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|
// ----------------------------------------------------------------------------
// - 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.
// ----------------------------------------------------------------------------
#include "open3d/geometry/Line3D.h"
#include "tests/Tests.h"
using namespace open3d::geometry;
using namespace ::testing;
using opt_d_t = open3d::utility::optional<double>;
using v_t = Eigen::Vector3d;
using plane_t = Eigen::Hyperplane<double, 3>;
// Test case parameter types
using lt_t = Line3D::LineType;
// Test data for failed intersection parameter tests
// line-type, plane-normal, line-origin, line-dir/seg-endpoint
using fl_intr_t = std::tuple<lt_t, v_t, v_t, v_t>;
// Test data for intersection parameter tests
// line-type, plane-normal, line-origin, line-dir/seg-endpoint, expected-param
using intr_t = std::tuple<lt_t, v_t, v_t, v_t, double>;
// Test data for projection parameter tests
// line-type, test-point, line-origin, line-dir/seg-endpoint, expected-param
using proj_t = std::tuple<lt_t, v_t, v_t, v_t, double>;
// Test data for intersections against AABBs
// line-type, line-origin, line-dir/seg-endpoint, optional expected parameter
using ab_t = std::tuple<lt_t, v_t, v_t, opt_d_t>;
// Test data for closest parameter tests
// line0-type, line0-origin, line0-dir/endpoint, line1-type, line1-origin,
// line1-dir/endpoint, line0-expected, line1-expected
using cp_t = std::tuple<lt_t, v_t, v_t, lt_t, v_t, v_t, double, double>;
// Factory function to build appropriate type from enum
std::shared_ptr<Line3D> LineFactory(lt_t type, const v_t& v0, const v_t& v1) {
if (type == lt_t::Line) {
return std::make_shared<Line3D>(v0, v1);
} else if (type == lt_t::Ray) {
return std::make_shared<Ray3D>(v0, v1);
} else if (type == lt_t::Segment) {
return std::make_shared<Segment3D>(v0, v1);
} else {
throw std::exception();
}
}
namespace open3d {
namespace tests {
// Line Transformation Tests
// ============================================================================
TEST(Line3D, Transform) {
Line3D line{{0, 1, 0}, {1, 0, 0}};
auto t = Eigen::Translation<double, 3>(1, 0, 0) *
Eigen::AngleAxis<double>(EIGEN_PI / 2., Eigen::Vector3d::UnitZ());
line.Transform(t);
// For some reason this does not work with ExpectEQ, even though the
// difference is ~1e-17 and the threshold is 1e-6
EXPECT_TRUE((line.Origin() - Eigen::Vector3d{0, 0, 0}).norm() < 1e-10);
ExpectEQ(line.Direction(), Eigen::Vector3d{0, 1, 0});
}
// Segment Transformation Tests
// ============================================================================
TEST(Segment3D, Transform) {
Segment3D seg{{0, 1, 0}, {1, 1, 0}};
auto t = Eigen::Translation<double, 3>(1, 0, 0) *
Eigen::AngleAxis<double>(EIGEN_PI / 2., Eigen::Vector3d::UnitZ());
seg.Transform(t);
// For some reason this does not work with ExpectEQ, even though the
// difference is ~1e-17 and the threshold is 1e-6
EXPECT_TRUE((seg.Origin() - Eigen::Vector3d{0, 0, 0}).norm() < 1e-10);
EXPECT_TRUE((seg.EndPoint() - Eigen::Vector3d{0, 1, 0}).norm() < 1e-10);
ExpectEQ(seg.Direction(), Eigen::Vector3d{0, 1, 0});
}
// Special Segment3D Tests
// ============================================================================
TEST(Segment3D, ConstructedNormalized) {
// In order to override ambiguity with Eigen's handling of direction
// normalization, the Segment3D constructor normalizes the direction on
// creation. This allows the length to be directly compared to line
// parameters without fear of breaking behavior. This is only necessary for
// segments, since lines and rays are by definition infinite.
