# ---------------------------------------------------------------------------- # - 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 def test_clip_plane(): cube = o3d.t.geometry.TriangleMesh.from_legacy( o3d.geometry.TriangleMesh.create_box()) clipped_cube = cube.clip_plane(point=[0.5, 0, 0], normal=[1, 0, 0]) assert clipped_cube.vertex.positions.shape == (12, 3) assert clipped_cube.triangle.indices.shape == (14, 3) def test_slice_plane(): box = o3d.t.geometry.TriangleMesh.create_box() slices = box.slice_plane([0, 0.5, 0], [1, 1, 1], [-0.1, 0, 0.1]) assert slices.point.positions.shape == (9, 3) assert slices.line.indices.shape == (9, 2) @pytest.mark.parametrize("device", list_devices()) def test_create_box(device): # Test with default parameters. box_default = o3d.t.geometry.TriangleMesh.create_box(device=device) vertex_positions_default = o3c.Tensor( [[0.0, 0.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 1.0], [0.0, 1.0, 0.0], [1.0, 1.0, 0.0], [0.0, 1.0, 1.0], [1.0, 1.0, 1.0]], o3c.float32, device) triangle_indices_default = o3c.Tensor( [[4, 7, 5], [4, 6, 7], [0, 2, 4], [2, 6, 4], [0, 1, 2], [1, 3, 2], [1, 5, 7], [1, 7, 3], [2, 3, 7], [2, 7, 6], [0, 4, 1], [1, 4, 5]], o3c.int64, device) assert box_default.vertex.positions.allclose(vertex_positions_default) assert box_default.triangle.indices.allclose(triangle_indices_default) # Test with custom parameters. box_custom = o3d.t.geometry.TriangleMesh.create_box(2, 3, 4, o3c.float64, o3c.int32, device) vertex_positions_custom = o3c.Tensor( [[0.0, 0.0, 0.0], [2.0, 0.0, 0.0], [0.0, 0.0, 4.0], [2.0, 0.0, 4.0], [0.0, 3.0, 0.0], [2.0, 3.0, 0.0], [0.0, 3.0, 4.0], [2.0, 3.0, 4.0]], o3c.float64, device) triangle_indices_custom = o3c.Tensor( [[4, 7, 5], [4, 6, 7], [0, 2, 4], [2, 6, 4], [0, 1, 2], [1, 3, 2], [1, 5, 7], [1, 7, 3], [2, 3, 7], [2, 7, 6], [0, 4, 1], [1, 4, 5]], o3c.int32, device) assert box_custom.vertex.positions.allclose(vertex_positions_custom) assert box_custom.triangle.indices.allclose(triangle_indices_custom) @pytest.mark.parametrize("device", list_devices()) def test_create_sphere(device): # Test with custom parameters. sphere_custom = o3d.t.geometry.TriangleMesh.create_sphere( 1, 3, o3c.float64, o3c.int32, device) vertex_positions_custom = o3c.Tensor( [[0.0, 0.0, 1.0], [0.0, 0.0, -1.0], [0.866025, 0, 0.5], [0.433013, 0.75, 0.5], [-0.433013, 0.75, 0.5], [-0.866025, 0.0, 0.5], [-0.433013, -0.75, 0.5], [0.433013, -0.75, 0.5], [0.866025, 0.0, -0.5], [0.433013, 0.75, -0.5], [-0.433013, 0.75, -0.5], [-0.866025, 0.0, -0.5], [-0.433013, -0.75, -0.5], [0.433013, -0.75, -0.5]], o3c.float64, device) triangle_indices_custom = o3c.Tensor( [[0, 2, 3], [1, 9, 8], [0, 3, 4], [1, 10, 9], [0, 4, 5], [1, 11, 10], [0, 5, 6], [1, 12, 11], [0, 6, 7], [1, 13, 12], [0, 7, 2], [1, 8, 13], [8, 3, 2], [8, 9, 3], [9, 4, 3], [9, 10, 4], [10, 5, 4], [10, 11, 5], [11, 6, 5], [11, 12, 6], [12, 7, 6], [12, 13, 7], [13, 2, 7], [13, 8, 2]], o3c.int32, device) assert sphere_custom.vertex.positions.allclose(vertex_positions_custom) assert sphere_custom.triangle.indices.allclose(triangle_indices_custom) @pytest.mark.parametrize("device", list_devices()) def test_create_tetrahedron(device): # Test with custom parameters. tetrahedron_custom = o3d.t.geometry.TriangleMesh.create_tetrahedron( 2, o3c.float64, o3c.int32, device) vertex_positions_custom = o3c.Tensor( [[1.88562, 0.0, -0.666667], [-0.942809, 1.63299, -0.666667], [-0.942809, -1.63299, -0.666667], [0.0, 0.0, 2]], o3c.float64, device) triangle_indices_custom = o3c.Tensor( [[0, 2, 1], [0, 3, 2], [0, 1, 3], [1, 2, 3]], o3c.int32, device) assert tetrahedron_custom.vertex.positions.allclose(vertex_positions_custom) assert tetrahedron_custom.triangle.indices.allclose(triangle_indices_custom) @pytest.mark.parametrize("device", list_devices()) def test_create_octahedron(device): # Test with custom parameters. octahedron_custom = o3d.t.geometry.TriangleMesh.create_octahedron( 2, o3c.float64, o3c.int32, device) vertex_positions_custom = o3c.Tensor( [[2.0, 0.0, 0.0], [0.0, 2.0, 0.0], [0.0, 0.0, 2.0], [-2.0, 0.0, 0.0], [0.0, -2.0, 0.0], [0.0, 0.0, -2.0]], o3c.float64, device) triangle_indices_custom = o3c.Tensor( [[0, 1, 2], [1, 3, 2], [3, 4, 2], [4, 0, 2], [0, 5, 1], [1, 5, 3], [3, 5, 4], [4, 5, 0]], o3c.int32, device) assert octahedron_custom.vertex.positions.allclose(vertex_positions_custom) assert octahedron_custom.triangle.indices.allclose(triangle_indices_custom) @pytest.mark.parametrize("device", list_devices()) def test_create_icosahedron(device): # Test with custom parameters. icosahedron_custom = o3d.t.geometry.TriangleMesh.create_icosahedron( 2, o3c.float64, o3c.int32, device) vertex_positions_custom = o3c.Tensor( [[-2.0, 0.0, 3.23607], [2.0, 0.0, 3.23607], [2.0, 0.0, -3.23607], [-2.0, 0.0, -3.23607], [0.0, -3.23607, 2.0], [0.0, 3.23607, 2.0], [0.0, 3.23607, -2.0], [0.0, -3.23607, -2.0], [-3.23607, -2.0, 0.0], [3.23607, -2.0, 0.0], [3.23607, 2.0, 0.0], [-3.23607, 2.0, 0.0]], o3c.float64, device) triangle_indices_custom = o3c.Tensor( [[0, 4, 1], [0, 1, 5], [1, 4, 9], [1, 9, 10], [1, 10, 5], [0, 8, 4], [0, 11, 8], [0, 5, 11], [5, 6, 11], [5, 10, 6], [4, 8, 7], [4, 7, 9], [3, 6, 2], [3, 2, 7], [2, 6, 10], [2, 10, 9], [2, 9, 7], [3, 11, 6], [3, 8, 11], [3, 7, 8]], o3c.int32, device) assert icosahedron_custom.vertex.positions.allclose(vertex_positions_custom) assert icosahedron_custom.triangle.indices.allclose(triangle_indices_custom) @pytest.mark.parametrize("device", list_devices()) def test_create_cylinder(device): # Test with custom parameters. cylinder_custom = o3d.t.geometry.TriangleMesh.create_cylinder( 1, 2, 3, 3, o3c.float64, o3c.int32, device) vertex_positions_custom = o3c.Tensor( [[0.0, 0.0, 1.0], [0.0, 0.0, -1.0], [1.0, 0.0, 1.0], [-0.5, 0.866025, 1.0], [-0.5, -0.866025, 1.0], [1.0, 0.0, 0.333333], [-0.5, 0.866025, 0.333333], [-0.5, -0.866025, 0.333333], [1.0, 0.0, -0.333333], [-0.5, 0.866025, -0.333333], [-0.5, -0.866025, -0.333333], [1.0, 0.0, -1.0], [-0.5, 0.866025, -1.0], [-0.5, -0.866025, -1.0]], o3c.float64, device) triangle_indices_custom = o3c.Tensor( [[0, 2, 3], [1, 12, 11], [0, 3, 4], [1, 13, 12], [0, 4, 2], [1, 11, 13], [5, 3, 2], [5, 6, 3], [6, 4, 3], [6, 7, 4], [7, 2, 4], [7, 5, 2], [8, 6, 5], [8, 9, 6], [9, 7, 6], [9, 10, 7], [10, 5, 7], [10, 8, 5], [11, 9, 8], [11, 12, 9], [12, 10, 9], [12, 13, 10], [13, 8, 10], [13, 11, 8]], o3c.int32, device) assert cylinder_custom.vertex.positions.allclose(vertex_positions_custom) assert