diff --git a/.vscode/settings.json b/.vscode/settings.json
index 5626c31da66120d42e9ee0b15020095690f170b4..9a75dc7d3af5969eec4933d5304871bf3049c37c 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -12,5 +12,10 @@
"C:\\ci\\ws\\install\\lib\\python3.8\\dist-packages",
"C:\\dev\\ros2_humble\\Lib\\site-packages",
""
- ]
+ ],
+ "python.testing.pytestArgs": [
+ "test"
+ ],
+ "python.testing.unittestEnabled": false,
+ "python.testing.pytestEnabled": true
}
\ No newline at end of file
diff --git a/rq_controller/common/__pycache__/__init__.cpython-38.pyc b/rq_controller/common/__pycache__/__init__.cpython-38.pyc
index b5a7ce552844d6e4a6c1828b88db4a6f0d8786a2..c4ac8808716f0af57d37032d44cd890bef1dd36e 100644
Binary files a/rq_controller/common/__pycache__/__init__.cpython-38.pyc and b/rq_controller/common/__pycache__/__init__.cpython-38.pyc differ
diff --git a/rq_controller/common/__pycache__/projection.cpython-38.pyc b/rq_controller/common/__pycache__/projection.cpython-38.pyc
index 84787faff2867b84f7673e065471b45fd6f6c070..292a7253e286283d2a9f7b7e8b5c8f92156b3bb6 100644
Binary files a/rq_controller/common/__pycache__/projection.cpython-38.pyc and b/rq_controller/common/__pycache__/projection.cpython-38.pyc differ
diff --git a/rq_controller/common/__pycache__/projection_geometry.cpython-38.pyc b/rq_controller/common/__pycache__/projection_geometry.cpython-38.pyc
index e7efc4a86b91246f1a0538ae704fa85f48a9b64b..a849f8bd44ad63633ea5991038e17486b43fa1a9 100644
Binary files a/rq_controller/common/__pycache__/projection_geometry.cpython-38.pyc and b/rq_controller/common/__pycache__/projection_geometry.cpython-38.pyc differ
diff --git a/rq_controller/common/projection.py b/rq_controller/common/projection.py
index ea5c1ee5010bf24e08ba4d471d4dc3c860de0c39..813f573acc921aa5949caccef5ab4c019c35c0b7 100644
--- a/rq_controller/common/projection.py
+++ b/rq_controller/common/projection.py
@@ -11,10 +11,39 @@ import ros2_numpy
class PyProjection(PyProjectionGeometry):
+ """
+ Represents a projection including image data and associated geometry.
+
+ Attributes:
+ image (np.ndarray): The projection image data.
+ detector_heigth_mm (float): The height of the detector in millimeters.
+ detector_width_mm (float): The width of the detector in millimeters.
+ voltage_kv (float): The voltage in kilovolts.
+ current_ua (float): The current in microamperes.
+ exposure_time_ms (float): The exposure time in milliseconds.
+ """
+
def __init__(self, focal_spot_mm: ndarray, detector_postion_mm: ndarray, detector_orientation_quad: ndarray, image: np.ndarray,
detector_heigth_mm: float, detector_width_mm: float, frame_id: str = 'object',
focal_spot_orientation_quad: np.ndarray = np.array([0., 0., 0, 1.]),
voltage_kv: float = 100., current_ua: float = 100., exposure_time_ms: float = 1000.) -> None:
+ """
+ Initializes a PyProjection instance.
+
+ Args:
+ focal_spot_mm (ndarray): Position of the focal spot in millimeters.
+ detector_postion_mm (ndarray): Position of the detector in millimeters.
+ detector_orientation_quad (ndarray): Orientation of the detector as a quaternion.
+ image (np.ndarray): The projection image data.
+ detector_heigth_mm (float): The height of the detector in millimeters.
+ detector_width_mm (float): The width of the detector in millimeters.
+ frame_id (str): Frame ID for the projection geometry. Default is 'object'.
+ focal_spot_orientation_quad (np.ndarray): Orientation of the focal spot as a quaternion. Default is [0., 0., 0, 1.].
+ voltage_kv (float): The voltage in kilovolts. Default is 100.
+ current_ua (float): The current in microamperes. Default is 100.
+ exposure_time_ms (float): The exposure time in milliseconds. Default is 1000.
+ """
+
super().__init__(focal_spot_mm, detector_postion_mm, detector_orientation_quad, frame_id, focal_spot_orientation_quad)
self.image = image.astype(np.uint16)
self.detector_heigth_mm = detector_heigth_mm
@@ -25,6 +54,13 @@ class PyProjection(PyProjectionGeometry):
@classmethod
def dummy(cls):
+ """
+ Creates a dummy instance of PyProjection for testing.
+
+ Returns:
+ PyProjection: A dummy instance with default values.
+ """
+
return cls(np.array([0., 100., 0]),
np.array([0., -100., 0]),
np.array([1., 0., 0, 1.]),
@@ -32,6 +68,12 @@ class PyProjection(PyProjectionGeometry):
10., 10.)
def __str__(self) -> str:
+ """
+ Returns a string representation of the PyProjection instance.
+
+ Returns:
+ str: The string representation of the projection.
