revert to original python code test

test/conftest.py

@@ -4,8 +4,7 @@
 
 def pytest_configure(config):
     config.addinivalue_line(
-        "markers",
-        "skip_no_o3d_display: skip test when no display is available",
+        "markers", "skip_no_o3d_display: skip test when no display is available"
     )
 
 

test/test_convert.py

@@ -121,11 +121,7 @@ def gen_random_pose():
                 [-axis[1], axis[0], 0],
             ]
         )
-        RT = (
-            np.eye(3)
-            + np.sin(angle) * ss
-            + (1 - np.cos(angle)) * np.dot(ss, ss)
-        )
+        RT = np.eye(3) + np.sin(angle) * ss + (1 - np.cos(angle)) * np.dot(ss, ss)
         c = np.random.uniform(-10, 10, size=(3,))
         pose = np.eye(4)
         pose[:3, :3] = RT
@@ -142,12 +138,8 @@ def gen_random_pose():
         pose_gl = ct.convert.pose_opencv_to_opengl(pose_cv)
         pose_cv_recovered = ct.convert.pose_opengl_to_opencv(pose_gl)
         pose_gl_recovered = ct.convert.pose_opencv_to_opengl(pose_cv_recovered)
-        np.testing.assert_allclose(
-            pose_cv, pose_cv_recovered, rtol=1e-5, atol=1e-5
-        )
-        np.testing.assert_allclose(
-            pose_gl, pose_gl_recovered, rtol=1e-5, atol=1e-5
-        )
+        np.testing.assert_allclose(pose_cv, pose_cv_recovered, rtol=1e-5, atol=1e-5)
+        np.testing.assert_allclose(pose_gl, pose_gl_recovered, rtol=1e-5, atol=1e-5)
 
         # Test convert T bidirectionally
         T_cv = np.copy(T)
@@ -216,12 +208,8 @@ def gen_random_T():
         pose_gl = ct.convert.pose_opencv_to_opengl(pose_cv)
         pose_cv_recovered = ct.convert.pose_opengl_to_opencv(pose_gl)
         pose_gl_recovered = ct.convert.pose_opencv_to_opengl(pose_cv_recovered)
-        np.testing.assert_allclose(
-            pose_cv, pose_cv_recovered, rtol=1e-5, atol=1e-5
-        )
-        np.testing.assert_allclose(
-            pose_gl, pose_gl_recovered, rtol=1e-5, atol=1e-5
-        )
+        np.testing.assert_allclose(pose_cv, pose_cv_recovered, rtol=1e-5, atol=1e-5)
+        np.testing.assert_allclose(pose_gl, pose_gl_recovered, rtol=1e-5, atol=1e-5)
 
         # Test T and pose are consistent across conversions
         np.testing.assert_allclose(
@@ -304,9 +292,7 @@ def test_im_depth_im_distance_convert():
     # Geometries
     sphere = o3d.geometry.TriangleMesh.create_sphere(radius=1.0)
     sphere = sphere.translate([0, 0, 4])
-    box = o3d.geometry.TriangleMesh.create_box(
-        width=1.5, height=1.5, depth=1.5
-    )
+    box = o3d.geometry.TriangleMesh.create_box(width=1.5, height=1.5, depth=1.5)
     box = box.translate([0, 0, 4])
     mesh = sphere + box
 
@@ -327,6 +313,4 @@ def test_im_depth_im_distance_convert():
     im_depth_reconstructed = ct.convert.im_distance_to_im_depth(im_distance, K)
 
     # Assert that the reconstructed depth is close to the original
-    np.testing.assert_allclose(
-        im_depth, im_depth_reconstructed, rtol=1e-5, atol=1e-5
-    )
+    np.testing.assert_allclose(im_depth, im_depth_reconstructed, rtol=1e-5, atol=1e-5)

test/test_raycast.py

@@ -17,9 +17,7 @@ def test_mesh_to_depth(visualize: bool):
     # Geometries
     sphere = o3d.geometry.TriangleMesh.create_sphere(radius=1.0)
     sphere = sphere.translate([0, 0, 4])
-    box = o3d.geometry.TriangleMesh.create_box(
-        width=1.5, height=1.5, depth=1.5
-    )
+    box = o3d.geometry.TriangleMesh.create_box(width=1.5, height=1.5, depth=1.5)
     box = box.translate([0, 0, 4])
     mesh = sphere + box
     lineset = ct.convert.mesh_to_lineset(mesh)

test/test_render.py

@@ -18,15 +18,11 @@ def test_render_geometries(visualize: bool):
     See conftest.py for more information on the visualize fixture.
     """
     # Setup geometries: sphere (red), box (blue)
-    sphere = o3d.geometry.TriangleMesh.create_sphere(
-        radius=1.0, resolution=100
-    )
+    sphere = o3d.geometry.TriangleMesh.create_sphere(radius=1.0, resolution=100)
     sphere = sphere.translate([0, 0, 4])
     sphere = sphere.paint_uniform_color([0.2, 0.4, 0.8])
     sphere.compute_vertex_normals()
-    box = o3d.geometry.TriangleMesh.create_box(
-        width=1.5, height=1.5, depth=1.5
-    )
+    box = o3d.geometry.TriangleMesh.create_box(width=1.5, height=1.5, depth=1.5)
     box = box.translate([0, 0, 4])
     box = box.paint_uniform_color([0.8, 0.2, 0.2])
     box.compute_vertex_normals()
@@ -69,11 +65,7 @@ def test_render_geometries(visualize: bool):
     im_raycast_depth[im_raycast_depth == np.inf] = 0
 
     # Heuristic checks of RGB rendering
-    assert im_render_rgb.shape == (
-        height,
-        width,
-        3,
-    ), "Image has incorrect dimensions"
+    assert im_render_rgb.shape == (height, width, 3), "Image has incorrect dimensions"
     num_white_pixels = np.sum(
         (im_render_rgb[:, :, 0] > 0.9)
         & (im_render_rgb[:, :, 1] > 0.9)
@@ -89,9 +81,7 @@ def test_render_geometries(visualize: bool):
         & (im_render_rgb[:, :, 1] < 0.3)
         & (im_render_rgb[:, :, 2] < 0.5)
     )
-    assert num_white_pixels > (
-        height * width * 0.5
-    ), "Expected mostly white background"
+    assert num_white_pixels > (height * width * 0.5), "Expected mostly white background"
     assert num_blue_pixels > 100, "Expected blue pixels (sphere) not found"
     assert num_red_pixels > 100, "Expected red pixels (box) not found"
 
@@ -108,8 +98,7 @@ def test_render_geometries(visualize: bool):
         im_render_rgb_mask.astype(float) - im_render_depth_mask.astype(float)
     )
     im_mask_diff_raycast_vs_render = np.abs(
-        im_raycast_depth_mask.astype(float)
-        - im_render_depth_mask.astype(float)
+        im_raycast_depth_mask.astype(float) - im_render_depth_mask.astype(float)
     )
     assert (
         np.mean(im_mask_diff_rgb_vs_raycast) < 0.01