cylinder_custom.triangle.indices.allclose(triangle_indices_custom) @pytest.mark.parametrize("device", list_devices()) def test_create_cone(device): # Test with custom parameters. cone_custom = o3d.t.geometry.TriangleMesh.create_cone( 2, 4, 3, 2, o3c.float64, o3c.int32, device) vertex_positions_custom = o3c.Tensor( [[0.0, 0.0, 0.0], [0.0, 0.0, 4.0], [2.0, 0.0, 0.0], [-1.0, 1.73205, 0.0], [-1.0, -1.73205, 0.0], [1.0, 0.0, 2.0], [-0.5, 0.866025, 2], [-0.5, -0.866025, 2]], o3c.float64, device) triangle_indices_custom = o3c.Tensor( [[0, 3, 2], [1, 5, 6], [0, 4, 3], [1, 6, 7], [0, 2, 4], [1, 7, 5], [6, 2, 3], [6, 5, 2], [7, 3, 4], [7, 6, 3], [5, 4, 2], [5, 7, 4]], o3c.int32, device) assert cone_custom.vertex.positions.allclose(vertex_positions_custom) assert cone_custom.triangle.indices.allclose(triangle_indices_custom) @pytest.mark.parametrize("device", list_devices()) def test_create_torus(device): # Test with custom parameters. torus_custom = o3d.t.geometry.TriangleMesh.create_torus( 2, 1, 6, 3, o3c.float64, o3c.int32, device) vertex_positions_custom = o3c.Tensor( [[3.0, 0.0, 0.0], [1.5, 0.0, 0.866025], [1.5, 0.0, -0.866025], [1.5, 2.59808, 0.0], [0.75, 1.29904, 0.866025], [0.75, 1.29904, -0.866025], [-1.5, 2.59808, 0], [-0.75, 1.29904, 0.866025], [-0.75, 1.29904, -0.866025], [-3.0, 0.0, 0.0], [-1.5, 0.0, 0.866025], [-1.5, 0.0, -0.866025], [-1.5, -2.59808, 0.0], [-0.75, -1.29904, 0.866025], [-0.75, -1.29904, -0.866025], [1.5, -2.59808, 0.0], [0.75, -1.29904, 0.866025], [0.75, -1.29904, -0.866025]], o3c.float64, device) triangle_indices_custom = o3c.Tensor( [[3, 4, 0], [0, 4, 1], [4, 5, 1], [1, 5, 2], [5, 3, 2], [2, 3, 0], [6, 7, 3], [3, 7, 4], [7, 8, 4], [4, 8, 5], [8, 6, 5], [5, 6, 3], [9, 10, 6], [6, 10, 7], [10, 11, 7], [7, 11, 8], [11, 9, 8], [8, 9, 6], [12, 13, 9], [9, 13, 10], [13, 14, 10], [10, 14, 11], [14, 12, 11], [11, 12, 9], [15, 16, 12], [12, 16, 13], [16, 17, 13], [13, 17, 14], [17, 15, 14], [14, 15, 12], [0, 1, 15], [15, 1, 16], [1, 2, 16], [16, 2, 17], [2, 0, 17], [17, 0, 15]], o3c.int32, device) assert torus_custom.vertex.positions.allclose(vertex_positions_custom) assert torus_custom.triangle.indices.allclose(triangle_indices_custom) @pytest.mark.parametrize("device", list_devices()) def test_create_arrow(device): # Test with custom parameters. arrow_custom = o3d.t.geometry.TriangleMesh.create_arrow( 1, 2, 4, 2, 4, 1, 1, o3c.float64, o3c.int32, device) vertex_positions_custom = o3c.Tensor( [[0.0, 0.0, 4.0], [0.0, 0.0, 0.0], [1.0, 0.0, 4.0], [0.0, 1.0, 4.0], [-1.0, 0.0, 4.0], [0.0, -1.0, 4.0], [1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [-1.0, 0.0, 0.0], [0.0, -1.0, 0.0], [0.0, 0.0, 4.0], [0.0, 0.0, 6.0], [2.0, 0.0, 4.0], [0.0, 2.0, 4.0], [-2.0, 0.0, 4.0], [0.0, -2.0, 4.0]], o3c.float64, device) triangle_indices_custom = o3c.Tensor( [[0, 2, 3], [1, 7, 6], [0, 3, 4], [1, 8, 7], [0, 4, 5], [1, 9, 8], [0, 5, 2], [1, 6, 9], [6, 3, 2], [6, 7, 3], [7, 4, 3], [7, 8, 4], [8, 5, 4], [8, 9, 5], [9, 2, 5], [9, 6, 2], [10, 13, 12], [11, 12, 13], [10, 14, 13], [11, 13, 14], [10, 15, 14], [11, 14, 15], [10, 12, 15], [11, 15, 12]], o3c.int32, device) assert arrow_custom.vertex.positions.allclose(vertex_positions_custom) assert arrow_custom.triangle.indices.allclose(triangle_indices_custom) @pytest.mark.parametrize("device", list_devices()) def