+ """
print_str = f'---\n'
print_str += f'PyProjection\n'
print_str += f'--- Projection Geometry:\n'
@@ -42,9 +84,17 @@ class PyProjection(PyProjectionGeometry):
print_str += f'---\n\n'
return print_str
-
@classmethod
def from_message(cls, msg: Projection):
+ """
+ Creates an instance of PyProjection from a ROS message.
+
+ Args:
+ msg (Projection): The ROS message containing projection data.
+
+ Returns:
+ PyProjection: An instance initialized from the ROS message.
+ """
focal_spot_mm = np.array([msg.projection_geometry.focal_spot_postion_mm.x,
msg.projection_geometry.focal_spot_postion_mm.y,
msg.projection_geometry.focal_spot_postion_mm.z,])
@@ -79,6 +129,12 @@ class PyProjection(PyProjectionGeometry):
voltage_kv, current_ua, exposure_time_ms)
def as_message(self) -> Projection:
+ """
+ Converts the PyProjection instance to a ROS message.
+
+ Returns:
+ Projection: The ROS message representing the projection.
+ """
message = Projection()
projection_geometry = ProjectionGeometry()
diff --git a/rq_controller/common/projection_geometry.py b/rq_controller/common/projection_geometry.py
index 8548dcd31f59430aca4c799197a3a15565092dc4..61bc50099cc3dba82573915d7c58003f93ddbbb0 100644
--- a/rq_controller/common/projection_geometry.py
+++ b/rq_controller/common/projection_geometry.py
@@ -5,10 +5,32 @@ import numpy as np
from rq_interfaces.msg import ProjectionGeometry, Projection
class PyProjectionGeometry():
+ """
+ Represents the geometry of a projection including the focal spot and detector position and orientation.
+
+ Attributes:
+ focal_spot_mm (np.ndarray): Position of the focal spot in millimeters.
+ detector_postion_mm (np.ndarray): Position of the detector in millimeters.
+ detector_orientation_quad (np.ndarray): Orientation of the detector as a quaternion.
+ focal_spot_orientation_quad (np.ndarray): Orientation of the focal spot as a quaternion.
+ frame_id (str): Frame ID for the projection geometry.
+ """
+
def __init__(self, focal_spot_mm: np.ndarray, detector_postion_mm: np.ndarray,
detector_orientation_quad: np.ndarray,
frame_id: str = 'object', focal_spot_orientation_quad: np.ndarray = np.array([0., 0., 0, 1.])
) -> None:
+ """
+ Initializes a PyProjectionGeometry instance.
+
+ Args:
+ focal_spot_mm (np.ndarray): Position of the focal spot in millimeters.
+ detector_postion_mm (np.ndarray): Position of the detector in millimeters.
+ detector_orientation_quad (np.ndarray): Orientation of the detector as a quaternion.
+ frame_id (str): Frame ID for the projection geometry. Default is 'object'.
+ focal_spot_orientation_quad (np.ndarray): Orientation of the focal spot as a quaternion.
+ """
+
self.focal_spot_mm = focal_spot_mm
self.detector_postion_mm = detector_postion_mm
self.focal_spot_orientation_quad = focal_spot_orientation_quad
@@ -17,12 +39,27 @@ class PyProjectionGeometry():
@classmethod
def dummy(cls):
+ """
+ Creates a dummy instance of PyProjectionGeometry for testing.
+
+ Returns:
+ PyProjectionGeometry: A dummy instance with default values.
+ """
return cls(np.array([1., 0., 0]),
np.array([-1., 0., 0]),
np.array([0., 0., 0, 1.]))
@classmethod
def from_message(cls, msg: ProjectionGeometry):
+ """
+ Creates an instance of PyProjectionGeometry from a ROS message.
+
+ Args:
+ msg (ProjectionGeometry): The ROS message containing projection geometry data.
+
+ Returns:
+ PyProjectionGeometry: An instance initialized from the ROS message.
+ """
focal_spot_mm = np.array([msg.focal_spot_postion_mm.x,
msg.focal_spot_postion_mm.y,
msg.focal_spot_postion_mm.z,])
@@ -46,6 +83,12 @@ class PyProjectionGeometry():
return cls(focal_spot_mm, detector_center_mm, detector_orientation_quad, frame_id, focal_spot_orientation)
def as_message(self) -> ProjectionGeometry:
+ """
+ Converts the PyProjectionGeometry instance to a ROS message.
+
+ Returns:
+ ProjectionGeometry: The ROS message representing the projection geometry.
+ """
message = ProjectionGeometry()
message.focal_spot_postion_mm.x = self.focal_spot_mm[0]
diff --git a/rq_controller/common/region_of_intrest.py b/rq_controller/common/region_of_intrest.py
index f067df7eaf4ff5e1c5b48367e6e3203f138fedf8..4a71fda142cd0724897577ca7ffbed0c60c98e71 100644
--- a/rq_controller/common/region_of_intrest.py
+++ b/rq_controller/common/region_of_intrest.py
@@ -7,8 +7,28 @@ from visualization_msgs.msg import Marker
class PyRegionOfIntrest():
+ """
+ Represents a region of interest (ROI) with center points, dimensions, and resolution.