Segment3D seg{{0, 0, 0}, {10, 0, 0}};
EXPECT_EQ(10., seg.Length());
}
TEST(Segment3D, GetBoundingBox0) {
Segment3D seg{{-3, -2, -1}, {3, 2, 1}};
AxisAlignedBoundingBox expected{{-3, -2, -1}, {3, 2, 1}};
ExpectEQ(expected.min_bound_, seg.GetBoundingBox().min_bound_);
ExpectEQ(expected.max_bound_, seg.GetBoundingBox().max_bound_);
}
TEST(Segment3D, GetBoundingBox1) {
Segment3D seg{{3, 2, 1}, {-3, -2, -1}};
AxisAlignedBoundingBox expected{{-3, -2, -1}, {3, 2, 1}};
ExpectEQ(expected.min_bound_, seg.GetBoundingBox().min_bound_);
ExpectEQ(expected.max_bound_, seg.GetBoundingBox().max_bound_);
}
// Intersection Parameter Tests
// ============================================================================
class FailedIntersectionParamTests : public TestWithParam<fl_intr_t> {};
TEST_P(FailedIntersectionParamTests, CheckFailedPlaneIntersections) {
auto line_type = std::get<0>(GetParam());
plane_t plane{std::get<1>(GetParam()), 0};
const auto& l0 = std::get<2>(GetParam());
const auto& l1 = std::get<3>(GetParam());
auto line = LineFactory(line_type, l0, l1);
auto result = line->IntersectionParameter(plane);
EXPECT_FALSE(result.has_value());
}
INSTANTIATE_TEST_SUITE_P(
Fail,
FailedIntersectionParamTests,
Values(
// Test parameters contain in this order:
// line type, plane normal, line origin, line-dir/seg-endpoint
// Lines should fail the plane intersections only when they are
// parallel to the plane. Test plane normals both ways to make
// sure that the code handles Eigen's +inf and -inf
fl_intr_t{lt_t::Line, {0, 0, -1}, {0, 0, 1}, {1, 0, 0}},
fl_intr_t{lt_t::Line, {0, 0, 1}, {0, 0, 1}, {1, 0, 0}},
fl_intr_t{lt_t::Line, {1, 0, 0}, {1, 0, 0}, {0, 1, 0}},
fl_intr_t{lt_t::Line, {-1, 0, 0}, {1, 0, 0}, {0, 1, 0}},
// Rays should fail where lines fail and also when the plane
// lies behind the origin
fl_intr_t{lt_t::Ray, {1, 0, 0}, {1, 0, 0}, {0, 1, 0}},
fl_intr_t{lt_t::Ray, {-1, 0, 0}, {1, 0, 0}, {0, 1, 0}},
fl_intr_t{lt_t::Ray, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}},
// Segments should fail in the same cases as rays and lines,
// plus when the plane lies past the end point
fl_intr_t{lt_t::Segment, {1, 0, 0}, {1, 0, 0}, {1, 1, 0}},
fl_intr_t{lt_t::Segment, {-1, 0, 0}, {1, 0, 0}, {1, 1, 0}},
fl_intr_t{lt_t::Segment, {-1, 0, 0}, {1, 0, 0}, {2, 0, 0}},
fl_intr_t{lt_t::Segment, {1, 0, 0}, {-2, 0, 0}, {-1, 0, 0}}));
class IntersectionParamTests : public TestWithParam<intr_t> {};
TEST_P(IntersectionParamTests, CheckPlaneIntersections) {
auto line_type = std::get<0>(GetParam());
plane_t plane{std::get<1>(GetParam()), 0};
const auto& l0 = std::get<2>(GetParam());
const auto& l1 = std::get<3>(GetParam());
double expected = std::get<4>(GetParam());