test_create_mobius(device): # Test with custom parameters. mobius_custom = o3d.t.geometry.TriangleMesh.create_mobius( 10, 2, 1, 1, 1, 1, 1, o3c.float64, o3c.int32, device) vertex_positions_custom = o3c.Tensor( [[0.5, 0.0, 0.0], [1.5, 0.0, 0.0], [0.424307, 0.308277, -0.154508], [1.19373, 0.867294, 0.154508], [0.184017, 0.566346, -0.293893], [0.434017, 1.33577, 0.293893], [-0.218199, 0.671548, -0.404508], [-0.399835, 1.23057, 0.404508], [-0.684017, 0.496967, -0.475528], [-0.934017, 0.678603, 0.475528], [-1.0, 0.0, -0.5], [-1.0, 0.0, 0.5], [-0.934017, -0.678603, -0.475528], [-0.684017, -0.496967, 0.475528], [-0.399835, -1.23057, -0.404508], [-0.218199, -0.671548, 0.404508], [0.434017, -1.33577, -0.293893], [0.184017, -0.566346, 0.293893], [1.19373, -0.867294, -0.154508], [0.424307, -0.308277, 0.154508]], o3c.float64, device) triangle_indices_custom = o3c.Tensor( [[0, 3, 1], [0, 2, 3], [3, 2, 4], [3, 4, 5], [4, 7, 5], [4, 6, 7], [7, 6, 8], [7, 8, 9], [8, 11, 9], [8, 10, 11], [11, 10, 12], [11, 12, 13], [12, 15, 13], [12, 14, 15], [15, 14, 16], [15, 16, 17], [16, 19, 17], [16, 18, 19], [18, 19, 1], [1, 19, 0]], o3c.int32, device) assert mobius_custom.vertex.positions.allclose(vertex_positions_custom) assert mobius_custom.triangle.indices.allclose(triangle_indices_custom) def test_create_text(): mesh = o3d.t.geometry.TriangleMesh.create_text('Open3D', depth=1) assert mesh.vertex.positions.shape == (624, 3) assert mesh.triangle.indices.shape == (936, 3) def test_simplify_quadric_decimation(): cube = o3d.t.geometry.TriangleMesh.from_legacy( o3d.geometry.TriangleMesh.create_box().subdivide_midpoint(3)) # Chose reduction factor such that we get 12 faces. target_reduction = 1 - (12 / cube.triangle.indices.shape[0]) simplified = cube.simplify_quadric_decimation( target_reduction=target_reduction) assert simplified.vertex.positions.shape == (8, 3) assert simplified.triangle.indices.shape == (12, 3) def test_boolean_operations(): box = o3d.geometry.TriangleMesh.create_box() box = o3d.t.geometry.TriangleMesh.from_legacy(box) sphere = o3d.geometry.TriangleMesh.create_sphere(0.8) sphere = o3d.t.geometry.TriangleMesh.from_legacy(sphere) # check input sphere assert sphere.vertex.positions.shape == (762, 3) assert sphere.triangle.indices.shape == (1520, 3) ans = box.boolean_union(sphere) assert ans.vertex.positions.shape == (730, 3) assert ans.triangle.indices.shape == (1384, 3) ans = box.boolean_intersection(sphere) assert ans.vertex.positions.shape == (154, 3) assert ans.triangle.indices.shape == (232, 3) ans = box.boolean_difference(sphere) assert ans.vertex.positions.shape == (160, 3) assert ans.triangle.indices.shape == (244, 3) def test_hole_filling(): sphere = o3d.geometry.TriangleMesh.create_sphere(1.0) sphere = o3d.t.geometry.TriangleMesh.from_legacy(sphere) clipped = sphere.clip_plane([0.8, 0, 0], [1, 0, 0]) assert not clipped.to_legacy().is_watertight() filled = clipped.fill_holes() assert filled.to_legacy().is_watertight() def test_uvatlas(): box = o3d.t.geometry.TriangleMesh.create_box() box.compute_uvatlas() assert box.triangle['texture_uvs'].shape == (12, 3, 2) def test_bake_vertex_attr_textures(): desired = np.array([ [[0., 