Hao reconstruct

.travis.yml

@@ -4,16 +4,17 @@ python:
   - '3.5'
 cache: pip
 before_install:
-  - chmod +x test/run_tests.py
-  - chmod +x test/test_data_loader.py
-  - chmod +x test/test_data_manager.py
+  - chmod +x robot_data_visualizer/test/run_tests.py
+  - chmod +x robot_data_visualizer/test/test_data_manager.py
+  - chmod +x robot_data_visualizer/test/test_download_tar.py
+  - chmod +x robot_data_visualizer/test/test_tar_extract.py
+  - chmod +x robot_data_visualizer/test/test_get_dates_umich.py
+  - chmod +x robot_data_visualizer/test/test_threshold_lidar.py
 install:
   - pip install -r requirements.txt
 script:
-  - python test/run_tests.py
+  - python robot_data_visualizer/test/run_tests.py
 branches:
   only:
     - master
-    - dev
-    - ken-dev
-    - hao-dev
+    - hao_reconstruct

robot_data_visualizer/__init__.py

@@ -0,0 +1,16 @@
+__all__ = ['data_loader', 'data_manager', 'download_tar', 'get_dates_umich', 'map_for_gps', 'read_hokuyo', 'static_map_base_layer', 'staticmap_for_gps', 'tar_extract', 'hokuyo_plot', 'threshold_lidar_pts', 'epoch_to_date_time']
+
+from .get_dates_umich import get_dates_umich
+from .data_loader import DataLoader
+from .data_manager import DataManager
+from .download_tar import download_tar
+from .read_hokuyo_30m import read_hokuyo
+from .tar_extract import tar_extract
+from .get_dates_umich import get_dates_umich
+from .view_lidar import hokuyo_plot
+from .view_lidar import threshold_lidar_pts
+from .time_convert import epoch_to_date_time
+from .view_lidar import hokuyo_plot
+from .view_lidar import threshold_lidar_pts
+from .static_map_base_layer import StaticMapBaseLayer
+from .staticmap_for_gps import map_for_gps

tools/data_manager.py → robot_data_visualizer/data_manager.py

@@ -1,9 +1,10 @@
 import os
+os.chdir(os.path.abspath('.'))
 import pickle
-from tools.data_loader import DataLoader
-from tools.read_hokuyo_30m import read_hokuyo
-from tools.tar_extract import tar_extract
-from tools.download_tar import download_tar
+from data_loader import DataLoader
+from read_hokuyo_30m import read_hokuyo
+from tar_extract import tar_extract
+from download_tar import download_tar
 
 
 class DataManager:

misc/iterative_closest_point.py → robot_data_visualizer/iterative_closest_point.py

@@ -13,11 +13,9 @@
 import numpy as np
 import matplotlib.pyplot as plt
 import datetime
-import sys
-sys.path.append('..')
 
 import traceback
-from tools.data_manager import DataManager
+from .data_manager import DataManager
 
 #  ICP parameters
 EPS = 0.0001

gui/robot_data_visualizer.py → robot_data_visualizer/main_window.py

@@ -1,7 +1,8 @@
 import os
 import sys
-sys.path.append('.')
-sys.path.append('..')
+#sys.path.append('.')
+#sys.path.append('..')
+#sys.path.append('../..')
 
 import warnings
 warnings.filterwarnings("ignore")
@@ -17,11 +18,11 @@
 
 import tkinter as tk
 
-from tools.get_dates_umich import get_dates_umich
-from tools.staticmap_for_gps import map_for_gps
-from tools.data_manager import DataManager
-from tools.view_lidar import hokuyo_plot
-from tools.view_lidar import threshold_lidar_pts
+from get_dates_umich import get_dates_umich
+from staticmap_for_gps import map_for_gps
+from data_manager import DataManager
+from view_lidar import hokuyo_plot
+from view_lidar import threshold_lidar_pts
 
 
 class VisualizerFrame(tk.Frame):
@@ -409,7 +410,6 @@ def __init__(self, parent):
         tk.Frame.__init__(self, parent, width=400)
         self.parent = parent
         self.root = parent
-        self.slam_control = None
         self.map_control = None
         self.lidar_control = None
         self.widgets()

tools/staticmap_for_gps.py → robot_data_visualizer/staticmap_for_gps.py

@@ -1,9 +1,11 @@
 '''This file is used to generate all points needed for plot in real-time.'''
 
 import os
+import sys
 from staticmap import Line
-from tools.static_map_base_layer import StaticMapBaseLayer
-from tools.data_manager import DataManager
+from data_manager import DataManager
+sys.path.append('..')
+from static_map_base_layer import StaticMapBaseLayer
 
 def generate_coordinates(data_dict):
     '''

test/run_tests.py → robot_data_visualizer/test/run_tests.py

@@ -1,7 +1,7 @@
 import sys
 import unittest
 
-test_modules = ["test_data_loader", "test_data_manager"]
+test_modules = ["test_data_manager", "test_download_tar", "test_get_dates_umich", "test_tar_extract", "test_threshold_lidar"]
 
 suite = unittest.TestSuite()
 

test/test_data_manager.py → robot_data_visualizer/test/test_data_manager.py

@@ -3,7 +3,7 @@
 import os
 sys.path.append('.')
 sys.path.append('..')
-from tools.data_manager import DataManager
+from robot_data_visualizer.data_manager import DataManager
 
 class TestDataManager(unittest.TestCase):
 

robot_data_visualizer/test/test_download_tar.py

@@ -0,0 +1,38 @@
+import unittest
+import os
+import sys
+sys.path.append('.')
+sys.path.append('..')
+from robot_data_visualizer.download_tar import download_tar
+from robot_data_visualizer.download_tar import ensure_data_dir_exists
+
+class TestDownloadTar(unittest.TestCase):
+
+    def setUp(self):
+        self.data_dir_name = 'data'
+        self.base_name = 'http://robots.engin.umich.edu/nclt'
+        self.date = '2013-01-10'
+        self.root_path = os.path.abspath('.')
+        self.data_dir_root = os.path.join(self.root_path, self.data_dir_name)
+        self.curr_data_dir = os.path.join(self.data_dir_root, self.date)
+
+    def test_ensure_data_dir_exists(self):
+        ensure_data_dir_exists()
+        self.assertTrue(os.path.exists(self.data_dir_root))
+
+    def test_download_sensor_data(self):
+        download_tar(self.base_name, self.date, 'sensor_data')
+        tmp = os.path.exists(self.curr_data_dir)
+        self.assertTrue(os.path.exists(self.curr_data_dir))
+
+    def test_download_lidar_data(self):
+        download_tar(self.base_name, self.date, 'hokuyo')
+        file_name = self.date + '_hokuyo.tar.gz'
+        tmp = os.path.join(self.data_dir_root, file_name)
+        self.assertTrue(os.path.isfile(os.path.join(self.data_dir_root, file_name)))
+
+    def tearDown(self):
+        os.chdir(self.root_path)
+
+if __name__ == '__main__':
+    unittest.main()

robot_data_visualizer/test/test_get_dates_umich.py

@@ -0,0 +1,20 @@
+import unittest
+import sys
+sys.path.append('.')
+sys.path.append('..')
+from robot_data_visualizer.get_dates_umich import get_dates_umich
+
+class TestGetDatesUmich(unittest.TestCase):
+
+    def setUp(self):
+        self.dates = get_dates_umich()
+
+    def test_returns_list(self):
+        self.assertTrue(type(self.dates) is list)
+
+    def test_element_type(self):
+        for date in self.dates:
+            self.assertTrue(type(date) is str)
+
+if __name__ == '__main__':
+    unittest.main()