# ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # The MIT License (MIT) # # Copyright (c) 2018-2021 www.open3d.org # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in # all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS # IN THE SOFTWARE. # ---------------------------------------------------------------------------- import open3d as o3d import open3d.core as o3c import numpy as np import pytest import pickle import tempfile import sys import os sys.path.append(os.path.dirname(os.path.realpath(__file__)) + "/../..") from open3d_test import list_devices @pytest.mark.parametrize("device", list_devices()) def test_constructor_and_accessors(device): dtype = o3c.float32 # Constructor. pcd = o3d.t.geometry.PointCloud(device) assert "positions" not in pcd.point assert "colors" not in pcd.point assert isinstance(pcd.point, o3d.t.geometry.TensorMap) # Assignment. pcd.point.positions = o3c.Tensor.ones((0, 3), dtype, device) pcd.point.colors = o3c.Tensor.ones((0, 3), dtype, device) assert len(pcd.point.positions) == 0 assert len(pcd.point.colors) == 0 pcd.point.positions = o3c.Tensor.ones((1, 3), dtype, device) pcd.point.colors = o3c.Tensor.ones((1, 3), dtype, device) assert len(pcd.point.positions) == 1 assert len(pcd.point.colors) == 1 # Edit and access values. points = pcd.point.positions points[0] = o3c.Tensor([1, 2, 3], dtype, device) assert pcd.point.positions.allclose(o3c.Tensor([[1, 2, 3]], dtype, device)) @pytest.mark.parametrize("device", list_devices()) def test_from_legacy(device): dtype = o3c.float32 legacy_pcd = o3d.geometry.PointCloud() legacy_pcd.points = o3d.utility.Vector3dVector( np.array([[0, 1, 2], [3, 4, 5]])) legacy_pcd.colors = o3d.utility.Vector3dVector( np.array([[6, 7, 8], [9, 10, 11]])) pcd = o3d.t.geometry.PointCloud.from_legacy(legacy_pcd, dtype, device) assert pcd.point.positions.allclose( o3c.Tensor([[0, 1, 2], [3, 4, 5]], dtype, device)) assert pcd.point.colors.allclose( o3c.Tensor([[6, 7, 8], [9, 10, 11]], dtype, device)) @pytest.mark.parametrize("device", list_devices()) def test_to_legacy(device): dtype = o3c.float32 pcd = o3d.t.geometry.PointCloud(device) pcd.point.positions = o3c.Tensor([[0, 1, 2], [3, 4, 5]], dtype, device) pcd.point.colors = o3c.Tensor([[6, 7, 8], [9, 10, 11]], dtype, device) legacy_pcd = pcd.to_legacy() np.testing.assert_allclose(np.asarray(legacy_pcd.points), np.array([[0, 1, 2], [3, 4, 5]])) np.testing.assert_allclose(np.asarray(legacy_pcd.colors), np.array([[6, 7, 8], [9, 10, 11]])) @pytest.mark.parametrize("device", list_devices()) def test_member_functions(device): dtype = o3c.float32 # get_min_bound, get_max_bound, get_center. pcd = o3d.t.geometry.PointCloud(device) pcd.point.positions = o3c.Tensor([[1, 10, 20], [30, 2, 40], [50, 60, 3]], dtype, device) assert pcd.get_min_bound().allclose(o3c.Tensor([1, 2, 3], dtype, device)) assert pcd.get_max_bound().allclose(o3c.Tensor([50, 60, 40], dtype, device)) assert pcd.get_center().allclose(o3c.Tensor([27, 24, 21], dtype, device)) # append. pcd = o3d.t.geometry.PointCloud(device) pcd.point.positions = o3c.Tensor.ones((2, 3), dtype, device) pcd.point.normals = o3c.Tensor.ones((2, 3), dtype, device) pcd2 = o3d.t.geometry.PointCloud(device) pcd2.point.positions = o3c.Tensor.ones((2, 3), dtype, device) pcd2.point.normals = o3c.Tensor.ones((2, 3), dtype, device) pcd2.point.labels = o3c.Tensor.ones((2, 