with self.assertRaises(TypeError):
- self.mydb.read_image(rowid=4.5)
+ self.mydb.scene(rowid=4.5)
for rowid in [1, 2, 3, 4, 5]:
- image = self.mydb.read_image(rowid=rowid)
- image = np.expand_dims(image, axis=3)
+ image = self.mydb.scene(rowid=rowid)
# image=np.array(image)
self.assertIsNotNone(image)
self.assertFalse(sum(image.shape) == 0)
@@ -148,8 +144,8 @@ class TestCase(unittest.TestCase):
self.assertTrue(image.shape[1] > 0)
def test_distance_channel(self):
- scene = self.mydb.read_image(rowid=1)
- scene = np.expand_dims(scene, axis=3)
+ scene = self.mydb.scene(rowid=1)
+
# should not be working
for d in ['g', None, np.nan, 8.4]:
with self.assertRaises(TypeError):
@@ -170,8 +166,8 @@ class TestCase(unittest.TestCase):
self.assertEqual(weighted_scene.shape, scene.shape)
def test_contr_weight_scene(self):
- scene = self.mydb.read_image(rowid=1)
- scene = np.expand_dims(scene, axis=3)
+ scene = self.mydb.scene(rowid=1)
+
# working cases
contrast = pcode.contrast_weighted_nearness(scene)
self.assertIsNotNone(contrast)
@@ -198,8 +194,7 @@ class TestCase(unittest.TestCase):
contrast = pcode.contrast_weighted_nearness(scene4)
def test_contr_weight_contrast(self):
- scene = self.mydb.read_image(rowid=1)
- scene = np.expand_dims(scene, axis=3)
+ scene = self.mydb.scene(rowid=1)
for size in [9.4, 'g', None, np.nan]:
with self.assertRaises(TypeError):
contrast = pcode.contrast_weighted_nearness(
@@ -226,8 +221,7 @@ class TestCase(unittest.TestCase):
def test_pcv(self):
# working case
rowid = 1
- my_scene = self.mydb.read_image(rowid=rowid)
- my_scene = np.expand_dims(my_scene, axis=3)
+ my_scene = self.mydb.scene(rowid=rowid)
directions = self.mydb.viewing_directions
my_pcv = pcode.pcv(my_scene, directions)
self.assertIsNotNone(my_pcv)
@@ -268,11 +262,9 @@ class TestCase(unittest.TestCase):
def test_apcv(self):
# working case
rowid = 1
- my_scene = self.mydb.read_image(rowid=rowid)
- my_scene = np.expand_dims(my_scene, axis=3)
+ my_scene = self.mydb.scene(rowid=rowid)
# print("scene shape",my_scene.shape)
directions = self.mydb.viewing_directions
- print("directions", directions.shape)
my_pcv = pcode.apcv(my_scene, directions)
self.assertIsNotNone(my_pcv)
@@ -312,8 +304,8 @@ class TestCase(unittest.TestCase):
def test_size(self):
# not working cases:
- scene = self.mydb.read_image(rowid=1)
- scene = np.expand_dims(scene, axis=3)
+ scene = self.mydb.scene(rowid=1)
+
for size in [8, 1, 0, -4]:
with self.assertRaises(ValueError):
contrast = pcode.michelson_contrast(
@@ -337,8 +329,7 @@ class TestCase(unittest.TestCase):
def test_michelsoncontrast_scene(self):
- scene = self.mydb.read_image(rowid=1)
- scene = np.expand_dims(scene, axis=3)
+ scene = self.mydb.scene(rowid=1)
# working cases
contrast = pcode.michelson_contrast(scene)
@@ -361,7 +352,6 @@ class TestCase(unittest.TestCase):
for s in [scene2, scene3, scene4]:
with self.assertRaises(Exception) as cm:
contrast = pcode.michelson_contrast(s,)
- print("wanted exception occured", cm.exception)
if __name__ == '__main__':