+
+ Attributes:
+ center_points_mm (np.ndarray): Center points of the ROIs in millimeters.
+ dimensions_mm (np.ndarray): Dimensions of the ROIs in millimeters.
+ frame_id (str): Frame ID for the ROI.
+ resolution_mm (np.ndarray): Resolution of the ROIs in millimeters.
+ """
+
def __init__(self, center_points_mm: np.ndarray, dimensions_mm: np.ndarray, frame_id: str = 'object',
resolution_mm: np.ndarray = np.array([0.1, 0.1, 0.1])):
+ """
+ Initializes a PyRegionOfIntrest instance.
+
+ Args:
+ center_points_mm (np.ndarray): Center points of the ROIs in millimeters.
+ dimensions_mm (np.ndarray): Dimensions of the ROIs in millimeters.
+ frame_id (str): Frame ID for the ROI. Default is 'object'.
+ resolution_mm (np.ndarray): Resolution of the ROIs in millimeters. Default is [0.1, 0.1, 0.1].
+ """
+
self.center_points_mm = center_points_mm.reshape((-1, 3))
self.dimensions_mm = dimensions_mm.reshape((-1, 3))
self.frame_id = frame_id
@@ -16,11 +36,28 @@ class PyRegionOfIntrest():
@classmethod
def dummy(cls):
+ """
+ Creates a dummy instance of PyRegionOfIntrest for testing.
+
+ Returns:
+ PyRegionOfIntrest: A dummy instance with random values.
+ """
+
return cls((np.random.random((3, )) - 0.5) * 20.,
np.random.random((3, )) * 10.)
@classmethod
def from_message(cls, msg: RegionOfIntrest):
+ """
+ Creates an instance of PyRegionOfIntrest from a ROS message.
+
+ Args:
+ msg (RegionOfIntrest): The ROS message containing ROI data.
+
+ Returns:
+ PyRegionOfIntrest: An instance initialized from the ROS message.
+ """
+
center_points_mm = list()
dimensions_mm = list()
@@ -45,14 +82,35 @@ class PyRegionOfIntrest():
@property
def number_of_rois(self) -> int:
+ """
+ Returns the number of regions of interest.
+
+ Returns:
+ int: The number of ROIs.
+ """
+
return self.center_points_mm.shape[0]
@property
def shape(self) -> tuple:
+ """
+ Returns the shape of the ROI grid based on the dimensions and resolution.
+
+ Returns:
+ tuple: The shape of the ROI grid.
+ """
+
shape = self.dimensions_mm[0] // self.resolution_mm[0]
return (int(shape[0]), int(shape[1]), int(shape[2]))
def as_message(self) -> RegionOfIntrest:
+ """
+ Converts the PyRegionOfIntrest instance to a ROS message.
+
+ Returns:
+ RegionOfIntrest: The ROS message representing the ROI.
+ """
+
message = RegionOfIntrest()
roi_list = list()
@@ -80,6 +138,16 @@ class PyRegionOfIntrest():
return message
def get_grid(self, indice: int = 0) -> np.ndarray:
+ """
+ Generates a grid of points within the ROI.
+
+ Args:
+ indice (int): Index of the ROI. Default is 0.
+
+ Returns:
+ np.ndarray: A grid of points within the ROI.
+ """
+
start = self.center_points_mm[indice] - (self.dimensions_mm[indice] / 2.)
end = self.center_points_mm[indice] + (self.dimensions_mm[indice] / 2.)
@@ -97,6 +165,16 @@ class PyRegionOfIntrest():
@staticmethod
def next_neighbor(grid_mm: np.ndarray, point_mm: np.ndarray) -> np.ndarray:
+ """
+ Finds the nearest neighbor in the grid to a given point.
+
+ Args:
+ grid_mm (np.ndarray): The grid of points.
+ point_mm (np.ndarray): The point to find the nearest neighbor for.
+
+ Returns:
+ np.ndarray: The indices of the nearest neighbor in the grid.
+ """
x = grid_mm[:, 0, 0, 0]
y = grid_mm[0, :, 0, 1]
diff --git a/rq_controller/common/volume.py b/rq_controller/common/volume.py
index 3ac025ed40081d0c09566ec3e223bf09c656a5dd..ac1b64568c12ed0a0688cf32bdcc7f72e971c618 100644
--- a/rq_controller/common/volume.py
+++ b/rq_controller/common/volume.py
@@ -11,18 +11,50 @@ import ros2_numpy
class VOLUME_TYPES(IntEnum):
+ """
+ Enum representing volume data types.
+ """
+
UINT_16 = 0
UINT_8 = 1
class PyVolume():
+ """
+ Represents a volumetric dataset with an associated region of interest.
+
+ Attributes:
+ roi (PyRegionOfIntrest): The region of interest associated with the volume.
+ array (ndarray): The volumetric data array.
+ data_typ (VOLUME_TYPES): The data type of the volume.
+ """
+
def __init__(self, array: ndarray, roi: PyRegionOfIntrest, data_type: VOLUME_TYPES = ...):
+ """
+ Initializes a PyVolume instance.
+
+ Args:
+ array (ndarray): The volumetric data array.
+ roi (PyRegionOfIntrest): The region of interest associated with the volume.
