Updated tests.

This is all getting rather gross and needs some housekeeping

lib/sfm/sfm.py

@@ -28,12 +28,17 @@ def run(self):
 
     def reload(self):
         maps_2d = get_all_2d_led_maps(self.directory_monitor.directory)
-        self.process(maps_2d, self.rescale, self.interpolate)
+        map_3d = self.process(maps_2d, self.rescale, self.interpolate)
+        map_3d.write_to_file(
+            self.directory_monitor.directory / "reconstruction.csv"
+        )
+        return map_3d
 
-    def process(self, maps_2d, rescale=False, interpolate=False):
+    @staticmethod
+    def process(maps_2d, rescale=False, interpolate=False):
 
         if len(maps_2d) < 2:
-            return
+            return None
 
         with TemporaryDirectory() as temp_dir:
             database_path = os.path.join(temp_dir, "database.db")
@@ -55,7 +60,7 @@ def process(self, maps_2d, rescale=False, interpolate=False):
                 )
 
             if not os.path.exists(os.path.join(temp_dir, "0", "points3D.bin")):
-                return False
+                return None
 
             map_3d, cams = get_map_and_cams(temp_dir)
 
@@ -66,6 +71,4 @@ def process(self, maps_2d, rescale=False, interpolate=False):
                 leds_interpolated = map_cleaner.fill_gaps(map_3d)
                 cprint(f"Interpolated {leds_interpolated} leds", format=Col.BLUE)
 
-            map_3d.write_to_file(
-                self.directory_monitor.directory / "reconstruction.csv"
-            )
+        return map_3d

test/test_reconstruction.py

@@ -36,16 +36,12 @@ def check_dimensions(map_3d, max_error):
 def test_reconstruction():
     maps = get_all_2d_led_maps("test/scan")
 
-    sfm = SFM(maps)
+    map_3d = SFM.process(maps)
 
-    sfm.process()
-
-    sfm.print_points()
-
-    assert len(sfm.maps_3d) == 21
+    assert len(map_3d) == 21
 
     check_dimensions(
-        sfm.maps_3d, max_error=0.01  # needs to have a max deviation of less than 1%
+        map_3d, max_error=0.01  # needs to have a max deviation of less than 1%
     )
 
 
@@ -54,44 +50,40 @@ def test_sparse_reconstruction():
 
     maps_sparse = [maps[1], maps[3], maps[5], maps[7]]
 
-    sfm = SFM(maps_sparse)
+    map_3d = SFM.process(maps_sparse)
 
-    assert sfm.process()
+    assert map_3d is not None
 
-    sfm.print_points()
-
-    assert len(sfm.maps_3d) == 21
+    assert len(map_3d) == 21
 
     check_dimensions(
-        sfm.maps_3d, max_error=0.03  # needs to have a max deviation of less than 3%
+        map_3d, max_error=0.03  # needs to have a max deviation of less than 3%
     )
 
 
 def test_2_track_reconstruction():
     partial_map = get_all_2d_led_maps("test/scan")[1:3]
 
-    sfm = SFM(partial_map)
-
-    assert sfm.process()
+    map_3d = SFM.process(partial_map)
 
-    sfm.print_points()
+    assert map_3d is not None
 
-    assert len(sfm.maps_3d) == 15
+    assert len(map_3d) == 15
 
 
 def test_invalid_reconstruction_views():
     maps = get_all_2d_led_maps("test/scan")
 
     invalid_maps = [maps[0], maps[4], maps[8]]  # no useful overlap
 
-    sfm = SFM(invalid_maps)
+    map_3d = SFM.process(invalid_maps)
 
-    assert not sfm.process()
+    assert map_3d is None
 
 
 def test_reconstruct_higbeam():
     highbeam_map = get_all_2d_led_maps("test/MariMapper-Test-Data/highbeam")
 
-    sfm = SFM(highbeam_map)
+    map_3d = SFM.process(highbeam_map)
 
-    assert sfm.process()
+    assert map_3d is not None

test/test_remesh.py

@@ -6,14 +6,12 @@
 def test_remesh_higbeam():
     highbeam_map = get_all_2d_led_maps("test/MariMapper-Test-Data/highbeam")
 
-    sfm = SFM(highbeam_map)
+    map_3d = SFM.process(highbeam_map)
 
-    sfm.process()
-
-    mesh_high_res = remesh(sfm.maps_3d, 8)
+    mesh_high_res = remesh(map_3d, 8)
 
     assert 8000 < len(mesh_high_res.triangles) < 9000
 
-    mesh_low_res = remesh(sfm.maps_3d, 4)
+    mesh_low_res = remesh(map_3d, 4)
 
     assert 2000 < len(mesh_low_res.triangles) < 3000