3), dtype, device) pcd3 = o3d.t.geometry.PointCloud(device) pcd3 = pcd + pcd2 assert pcd3.point.positions.allclose(o3c.Tensor.ones((4, 3), dtype, device)) assert pcd3.point.normals.allclose(o3c.Tensor.ones((4, 3), dtype, device)) with pytest.raises(RuntimeError) as excinfo: pcd3 = pcd2 + pcd assert 'The pointcloud is missing attribute' in str(excinfo.value) # transform. pcd = o3d.t.geometry.PointCloud(device) transform_t = o3c.Tensor( [[1, 1, 0, 1], [0, 1, 1, 1], [0, 1, 0, 1], [0, 0, 0, 1]], dtype, device) pcd.point.positions = o3c.Tensor([[1, 1, 1]], dtype, device) pcd.point.normals = o3c.Tensor([[1, 1, 1]], dtype, device) pcd.transform(transform_t) assert pcd.point.positions.allclose(o3c.Tensor([[3, 3, 2]], dtype, device)) assert pcd.point.normals.allclose(o3c.Tensor([[2, 2, 1]], dtype, device)) # translate. pcd = o3d.t.geometry.PointCloud(device) transloation = o3c.Tensor([10, 20, 30], dtype, device) pcd.point.positions = o3c.Tensor([[0, 1, 2], [6, 7, 8]], dtype, device) pcd.translate(transloation, True) assert pcd.point.positions.allclose( o3c.Tensor([[10, 21, 32], [16, 27, 38]], dtype, device)) pcd.point.positions = o3c.Tensor([[0, 1, 2], [6, 7, 8]], dtype, device) pcd.translate(transloation, False) assert pcd.point.positions.allclose( o3c.Tensor([[7, 17, 27], [13, 23, 33]], dtype, device)) # scale pcd = o3d.t.geometry.PointCloud(device) pcd.point.positions = o3c.Tensor([[0, 0, 0], [1, 1, 1], [2, 2, 2]], dtype, device) center = o3c.Tensor([1, 1, 1], dtype, device) pcd.scale(4, center) assert pcd.point.positions.allclose( o3c.Tensor([[-3, -3, -3], [1, 1, 1], [5, 5, 5]], dtype, device)) # rotate. pcd = o3d.t.geometry.PointCloud(device) rotation = o3c.Tensor([[1, 1, 0], [0, 1, 1], [0, 1, 0]], dtype, device) center = o3c.Tensor([1, 1, 1], dtype, device) pcd.point.positions = o3c.Tensor([[2, 2, 2]], dtype, device) pcd.point.normals = o3c.Tensor([[1, 1, 1]], dtype, device) pcd.rotate(rotation, center) assert pcd.point.positions.allclose(o3c.Tensor([[3, 3, 2]], dtype, device)) assert pcd.point.normals.allclose(o3c.Tensor([[2, 2, 1]], dtype, device)) # voxel_down_sample pcd = o3d.t.geometry.PointCloud(device) pcd.point.positions = o3c.Tensor( [[0.1, 0.3, 0.9], [0.9, 0.2, 0.4], [0.3, 0.6, 0.8], [0.2, 0.4, 0.2]], dtype, device) pcd_small_down = pcd.voxel_down_sample(1) assert pcd_small_down.point.positions.allclose( o3c.Tensor([[0, 0, 0]], dtype, device)) def test_extrude_rotation(): pcd = o3d.t.geometry.PointCloud([[1.0, 0, 0]]) ans = pcd.extrude_rotation(3 * 360, [0, 1, 0], resolution=3 * 16, translation=2) assert ans.point.positions.shape == (49, 3) assert ans.line.indices.shape == (48, 2) def test_extrude_linear(): pcd = o3d.t.geometry.PointCloud([[1.0, 0, 0]]) ans = pcd.extrude_linear([0, 0, 1]) assert ans.point.positions.shape == (2, 3) assert ans.line.indices.shape == (1, 2) @pytest.mark.parametrize("device", list_devices()) def test_pickle(device): pcd = o3d.t.geometry.PointCloud(device) with tempfile.TemporaryDirectory() as temp_dir: file_name = f"{temp_dir}/pcd.pkl" pcd.point.positions = o3c.Tensor.ones((10, 3), o3c.float32, device=device) pickle.dump(pcd, open(file_name, "wb")) pcd_load = pickle.load(open(file_name, "rb")) assert pcd_load.point.positions.device == device and pcd_load.point.positions.dtype == o3c.float32 np.testing.assert_equal(pcd.point.positions.cpu().numpy(), pcd_load.point.positions.cpu().numpy())