0., 0.], [0., 0., 0.], [1., 0.25, 0.75], [1., 0.75, 0.75], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.]], [[0., 0., 0.], [0., 0., 0.], [1., 0.25, 0.25], [1., 0.75, 0.25], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.]], [[0.75, 0., 0.75], [0.75, 0., 0.25], [0.75, 0.25, 0.], [0.75, 0.75, 0.], [0.75, 1., 0.25], [0.75, 1., 0.75], [0., 0., 0.], [0., 0., 0.]], [[0.25, 0., 0.75], [0.25, 0., 0.25], [0.25, 0.25, 0.], [0.25, 0.75, 0.], [0.25, 1., 0.25], [0.25, 1., 0.75], [0., 0., 0.], [0., 0., 0.]], [[0., 0., 0.], [0., 0., 0.], [0., 0.25, 0.25], [0., 0.75, 0.25], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.]], [[0., 0., 0.], [0., 0., 0.], [0., 0.25, 0.75], [0., 0.75, 0.75], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.]], [[0., 0., 0.], [0., 0., 0.], [0.25, 0.25, 1.], [0.25, 0.75, 1.], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.]], [[0., 0., 0.], [0., 0., 0.], [0.75, 0.25, 1.], [0.75, 0.75, 1.], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.], [0., 0., 0.]] ], dtype=np.float32) box = o3d.geometry.TriangleMesh.create_box(create_uv_map=True) box = o3d.t.geometry.TriangleMesh.from_legacy(box) textures = box.bake_vertex_attr_textures(8, {'positions'}, margin=0.1) np.testing.assert_allclose(textures['positions'].numpy(), desired) def test_bake_triangle_attr_textures(): desired = np.array( [[-1, -1, 7, 7, -1, -1, -1, -1], [-1, -1, 7, 6, -1, -1, -1, -1], [5, 5, 10, 11, 0, 0, -1, -1], [5, 4, 10, 10, 0, 1, -1, -1], [-1, -1, 2, 2, -1, -1, -1, -1], [-1, -1, 2, 3, -1, -1, -1, -1], [-1, -1, 8, 9, -1, -1, -1, -1], [-1, -1, 8, 8, -1, -1, -1, -1]], dtype=np.int64) box = o3d.geometry.TriangleMesh.create_box(create_uv_map=True) box = o3d.t.geometry.TriangleMesh.from_legacy(box) box.triangle.index = np.arange(box.triangle.indices.shape[0]) # shift the uvs to avoid pixel centers exactly at triangle boundaries. box.triangle.texture_uvs[:, :, 0] += 0.01 textures = box.bake_triangle_attr_textures(8, {'index'}, margin=0.1, fill=-1) np.testing.assert_equal(textures['index'].numpy(), desired) def test_extrude_rotation(): mesh = o3d.t.geometry.TriangleMesh([[1, 1, 0], [0.7, 1, 0], [1, 0.7, 0]], [[0, 1, 2]]) ans = mesh.extrude_rotation(3 * 360, [0, 1, 0], resolution=3 * 16, translation=2) assert ans.vertex.positions.shape == (147, 3) assert ans.triangle.indices.shape == (290, 3) def test_extrude_linear(): triangle = o3d.t.geometry.TriangleMesh( [[1.0, 1.0, 0.0], [0, 1, 0], [1, 0, 0]], [[0, 1, 2]]) ans = triangle.extrude_linear([0, 0, 1]) assert ans.vertex.positions.shape == (6, 3) assert ans.triangle.indices.shape == (8, 3) @pytest.mark.parametrize("device", list_devices()) def test_pickle(device): mesh = o3d.t.geometry.TriangleMesh.create_box().to(device) with tempfile.TemporaryDirectory() as temp_dir: file_name = f"{temp_dir}/mesh.pkl" pickle.dump(mesh, open(file_name, "wb")) mesh_load = pickle.load(open(file_name, "rb")) assert mesh_load.device == device assert mesh_load.vertex.positions.dtype == o3c.float32 assert mesh_load.triangle.indices.dtype == o3c.int64 np.testing.assert_equal(mesh_load.vertex.positions.cpu().numpy(), mesh.vertex.positions.cpu().numpy()) np.testing.assert_equal(mesh_load.triangle.indices.cpu().numpy(), mesh.triangle.indices.cpu().numpy())