auto line = LineFactory(line_type, l0, l1);
auto result = line->IntersectionParameter(plane);
EXPECT_TRUE(result.has_value());
EXPECT_EQ(expected, result.value());
}
INSTANTIATE_TEST_SUITE_P(
Pass,
IntersectionParamTests,
Values(
// Test parameters contain in this order:
// line type, plane normal, line origin, line-dir/seg-end,
// expected param
intr_t{lt_t::Line, {1, 0, 0}, {1, 0, 0}, {1, 0, 0}, -1},
intr_t{lt_t::Line, {0, 1, 0}, {-2, -2, 0}, {0, 1, 0}, 2},
intr_t{lt_t::Ray, {1, 0, 0}, {1, 0, 0}, {-1, 0, 0}, 1},
intr_t{lt_t::Ray, {0, 1, 0}, {-2, -2, 0}, {0, 1, 0}, 2},
intr_t{lt_t::Segment, {1, 0, 0}, {1, 0, 0}, {-2, 0, 0}, 1},
intr_t{lt_t::Segment, {0, 1, 0}, {-2, -2, 0}, {-2, 1, 0}, 2}));
// Projection Parameter Tests
// ============================================================================
class ProjectionParamTests : public TestWithParam<proj_t> {};
TEST_P(ProjectionParamTests, CheckProjectionParameters) {
auto line_type = std::get<0>(GetParam());
const auto& test_point = std::get<1>(GetParam());
const auto& l0 = std::get<2>(GetParam());
const auto& l1 = std::get<3>(GetParam());
double expected = std::get<4>(GetParam());
auto line = LineFactory(line_type, l0, l1);
double result = line->ProjectionParameter(test_point);
EXPECT_EQ(expected, result);
}
INSTANTIATE_TEST_SUITE_P(
Tests,
ProjectionParamTests,
Values(
// Lines will project to any point, positive or negative
proj_t{lt_t::Line, {1, 1, 0}, {0, 0, 0}, {1, 0, 0}, 1},
proj_t{lt_t::Line, {1, 1, 0}, {-4, 0, 0}, {1, 0, 0}, 5},
proj_t{lt_t::Line, {1, 1, 0}, {4, 0, 0}, {1, 0, 0}, -3},
// Rays will project to any positive point, but negative points
// will return 0
proj_t{lt_t::Ray, {1, 1, 0}, {0, 0, 0}, {0, 1, 0}, 1},
proj_t{lt_t::Ray, {1, 1, 0}, {0, -4, 0}, {0, 1, 0}, 5},
proj_t{lt_t::Ray, {1, 1, 0}, {0, 4, 0}, {0, 1, 0}, 0},
// Line segments will only project between 0 and their length
proj_t{lt_t::Segment, {1, 1, 0}, {0, 0, 0}, {0, 2, 0}, 1},
proj_t{lt_t::Segment, {1, 1, 0}, {0, 0, 0}, {0, 1, 0}, 1},
proj_t{lt_t::Segment, {1, 1, 0}, {0, -4, 0}, {0, 0, 0}, 4},
proj_t{lt_t::Segment, {1, 1, 0}, {0, 4, 0}, {0, 8, 0}, 0}));
// AxisAlignedBoundingBox Tests
// ============================================================================
// These are cases which should work for both the exact method and the slab
// method
auto basic_cases = Values(
// Basic directional tests
ab_t{lt_t::Line, {-6, 0, 0}, {-1, 0, 0}, -7.},
ab_t{lt_t::Line, {4, 0, 0}, {1, 0, 0}, -5.},
ab_t{lt_t::Line, {7, 0, 0}, {-1, 0, 0}, 6.},
ab_t{lt_t::Line, {0, 4, 0}, {0, -1, 0}, 3.},
ab_t{lt_t::Line, {0, -10, 0}, {0, -1, 0}, -11.},
ab_t{lt_t::Line, {0, -6, 0}, {0, 1, 0}, 5.},
ab_t{lt_t::Line, {0, 0, -9}, {0, 0, -1}, -10.},
