
    ni
                         S r SSKJr  SSKJr  SSKJr  SSKrSSKrSSKJ	r	  SSKJ
r
  SSKJr   " S	 S
\R                  5      r\S:X  a  \R                   " 5         gg)zTests for imagery_utils.    )absolute_import)division)print_functionN)imagery_pb2)imagery_utils)
googletestc                   2    \ rS rSrS rS rS rS rS rSr	g)	ImageryUtilsTest   c                    [         R                  " SS[         R                  R                  SS9n[        R                  " U5      nU R                  UR                  [        R                  5        U R                  UR                  UR                  UR                  S45        U R                  US   [        S5      5        U R                  US   [        S5      5        g )	N   s   ABCDABCDABCDABCD	height_pxwidth_pximage_formatcontent   r   r   r   A)   r      D)r   ImageIMAGE_FORMAT_BGRA_HWC_8Ur   convert_image_to_arrayassertEqualdtypenpuint8shaper   r   ordselfimageimage_arrays      j/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/vision/imagery_utils_test.pytest_convert_bgra_images)ImageryUtilsTest.test_convert_bgra_images   s     &&??#	E  66u=K[&&1[&&%..!(LM[)3s84[)3s84    c                    [         R                  " SS[         R                  R                  SS9n[        R                  " U5      nU R                  UR                  [        R                  5        U R                  UR                  UR                  UR                  S45        U R                  US   [        S5      5        U R                  US   [        S5      5        g )	Nr   s   ABCABCABCABCr   r   r   r   )r   r   r   C)r   r   IMAGE_FORMAT_RGB_HWC_8Ur   r   r   r   r   r   r    r   r   r!   r"   s      r&   test_convert_rgb_images(ImageryUtilsTest.test_convert_rgb_images    s     &&>>	E  66u=K[&&1[&&%..!(LM[)3s84[)3s84r)   c                    [         R                  " SS[         R                  R                  SS9n[        R                  " U5      nU R                  UR                  [        R                  5        U R                  UR                  UR                  UR                  45        U R                  US   [        R                  " SS5      5        U R                  US   [        R                  " SS	5      5        g )
Nr   r   s   AAAABBBBCCCCAAAABBBBCCCCr   )r   r   s   <fs   CCCC)r   r   s   BBBB)r   r   IMAGE_FORMAT_GRAY_HW_32Fr   r   r   r   r   float32r    r   r   structunpackr"   s      r&   test_convert_gray_32bit_images/ImageryUtilsTest.test_convert_gray_32bit_images/   s     &&??+	E  66u=K[&&

3[&&%..(IJ[&eW(EF[&eW(EFr)   c                    [         R                  " SS[         R                  R                  SS9n[        R                  " U5      nU R                  UR                  [        R                  5        U R                  UR                  UR                  UR                  45        U R                  US   [        R                  " SS5      5        U R                  US   [        R                  " SS	5      5        g )
Nr   r   s   AABBCCAABBCCr   )r   r   s   <Hs   BB)r   r   s   CC)r   r   IMAGE_FORMAT_GRAY_HW_16Ur   r   r   r   r   uint16r    r   r   r2   r3   r"   s      r&   test_convert_gray_16bit_images/ImageryUtilsTest.test_convert_gray_16bit_images>   s     &&??	E  66u=K[&&		2[&&%..(IJ[&eU(CD[&eU(CDr)   c                     [         R                  " 5       nU R                  [        5         [        R
                  " U5        S S S 5        g ! , (       d  f       g = f)N)r   r   assertRaises
ValueErrorr   r   )r#   r$   s     r&   test_unspecified_image_format.ImageryUtilsTest.test_unspecified_image_formatM   s8    E			:	&**51 
'	&	&s   A
A N)
__name__
__module____qualname____firstlineno__r'   r-   r4   r9   r>   __static_attributes__r@   r)   r&   r
   r
      s    55GE2r)   r
   __main__)__doc__
__future__r   r   r   r2   numpyr   pybullet_envs.minitaur.visionr   r   google3.testing.pybaser   TestCaser
   rA   mainr@   r)   r&   <module>rN      sN     &  %   5 7 -A2z** A2H z// r)   