+ data_type (VOLUME_TYPES): The data type of the volume. Default is VOLUME_TYPES.UINT_8.
+ """
+
self.roi = roi
self.array = array
self.data_typ = data_type
@staticmethod
def get_data_type(volume_type: VOLUME_TYPES) -> np.dtype:
+ """
+ Gets the numpy data type corresponding to the given volume type.
+
+ Args:
+ volume_type (VOLUME_TYPES): The volume data type.
+
+ Returns:
+ np.dtype: The corresponding numpy data type.
+ """
+
if volume_type == VOLUME_TYPES.UINT_16:
return np.uint16
elif volume_type == VOLUME_TYPES.UINT_8:
@@ -32,6 +64,16 @@ class PyVolume():
@staticmethod
def enum_to_numpify(volume_type: VOLUME_TYPES) -> str:
+ """
+ Converts the volume type enum to a string for use in ROS2 numpy conversion.
+
+ Args:
+ volume_type (VOLUME_TYPES): The volume data type.
+
+ Returns:
+ str: The corresponding string for ROS2 numpy conversion.
+ """
+
if volume_type == VOLUME_TYPES.UINT_16:
return 'mono16'
elif volume_type == VOLUME_TYPES.UINT_8:
@@ -40,14 +82,31 @@ class PyVolume():
raise ValueError('Datatype is not implemented')
@classmethod
- def dummy(cls):
+ def dummy(cls) -> 'PyVolume':
+ """
+ Creates a dummy instance of PyVolume for testing.
+
+ Returns:
+ PyVolume: A dummy instance with random data.
+ """
+
roi = PyRegionOfIntrest.dummy()
array = np.random.randint(0, 255, size=roi.shape)
data_type = VOLUME_TYPES.UINT_8
return cls(array, roi, data_type)
@classmethod
- def from_message(cls, msg: Volume):
+ def from_message(cls, msg: Volume) -> 'PyVolume':
+ """
+ Creates an instance of PyVolume from a ROS message.
+
+ Args:
+ msg (Volume): The ROS message containing volume data.
+
+ Returns:
+ PyVolume: An instance initialized from the ROS message.
+ """
+
roi: Marker = msg.grid.region_of_intrest_stack.markers[0]
center_points_mm = np.array([
roi.pose.position.x,
@@ -77,6 +136,13 @@ class PyVolume():
return cls(array, py_roi, data_typ)
def as_message(self) -> Volume:
+ """
+ Converts the PyVolume instance to a ROS message.
+
+ Returns:
+ Volume: The ROS message representing the volume.
+ """
+
message = Volume()
message.datatype = self.data_typ
@@ -93,6 +159,13 @@ class PyVolume():
@property
def shape(self):
+ """
+ Returns the shape of the volumetric data array.
+
+ Returns:
+ tuple: The shape of the volume.
+ """
+
return self.array.shape
diff --git a/test/__pycache__/test_copyright.cpython-38-pytest-8.2.2.pyc b/test/__pycache__/test_copyright.cpython-38-pytest-8.2.2.pyc
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diff --git a/test/__pycache__/test_volume.cpython-38-pytest-8.2.2.pyc b/test/__pycache__/test_volume.cpython-38-pytest-8.2.2.pyc
new file mode 100644
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diff --git a/test/test_copyright.py b/test/test_copyright.py
deleted file mode 100644
index 97a39196e84db97954341162a6d2e7f771d938c0..0000000000000000000000000000000000000000
--- a/test/test_copyright.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
- rc = main(argv=['.', 'test'])
- assert rc == 0, 'Found errors'
diff --git a/test/test_flake8.py b/test/test_flake8.py
deleted file mode 100644
index 27ee1078ff077cc3a0fec75b7d023101a68164d1..0000000000000000000000000000000000000000
--- a/test/test_flake8.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
- rc, errors = main_with_errors(argv=[])
- assert rc == 0, \
- 'Found %d code style errors / warnings:\n' % len(errors) + \
- '\n'.join(errors)
diff --git a/test/test_pep257.py b/test/test_pep257.py
deleted file mode 100644
index b234a3840f4c5bd38f043638c8622b8f240e1185..0000000000000000000000000000000000000000
--- a/test/test_pep257.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
- rc = main(argv=['.', 'test'])
- assert rc == 0, 'Found code style errors / warnings'
diff --git a/test/test_projection.py b/test/test_projection.py
new file mode 100644
index 0000000000000000000000000000000000000000..06075e4a0d53943545fb6d2dd87c8dc33b5ae880
--- /dev/null
+++ b/test/test_projection.py
@@ -0,0 +1,134 @@
+import pytest
+import numpy as np
+from rq_controller.common import PyProjection # Adjust this import according to your module's path
+from rq_interfaces.msg import Projection