ab_t{lt_t::Line, {0, 0, -5}, {0, 0, 1}, 4.},
ab_t{lt_t::Line, {0, 0, 8}, {0, 0, -1}, 7.},
ab_t{lt_t::Ray, {7, 0, 0}, {-1, 0, 0}, 6.},
ab_t{lt_t::Ray, {0, 4, 0}, {0, -1, 0}, 3.},
ab_t{lt_t::Ray, {0, -6, 0}, {0, 1, 0}, 5.},
ab_t{lt_t::Ray, {0, 0, -5}, {0, 0, 1}, 4.},
ab_t{lt_t::Ray, {0, 0, 8}, {0, 0, -1}, 7.},
ab_t{lt_t::Segment, {7, 0, 0}, {0, 0, 0}, 6.},
ab_t{lt_t::Segment, {0, 4, 0}, {0, 0, 0}, 3.},
ab_t{lt_t::Segment, {0, -6, 0}, {0, 6, 0}, 5.},
ab_t{lt_t::Segment, {0, 0, -5}, {0, 0, 1}, 4.},
ab_t{lt_t::Segment, {0, 0, 8}, {0, 0, -1}, 7.},
// Interior tests
ab_t{lt_t::Line, {0, 0, 0.5}, {0, 0, 1}, -1.5},
ab_t{lt_t::Line, {0, 0, 0}, {-1, 0, 0}, -1.},
ab_t{lt_t::Ray, {0, 0, 0.5}, {0, 0, 1}, 0.},
ab_t{lt_t::Ray, {0, 0, 0}, {-1, 0, 0}, 0.},
ab_t{lt_t::Segment, {0, 0, 0.5}, {0, 0, 3}, 0.},
ab_t{lt_t::Segment, {0, 0, 0}, {-3, 0, 0}, 0.},
// face tests
ab_t{lt_t::Line, {1, 0, 0}, {-1, 0, 0}, 0.},
ab_t{lt_t::Line, {1, 0, 0}, {1, 0, 0}, -2.},
ab_t{lt_t::Ray, {1, 0, 0}, {-1, 0, 0}, 0.},
ab_t{lt_t::Segment, {1, 0, 0}, {2, 0, 0}, 0.},
// Corner tests (direction isn't normalized here so that the return
// value will be 1.}
ab_t{lt_t::Line, {2, 2, 0}, {-1, -1, 1}, 1.},
ab_t{lt_t::Line, {0, 0, 2}, {1, 1, -1}, 1.},
ab_t{lt_t::Ray, {2, 2, 0}, {-1, -1, 1}, 1.},
ab_t{lt_t::Ray, {0, 0, 2}, {1, 1, -1}, 1.},
// Segment non-normalization doesn't work, so we'll start the segment
// at the corner point
ab_t{lt_t::Segment, {1, 1, 1}, {2, 2, 0}, 0.},
ab_t{lt_t::Segment, {-1, 1, 1}, {-2, 2, 0}, 0.},
// Non-intersecting tests
ab_t{lt_t::Segment, {3, 0, 0}, {4, 0, 0}, {}},
ab_t{lt_t::Segment, {4, 0, 0}, {3, 0, 0}, {}},
ab_t{lt_t::Segment, {0, 3, -1}, {0, 3, 1}, {}},
ab_t{lt_t::Line, {-6, 0, 0}, {0, 1, 0}, {}},
ab_t{lt_t::Line, {0, 3, 0}, {0, 0, 1}, {}},
ab_t{lt_t::Line, {0, 0, 1.5}, {1, 0, 0}, {}},
ab_t{lt_t::Ray, {-6, 0, 0}, {-1, 0, 0}, {}},
ab_t{lt_t::Ray, {4, 0, 0}, {1, 0, 0}, {}},
ab_t{lt_t::Ray, {0, -10, 0}, {0, -1, 0}, {}},
ab_t{lt_t::Ray, {0, 0, -9}, {0, 0, -1}, {}});
class LineAABBParamTests : public TestWithParam<ab_t> {
protected:
AxisAlignedBoundingBox box{{-1, -1, -1}, {1, 1, 1}};
};
TEST_P(LineAABBParamTests, CheckExact) {
auto line_type = std::get<0>(GetParam());
const auto& l0 = std::get<1>(GetParam());
const auto& l1 = std::get<2>(GetParam());
const auto& expected = std::get<3>(GetParam());
auto line = LineFactory(line_type, l0, l1);
auto result = line->ExactAABB(box);
if (expected.has_value()) {
EXPECT_TRUE(result.has_value());
if (result.has_value()) {
EXPECT_EQ(expected.value(), result.value());
}
} else {
EXPECT_FALSE(result.has_value());
}
}
TEST_P(LineAABBParamTests, CheckSlab) {
auto line_type = std::get<0>(GetParam());
