Added python bindings tests for setting points to PointCloudData

Author: aljazdu

bindings/python/tests/CMakeLists.txt

@@ -13,6 +13,7 @@ set(PYBIND11_TEST_FILES
     "utf8_support_test.py"
     # "dai_path_conversion_test.py" requires device
     "nndata_tensor_test.py"
+    "pcldata_set_points_test.py"
     "messsage_queue_test.py"
     "imgframe_test.py"
     "inherited_messages_test.py"

bindings/python/tests/pcldata_set_points_test.py

@@ -0,0 +1,33 @@
+import depthai as dai
+import numpy as np
+
+def test_pcldata_set_points():
+    pointCloudData = dai.PointCloudData()
+
+    # Points
+    points = np.random.rand(1000, 3).astype(np.float32)
+    pointCloudData.setPoints(points)
+
+    assert(pointCloudData.isColor() == False)
+    assert(isinstance(pointCloudData.getPoints(), np.ndarray))
+    assert(pointCloudData.getPoints().dtype == points.dtype)
+    assert(np.array_equal(pointCloudData.getPoints(), points))
+
+    # RGB Points
+    colors = np.random.rand(1000, 4).astype(np.uint8)
+    pointCloudData.setPointsRGB(points, colors)
+
+    assert(pointCloudData.isColor() == True)
+    assert(isinstance(pointCloudData.getPoints(), np.ndarray))
+    assert(isinstance(pointCloudData.getPointsRGB()[0], np.ndarray))
+    assert(isinstance(pointCloudData.getPointsRGB()[1], np.ndarray))
+    assert(pointCloudData.getPoints().dtype == points.dtype)
+    assert(pointCloudData.getPointsRGB()[0].dtype == points.dtype)
+    assert(pointCloudData.getPointsRGB()[1].dtype == colors.dtype)
+    assert(np.array_equal(pointCloudData.getPoints(), points))
+    assert(np.array_equal(pointCloudData.getPointsRGB()[0], points))
+    assert(np.array_equal(pointCloudData.getPointsRGB()[1], colors))
+
+
+if __name__ == '__main__':
+  test_pcldata_set_points()