+from sensor_msgs.msg import Image
+import ros2_numpy
+
+@pytest.fixture
+def example_message():
+ msg = Projection()
+ msg.projection_geometry.focal_spot_postion_mm.x = 10.0
+ msg.projection_geometry.focal_spot_postion_mm.y = 20.0
+ msg.projection_geometry.focal_spot_postion_mm.z = 30.0
+ msg.projection_geometry.detector_postion_mm.x = 40.0
+ msg.projection_geometry.detector_postion_mm.y = 50.0
+ msg.projection_geometry.detector_postion_mm.z = 60.0
+ msg.projection_geometry.detector_orientation_quad.x = 0.0
+ msg.projection_geometry.detector_orientation_quad.y = 0.0
+ msg.projection_geometry.detector_orientation_quad.z = 0.0
+ msg.projection_geometry.detector_orientation_quad.w = 1.0
+ msg.projection_geometry.focal_spot_orientation_quad.x = 0.0
+ msg.projection_geometry.focal_spot_orientation_quad.y = 0.0
+ msg.projection_geometry.focal_spot_orientation_quad.z = 0.0
+ msg.projection_geometry.focal_spot_orientation_quad.w = 1.0
+ msg.projection_geometry.header.frame_id = "test_frame"
+
+ image_array = np.zeros((10, 10), dtype=np.uint16)
+ msg.image = ros2_numpy.msgify(Image, image_array, encoding='mono16')
+
+ msg.detector_heigth_mm = 100.0
+ msg.detector_width_mm = 200.0
+ msg.voltage_kv = 120.0
+ msg.current_ua = 150.0
+ msg.exposure_time_ms = 500.0
+ return msg
+
+def test_initialization():
+ focal_spot_mm = np.array([1.0, 2.0, 3.0])
+ detector_postion_mm = np.array([4.0, 5.0, 6.0])
+ detector_orientation_quad = np.array([0.0, 0.0, 0.0, 1.0])
+ image = np.zeros((10, 10), dtype=np.uint16)
+ detector_heigth_mm = 10.0
+ detector_width_mm = 20.0
+ voltage_kv = 100.0
+ current_ua = 200.0
+ exposure_time_ms = 1000.0
+ frame_id = "test_frame"
+ focal_spot_orientation_quad = np.array([0.0, 0.0, 0.0, 1.0])
+
+ projection = PyProjection(focal_spot_mm, detector_postion_mm, detector_orientation_quad, image, detector_heigth_mm, detector_width_mm, frame_id, focal_spot_orientation_quad, voltage_kv, current_ua, exposure_time_ms)
+
+ assert np.array_equal(projection.focal_spot_mm, focal_spot_mm)
+ assert np.array_equal(projection.detector_postion_mm, detector_postion_mm)
+ assert np.array_equal(projection.detector_orientation_quad, detector_orientation_quad)
+ assert np.array_equal(projection.focal_spot_orientation_quad, focal_spot_orientation_quad)
+ assert np.array_equal(projection.image, image)
+ assert projection.detector_heigth_mm == detector_heigth_mm
+ assert projection.detector_width_mm == detector_width_mm
+ assert projection.voltage_kv == voltage_kv
+ assert projection.current_ua == current_ua
+ assert projection.exposure_time_ms == exposure_time_ms
+ assert projection.frame_id == frame_id
+
+def test_dummy_method():
+ projection = PyProjection.dummy()
+
+ assert np.array_equal(projection.focal_spot_mm, np.array([0.0, 100.0, 0.0]))
+ assert np.array_equal(projection.detector_postion_mm, np.array([0.0, -100.0, 0.0]))
+ assert np.array_equal(projection.detector_orientation_quad, np.array([1.0, 0.0, 0.0, 1.0]))
+ assert np.array_equal(projection.image, np.zeros((10, 10), dtype=np.uint16))
+ assert projection.detector_heigth_mm == 10.0
+ assert projection.detector_width_mm == 10.0
+ assert projection.frame_id == "object"
+
+def test_from_message(example_message):
+ projection = PyProjection.from_message(example_message)
+
+ assert np.array_equal(projection.focal_spot_mm, np.array([10.0, 20.0, 30.0]))
+ assert np.array_equal(projection.detector_postion_mm, np.array([40.0, 50.0, 60.0]))
+ assert np.array_equal(projection.detector_orientation_quad, np.array([0.0, 0.0, 0.0, 1.0]))
+ assert np.array_equal(projection.focal_spot_orientation_quad, np.array([0.0, 0.0, 0.0, 1.0]))
+ assert np.array_equal(projection.image, np.zeros((10, 10), dtype=np.uint16))
+ assert projection.detector_heigth_mm == 100.0
+ assert projection.detector_width_mm == 200.0
+ assert projection.voltage_kv == 120.0
+ assert projection.current_ua == 150.0
+ assert projection.exposure_time_ms == 500.0
+ assert projection.frame_id == "test_frame"
+
+def test_as_message(example_message):
+ projection = PyProjection.from_message(example_message)
+ msg = projection.as_message()
