Clean up outdated tests and fix test config paths

Author: Idate96

elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py

@@ -2,6 +2,14 @@
 from elevation_mapping_cupy import parameter, elevation_mapping
 import cupy as cp
 import numpy as np
+from pathlib import Path
+
+
+TEST_DIR = Path(__file__).resolve().parent
+PACKAGE_ROOT = TEST_DIR.parents[2]
+CORE_CONFIG_DIR = PACKAGE_ROOT / "config" / "core"
+WEIGHT_FILE = CORE_CONFIG_DIR / "weights.dat"
+PLUGIN_CONFIG_FILE = CORE_CONFIG_DIR / "plugin_config.yaml"
 
 
 def encode_max(maxim, index):
@@ -22,8 +30,8 @@ def elmap_ex(add_lay, fusion_alg):
     fusion_algorithms = fusion_alg
     p = parameter.Parameter(
         use_chainer=False,
-        weight_file="../../../config/weights.dat",
-        plugin_config_file="../../../config/plugin_config.yaml",
+        weight_file=str(WEIGHT_FILE),
+        plugin_config_file=str(PLUGIN_CONFIG_FILE),
     )
     p.subscriber_cfg["front_cam"]["channels"] = additional_layer
     p.subscriber_cfg["front_cam"]["fusion"] = fusion_algorithms
@@ -96,6 +104,8 @@ def test_move(self, elmap_ex):
 
     def test_exists_layer(self, elmap_ex, add_lay):
         for layer in add_lay:
+            assert not elmap_ex.exists_layer(layer)
+            elmap_ex.semantic_map.add_layer(layer)
             assert elmap_ex.exists_layer(layer)
 
     def test_polygon_traversability(self, elmap_ex):

elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py

@@ -1,12 +1,20 @@
 import pytest
 from elevation_mapping_cupy.parameter import Parameter
+from pathlib import Path
+
+
+TEST_DIR = Path(__file__).resolve().parent
+PACKAGE_ROOT = TEST_DIR.parents[2]
+CORE_CONFIG_DIR = PACKAGE_ROOT / "config" / "core"
+WEIGHT_FILE = CORE_CONFIG_DIR / "weights.dat"
+PLUGIN_CONFIG_FILE = CORE_CONFIG_DIR / "plugin_config.yaml"
 
 
 def test_parameter():
     param = Parameter(
         use_chainer=False,
-        weight_file="../../../config/weights.dat",
-        plugin_config_file="../../../config/plugin_config.yaml",
+        weight_file=str(WEIGHT_FILE),
+        plugin_config_file=str(PLUGIN_CONFIG_FILE),
     )
     res = param.resolution
     param.set_value("resolution", 0.1)

elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py

@@ -1,16 +1,21 @@
 import pytest
 from elevation_mapping_cupy import semantic_map, parameter
 import cupy as cp
-import numpy as np
-from elevation_mapping_cupy.plugins.plugin_manager import PluginManager, PluginParams
+from elevation_mapping_cupy.plugins.plugin_manager import PluginManager
+from pathlib import Path
 
-plugin_path = "plugin_config.yaml"
+
+TEST_DIR = Path(__file__).resolve().parent
+PACKAGE_ROOT = TEST_DIR.parents[2]
+CORE_CONFIG_DIR = PACKAGE_ROOT / "config" / "core"
+WEIGHT_FILE = CORE_CONFIG_DIR / "weights.dat"
+PLUGIN_PATH = TEST_DIR / "plugin_config.yaml"
 
 
 @pytest.fixture()
 def semmap_ex(add_lay, fusion_alg):
     p = parameter.Parameter(
-        use_chainer=False, weight_file="../../../config/weights.dat", plugin_config_file=plugin_path,
+        use_chainer=False, weight_file=str(WEIGHT_FILE), plugin_config_file=str(PLUGIN_PATH),
     )
     p.subscriber_cfg["front_cam"]["channels"] = add_lay
     p.subscriber_cfg["front_cam"]["fusion"] = fusion_alg
@@ -35,7 +40,7 @@ def semmap_ex(add_lay, fusion_alg):
 )
 def test_plugin_manager(semmap_ex, channels):
     manager = PluginManager(202)
-    manager.load_plugin_settings(plugin_path)
+    manager.load_plugin_settings(str(PLUGIN_PATH))
     elevation_map = cp.zeros((7, 202, 202)).astype(cp.float32)
     rotation = cp.eye(3, dtype=cp.float32)
     layer_names = [
@@ -49,20 +54,34 @@ def test_plugin_manager(semmap_ex, channels):
     ]
     elevation_map[0] = cp.random.randn(202, 202)
     elevation_map[2] = cp.abs(cp.random.randn(202, 202))
-    elevation_map[0]
-    manager.layers[0]
     manager.update_with_name("min_filter", elevation_map, layer_names)
     manager.update_with_name("smooth_filter", elevation_map, layer_names)
-    manager.update_with_name("semantic_filter", elevation_map, layer_names, semmap_ex, rotation)
-    manager.update_with_name("semantic_traversability", elevation_map, layer_names, semmap_ex)
+    manager.update_with_name(
+        "sem_fil",
+        elevation_map,
+        layer_names,
+        semmap_ex.semantic_map,
+        semmap_ex.layer_names,
+        rotation,
+        semmap_ex.elements_to_shift,
+    )
+    manager.update_with_name(
+        "sem_traversability",
+        elevation_map,
+        layer_names,
+        semmap_ex.semantic_map,
+        semmap_ex.layer_names,
+        rotation,
+        semmap_ex.elements_to_shift,
+    )
     manager.get_map_with_name("smooth")
     for lay in manager.get_layer_names():
         manager.update_with_name(
             lay,
             elevation_map,
             layer_names,
             semmap_ex.semantic_map,
-            semmap_ex.param,
+            semmap_ex.layer_names,
             rotation,
             semmap_ex.elements_to_shift,
         )

elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py

@@ -1,47 +1,72 @@
-import pytest
-from elevation_mapping_cupy import semantic_map, parameter
 import cupy as cp
-import numpy as np
+import pytest
+from pathlib import Path
+
+from elevation_mapping_cupy import parameter, semantic_map
+
+
+TEST_DIR = Path(__file__).resolve().parent
+PACKAGE_ROOT = TEST_DIR.parents[2]
+CORE_CONFIG_DIR = PACKAGE_ROOT / "config" / "core"
+WEIGHT_FILE = CORE_CONFIG_DIR / "weights.dat"
+PLUGIN_CONFIG_FILE = CORE_CONFIG_DIR / "plugin_config.yaml"
 
 
 @pytest.fixture()
 def semmap_ex(sem_lay, fusion_alg):
     p = parameter.Parameter(
         use_chainer=False,
-        weight_file="../../../config/weights.dat",
-        plugin_config_file="../../../config/plugin_config.yaml",
+        weight_file=str(WEIGHT_FILE),
+        plugin_config_file=str(PLUGIN_CONFIG_FILE),
     )
-    for subs, value in p.subscriber_cfg.items():
-        value["channels"] = sem_lay
-        value["fusion"] = fusion_alg
+    # Explicitly map test channels to the requested fusion modes.
+    for layer, fusion in zip(sem_lay, fusion_alg):
+        p.pointcloud_channel_fusions[layer] = fusion
     p.update()
-    e = semantic_map.SemanticMap(p)
-    return e
+    return semantic_map.SemanticMap(p)
 
 
 @pytest.mark.parametrize(
-    "sem_lay, fusion_alg,channels",
+    "sem_lay,fusion_alg,channels",
     [
         (["feat_0", "feat_1"], ["average", "average"], ["feat_0"]),
         (["feat_0", "feat_1"], ["average", "average"], []),
-        (["feat_0", "feat_1", "rgb"], ["average", "average", "color"], ["rgb", "feat_0"],),
-        (["feat_0", "feat_1", "rgb"], ["class_average", "average", "color"], ["rgb", "feat_0"],),
-        (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0"],),
-        (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0", "feat_1"],),
-        (["feat_0", "feat_1", "rgb"], ["class_bayesian", "class_max", "color"], ["rgb", "feat_0", "feat_1"],),
-        (["max1", "max2", "rgb"], ["class_max", "class_max", "color"], ["rgb", "max1", "max2"],),
+        (["feat_0", "feat_1", "rgb"], ["average", "average", "color"], ["rgb", "feat_0"]),
+        (["feat_0", "feat_1", "rgb"], ["class_bayesian", "class_max", "color"], ["rgb", "feat_0", "feat_1"]),
+        (["max1", "max2", "rgb"], ["class_max", "class_max", "color"], ["rgb", "max1", "max2"]),
     ],
 )
-def test_fusion_of_pcl(semmap_ex, channels):
-    fusion = semmap_ex.get_fusion_of_pcl(channels=channels)
-    assert len(fusion) <= len(channels)
-    assert len(fusion) > 0 or len(channels) == 0
+def test_get_fusion_current_api(semmap_ex, channels):
+    process_channels, fusion = semmap_ex.get_fusion(
+        channels=channels,
+        channel_fusions=semmap_ex.param.pointcloud_channel_fusions,
+        layer_specs=semmap_ex.layer_specs_points,
+    )
+    assert len(process_channels) == len(fusion)
     assert all(isinstance(item, str) for item in fusion)
 
 
 @pytest.mark.parametrize(
-    "sem_lay, fusion_alg", [(["feat_0", "feat_1", "rgb"], ["average", "average", "color"]),],
+    "sem_lay,fusion_alg,channels,target_fusion",
+    [
+        (["feat_0", "feat_1", "rgb"], ["average", "average", "color"], ["rgb", "feat_0"], "color"),
+        (["max1", "max2", "rgb"], ["class_max", "class_max", "color"], ["rgb", "max1", "max2"], "class_max"),
+    ],
 )
-@pytest.mark.parametrize("channels", [["rgb"], ["rgb", "feat_0"], []])
-def test_indices_fusion(semmap_ex, channels, fusion_alg):
-    pcl_indices, layer_indices = semmap_ex.get_indices_fusion(pcl_channels=channels, fusion_alg=fusion_alg[0])
+def test_get_indices_fusion_current_api(semmap_ex, channels, target_fusion):
+    process_channels, _ = semmap_ex.get_fusion(
+        channels=channels,
+        channel_fusions=semmap_ex.param.pointcloud_channel_fusions,
+        layer_specs=semmap_ex.layer_specs_points,
+    )
+    for channel in process_channels:
+        if channel not in semmap_ex.layer_names:
+            semmap_ex.add_layer(channel)
+
+    pcl_indices, layer_indices = semmap_ex.get_indices_fusion(
+        pcl_channels=process_channels,
+        fusion_alg=target_fusion,
+        layer_specs=semmap_ex.layer_specs_points,
+    )
+    assert pcl_indices.dtype == cp.int32
+    assert layer_indices.dtype == cp.int32