+
+ assert msg.projection_geometry.focal_spot_postion_mm.x == 10.0
+ assert msg.projection_geometry.focal_spot_postion_mm.y == 20.0
+ assert msg.projection_geometry.focal_spot_postion_mm.z == 30.0
+ assert msg.projection_geometry.detector_postion_mm.x == 40.0
+ assert msg.projection_geometry.detector_postion_mm.y == 50.0
+ assert msg.projection_geometry.detector_postion_mm.z == 60.0
+ assert msg.projection_geometry.detector_orientation_quad.x == 0.0
+ assert msg.projection_geometry.detector_orientation_quad.y == 0.0
+ assert msg.projection_geometry.detector_orientation_quad.z == 0.0
+ assert msg.projection_geometry.detector_orientation_quad.w == 1.0
+ assert msg.projection_geometry.focal_spot_orientation_quad.x == 0.0
+ assert msg.projection_geometry.focal_spot_orientation_quad.y == 0.0
+ assert msg.projection_geometry.focal_spot_orientation_quad.z == 0.0
+ assert msg.projection_geometry.focal_spot_orientation_quad.w == 1.0
+ assert msg.projection_geometry.header.frame_id == "test_frame"
+ assert np.array_equal(ros2_numpy.numpify(msg.image), np.zeros((10, 10), dtype=np.uint16))
+ assert msg.detector_heigth_mm == 100.0
+ assert msg.detector_width_mm == 200.0
+ assert msg.voltage_kv == 120.0
+ assert msg.current_ua == 150.0
+ assert msg.exposure_time_ms == 500.0
+
+def test_properties():
+ focal_spot_mm = np.array([1.0, 2.0, 3.0])
+ detector_postion_mm = np.array([4.0, 5.0, 6.0])
+ detector_orientation_quad = np.array([0.0, 0.0, 0.0, 1.0])
+ image = np.zeros((20, 30), dtype=np.uint16)
+ detector_heigth_mm = 100.0
+ detector_width_mm = 200.0
+ voltage_kv = 100.0
+ current_ua = 200.0
+ exposure_time_ms = 1000.0
+ frame_id = "test_frame"
+ focal_spot_orientation_quad = np.array([0.0, 0.0, 0.0, 1.0])
+
+ projection = PyProjection(focal_spot_mm, detector_postion_mm, detector_orientation_quad, image, detector_heigth_mm, detector_width_mm, frame_id, focal_spot_orientation_quad, voltage_kv, current_ua, exposure_time_ms)
+
+ assert projection.detector_heigth_px == 20
+ assert projection.detector_width_px == 30
+ assert projection.pixel_pitch_x_mm == 200.0 / 30
+ assert projection.pixel_pitch_y_mm == 100.0 / 20
\ No newline at end of file
diff --git a/test/test_projection_geometry.py b/test/test_projection_geometry.py
new file mode 100644
index 0000000000000000000000000000000000000000..7d4c44de107de144cc90a0abda6004c6ded44014
--- /dev/null
+++ b/test/test_projection_geometry.py
@@ -0,0 +1,78 @@
+import pytest
+import numpy as np
+from rq_interfaces.msg import ProjectionGeometry
+from rq_controller.common import PyProjectionGeometry
+
+
+@pytest.fixture
+def example_message():
+ msg = ProjectionGeometry()
+ msg.focal_spot_postion_mm.x = 10.
+ msg.focal_spot_postion_mm.y = 20.
+ msg.focal_spot_postion_mm.z = 30.
+ msg.detector_postion_mm.x = 40.
+ msg.detector_postion_mm.y = 50.
+ msg.detector_postion_mm.z = 60.
+ msg.detector_orientation_quad.x = 0.
+ msg.detector_orientation_quad.y = 0.
+ msg.detector_orientation_quad.z = 0.
+ msg.detector_orientation_quad.w = 1.
+ msg.focal_spot_orientation_quad.x = 0.
+ msg.focal_spot_orientation_quad.y = 0.
+ msg.focal_spot_orientation_quad.z = 0.
+ msg.focal_spot_orientation_quad.w = 1.
+ msg.header.frame_id = "test_frame"
+ return msg
+
+def test_initialization():
+ focal_spot_mm = np.array([1.0, 2.0, 3.0])
+ detector_postion_mm = np.array([4.0, 5.0, 6.0])
+ detector_orientation_quad = np.array([0.0, 0.0, 0.0, 1.0])
+ frame_id = "test_frame"
+ focal_spot_orientation_quad = np.array([0.0, 0.0, 0.0, 1.0])
+
+ geometry = PyProjectionGeometry(focal_spot_mm, detector_postion_mm, detector_orientation_quad, frame_id, focal_spot_orientation_quad)
+
+ assert np.array_equal(geometry.focal_spot_mm, focal_spot_mm)
+ assert np.array_equal(geometry.detector_postion_mm, detector_postion_mm)
+ assert np.array_equal(geometry.detector_orientation_quad, detector_orientation_quad)
+ assert np.array_equal(geometry.focal_spot_orientation_quad, focal_spot_orientation_quad)
+ assert geometry.frame_id == frame_id
+
+def test_dummy_method():
+ geometry = PyProjectionGeometry.dummy()
+
+ assert np.array_equal(geometry.focal_spot_mm, np.array([1.0, 0.0, 0.0]))
+ assert np.array_equal(geometry.detector_postion_mm, np.array([-1.0, 0.0, 0.0]))
+ assert np.array_equal(geometry.detector_orientation_quad, np.array([0.0, 0.0, 0.0, 1.0]))
+ assert geometry.frame_id == "object"
+ assert np.array_equal(geometry.focal_spot_orientation_quad, np.array([0.0, 0.0, 0.0, 1.0]))
+
+def test_from_message(example_message):
+ geometry = PyProjectionGeometry.from_message(example_message)
+
+ assert np.array_equal(geometry.focal_spot_mm, np.array([10, 20, 30]))
+ assert np.array_equal(geometry.detector_postion_mm, np.array([40, 50, 60]))
+ assert np.array_equal(geometry.detector_orientation_quad, np.array([0, 0, 0, 1]))
+ assert np.array_equal(geometry.focal_spot_orientation_quad, np.array([0, 0, 0, 1]))
+ assert geometry.frame_id == "test_frame"
+
+def test_as_message(example_message):
+ geometry = PyProjectionGeometry.from_message(example_message)
+ msg = geometry.as_message()
+
+ assert msg.focal_spot_postion_mm.x == 10
+ assert msg.focal_spot_postion_mm.y == 20
+ assert msg.focal_spot_postion_mm.z == 30
+ assert msg.detector_postion_mm.x == 40
+ assert msg.detector_postion_mm.y == 50
+ assert msg.detector_postion_mm.z == 60
+ assert msg.detector_orientation_quad.x == 0
+ assert msg.detector_orientation_quad.y == 0
+ assert msg.detector_orientation_quad.z == 0
+ assert msg.detector_orientation_quad.w == 1
+ assert msg.focal_spot_orientation_quad.x == 0
+ assert msg.focal_spot_orientation_quad.y == 0
+ assert msg.focal_spot_orientation_quad.z == 0
+ assert msg.focal_spot_orientation_quad.w == 1
+ assert msg.header.frame_id == "test_frame"
diff --git a/test/test_region_of_intrest.py b/test/test_region_of_intrest.py
new file mode 100644
index 0000000000000000000000000000000000000000..678f0528d467c6a9c4f975df7ae10b446e73e067
--- /dev/null
+++ b/test/test_region_of_intrest.py
@@ -0,0 +1,100 @@
+import pytest
+import numpy as np
+from rq_controller.common import PyRegionOfIntrest # Adjust this import according to your module's path
+from rq_interfaces.msg import RegionOfIntrest
+from visualization_msgs.msg import Marker
+
+@pytest.fixture
+def example_message():
+ msg = RegionOfIntrest()
+
+ marker = Marker()
+ marker.pose.position.x = 10.0
+ marker.pose.position.y = 20.0
+ marker.pose.position.z = 30.0
+ marker.scale.x = 40.0
+ marker.scale.y = 50.0
+ marker.scale.z = 60.0
+ marker.header.frame_id = "test_frame"
+
+ msg.region_of_intrest_stack.markers.append(marker)
+
+ msg.resolution.x = 0.1
+ msg.resolution.y = 0.1
+ msg.resolution.z = 0.1
+
+ return msg
+
+def test_initialization():
+ center_points_mm = np.array([[1.0, 2.0, 3.0]])
+ dimensions_mm = np.array([[4.0, 5.0, 6.0]])
+ resolution_mm = np.array([[0.1, 0.1, 0.1]])
+ frame_id = "test_frame"
+
+ roi = PyRegionOfIntrest(center_points_mm, dimensions_mm, frame_id, resolution_mm)
+
+ assert np.array_equal(roi.center_points_mm, center_points_mm)
+ assert np.array_equal(roi.dimensions_mm, dimensions_mm)
+ assert np.array_equal(roi.resolution_mm, resolution_mm)
+ assert roi.frame_id == frame_id
+
+def test_dummy_method():
+ roi = PyRegionOfIntrest.dummy()
+
+ assert roi.center_points_mm.shape == (1, 3)
+ assert roi.dimensions_mm.shape == (1, 3)
+ assert roi.frame_id == "object"
+
+def test_from_message(example_message):
+ roi = PyRegionOfIntrest.from_message(example_message)
+
+ assert np.array_equal(roi.center_points_mm, np.array([[10.0, 20.0, 30.0]]))
+ assert np.array_equal(roi.dimensions_mm, np.array([[40.0, 50.0, 60.0]]))
+ assert np.array_equal(roi.resolution_mm, np.array([[0.1, 0.1, 0.1]]))
+ assert roi.frame_id == "test_frame"
+
+def test_as_message(example_message):
+ roi = PyRegionOfIntrest.from_message(example_message)
+ msg = roi.as_message()
+
+ assert len(msg.region_of_intrest_stack.markers) == 1
+ marker = msg.region_of_intrest_stack.markers[0]
+
+ assert marker.pose.position.x == 10.0
+ assert marker.pose.position.y == 20.0
+ assert marker.pose.position.z == 30.0
+ assert marker.scale.x == 40.0
+ assert marker.scale.y == 50.0
+ assert marker.scale.z == 60.0
+ assert marker.header.frame_id == "test_frame"
+
+ assert msg.resolution.x == 0.1
+ assert msg.resolution.y == 0.1
+ assert msg.resolution.z == 0.1
+
+def test_number_of_rois(example_message):
+ roi = PyRegionOfIntrest.from_message(example_message)
+ assert roi.number_of_rois == 1
+
+def test_shape(example_message):
+ roi = PyRegionOfIntrest.from_message(example_message)
+ assert roi.shape == (399, 499, 599)
+
+def test_get_grid(example_message):
+ roi = PyRegionOfIntrest.from_message(example_message)
+ grid = roi.get_grid(0)
+
+ assert grid.shape == (399, 499, 599, 3)
+ assert np.array_equal(grid[0, 0, 0], np.array([10.0 - 20.0, 20.0 - 25.0, 30.0 - 30.0]))
+ assert np.array_equal(grid[-1, -1, -1], np.array([10.0 + 20.0, 20.0 + 25.0, 30.0 + 30.0]))
+
+def test_next_neighbor():
+ grid_mm = np.zeros((20, 30, 40, 3))
+ grid_mm[:, :, :, 0] = np.linspace(0, 20, 20).reshape(-1, 1, 1)
+ grid_mm[:, :, :, 1] = np.linspace(0, 30, 30).reshape(1, -1, 1)
+ grid_mm[:, :, :, 2] = np.linspace(0, 40, 40).reshape(1, 1, -1)
+
+ point_mm = np.array([11.0, 16.0, 21.0])
+ index = PyRegionOfIntrest.next_neighbor(grid_mm, point_mm)
+
+ assert np.array_equal(index, [10, 15, 20])
diff --git a/test/test_volume.py b/test/test_volume.py
new file mode 100644
index 0000000000000000000000000000000000000000..e2a8ff8e78facdcf65040525438f3b1975ae49df
--- /dev/null
+++ b/test/test_volume.py
@@ -0,0 +1,98 @@
+import pytest
+import numpy as np
+from rq_controller.common import PyVolume, PyRegionOfIntrest # Adjust this import according to your module's path
+from rq_controller.common.volume import VOLUME_TYPES
+from rq_interfaces.msg import Volume
+from visualization_msgs.msg import Marker
+from sensor_msgs.msg import Image
+import ros2_numpy
+
+
+@pytest.fixture
+def example_message():
+ msg = Volume()
+
+ marker = Marker()
+ marker.pose.position.x = 10.0
+ marker.pose.position.y = 20.0
+ marker.pose.position.z = 30.0
+ marker.scale.x = 40.0
+ marker.scale.y = 50.0
+ marker.scale.z = 60.0
+ marker.header.frame_id = "test_frame"
+
+ msg.grid.region_of_intrest_stack.markers.append(marker)
+
+ msg.grid.resolution.x = 1.
+ msg.grid.resolution.y = 1.
+ msg.grid.resolution.z = 1.
+
+ msg.datatype = VOLUME_TYPES.UINT_16
+
+ shape = (40, 50, 60)
+ slices = np.random.randint(0, 65535, size=shape, dtype=np.uint16)
+ for i in range(shape[2]):
+ image_msg = ros2_numpy.msgify(Image, slices[:, :, i], encoding='mono16')
+ msg.slices.append(image_msg)
+
+ return msg
+
+
+def test_initialization():
+ roi = PyRegionOfIntrest.dummy()
+ array = np.random.randint(0, 255, size=roi.shape, dtype=np.uint8)
+ volume = PyVolume(array, roi, VOLUME_TYPES.UINT_8)
+
+ assert np.array_equal(volume.array, array)
+ assert volume.roi == roi
+ assert volume.data_typ == VOLUME_TYPES.UINT_8
+
+
+def test_dummy_method():
+ volume = PyVolume.dummy()
+
+ assert volume.array.shape == volume.roi.shape
+ assert volume.data_typ == VOLUME_TYPES.UINT_8
+
+
+def test_from_message(example_message):
+ volume = PyVolume.from_message(example_message)
+
+ assert volume.array.shape == (40, 50, 60)
+ assert volume.data_typ == VOLUME_TYPES.UINT_16
+ assert volume.roi.frame_id == "test_frame"
+
+
+def test_as_message(example_message):
+ volume = PyVolume.from_message(example_message)
+ msg = volume.as_message()
+
+ assert msg.datatype == VOLUME_TYPES.UINT_16
+ assert len(msg.slices) == 60
+
+ for i, slice_msg in enumerate(msg.slices):
+ slice_array = ros2_numpy.numpify(slice_msg)
+ assert np.array_equal(slice_array, volume.array[:, :, i])
+
+
+def test_get_data_type():
+ assert PyVolume.get_data_type(VOLUME_TYPES.UINT_16) == np.uint16
+ assert PyVolume.get_data_type(VOLUME_TYPES.UINT_8) == np.uint8
+ with pytest.raises(ValueError):
+ PyVolume.get_data_type(-1)
+
+
+def test_enum_to_numpify():
+ assert PyVolume.enum_to_numpify(VOLUME_TYPES.UINT_16) == 'mono16'
+ assert PyVolume.enum_to_numpify(VOLUME_TYPES.UINT_8) == 'mono8'
+ with pytest.raises(ValueError):
+ PyVolume.enum_to_numpify(-1)
+
+
+def test_shape():
+ roi = PyRegionOfIntrest.dummy()
+ array = np.random.randint(0, 255, size=roi.shape, dtype=np.uint8)
+ volume = PyVolume(array, roi, VOLUME_TYPES.UINT_8)
+
+ assert volume.shape == array.shape
+