const auto& l0 = std::get<1>(GetParam());
const auto& l1 = std::get<2>(GetParam());
const auto& expected = std::get<3>(GetParam());
auto line = LineFactory(line_type, l0, l1);
auto result = line->SlabAABB(box);
if (expected.has_value()) {
EXPECT_TRUE(result.has_value());
if (result.has_value()) {
EXPECT_EQ(expected.value(), result.value());
}
} else {
EXPECT_FALSE(result.has_value());
}
}
INSTANTIATE_TEST_SUITE_P(Checks, LineAABBParamTests, basic_cases);
class DegenerateLineAABBTests : public LineAABBParamTests {};
TEST_P(DegenerateLineAABBTests, CheckExact) {
auto line_type = std::get<0>(GetParam());
const auto& l0 = std::get<1>(GetParam());
const auto& l1 = std::get<2>(GetParam());
const auto& expected = std::get<3>(GetParam());
auto line = LineFactory(line_type, l0, l1);
auto result = line->ExactAABB(box);
EXPECT_TRUE(result.has_value());
EXPECT_EQ(expected.value(), result.value());
}
INSTANTIATE_TEST_SUITE_P(
Checks,
DegenerateLineAABBTests,
Values(ab_t{lt_t::Line, {1, 2, 0}, {0, -1, 0}, 1.},
ab_t{lt_t::Line, {-2, 0, 1}, {1, 0, 0}, 1.},
ab_t{lt_t::Ray, {1, 2, 0}, {0, -1, 0}, 1.},
ab_t{lt_t::Ray, {-2, 0, 1}, {1, 0, 0}, 1.},
ab_t{lt_t::Segment, {1, 2, 0}, {1, 0, 0}, 1.},
ab_t{lt_t::Segment, {-2, 0, 1}, {0, 0, 1}, 1.}));
// Line/Ray/Segment Closest Point Tests
// ============================================================================
class ClosestPointTests : public TestWithParam<cp_t> {};
TEST_P(ClosestPointTests, CheckClosestPoints) {
auto l0_type = std::get<0>(GetParam());
auto l0_origin = std::get<1>(GetParam());
auto l0_dir = std::get<2>(GetParam());
auto l1_type = std::get<3>(GetParam());
auto l1_origin = std::get<4>(GetParam());
auto l1_dir = std::get<5>(GetParam());
double e0 = std::get<6>(GetParam());
double e1 = std::get<7>(GetParam());
auto l0 = LineFactory(l0_type, l0_origin, l0_dir);
auto l1 = LineFactory(l1_type, l1_origin, l1_dir);
auto result = l0->ClosestParameters(*l1);
EXPECT_DOUBLE_EQ(std::get<0>(result), e0);
EXPECT_DOUBLE_EQ(std::get<1>(result), e1);
}
INSTANTIATE_TEST_SUITE_P(LineTests,
ClosestPointTests,
Values(
// Line to line
cp_t(lt_t::Line,
{0, -1, 0},
{0, 1, 0},
lt_t::Line,
{-1, 0, 0},
{1, 0, 0},
1,
1),
cp_t(lt_t::Line,
{-1, 0, 0},
{1, 0, 0},
lt_t::Line,
{0, -1, 0},
{0, 1, 0},
1,
1),
cp_t(lt_t::Line,
{0, 1, 0},
{0, 1, 0},
lt_t::Line,
{1, 0, 0},
{1, 0, 0},
-1,
-1),
cp_t(lt_t::Line,
{1, 0, 0},
{1, 0, 0},
lt_t::Line,
{0, 1, 0},
{0, 1, 0},
-1,
-1),
// Line to line parallel
cp_t(lt_t::Line,
{0, 0, 0},
{1, 0, 0},
lt_t::Line,
{1, 0, 1},
{1, 0, 0},
0,
-1),
cp_t(lt_t::Line,
{1, 0, 1},
{1, 0, 0},
lt_t::Line,
{0, 0, 0},
{1, 0, 0},
0,
1),
// Line to ray
cp_t(lt_t::Line,
{0, -1, 0},
{0, 1, 0},
lt_t::Ray,
{-1, 0, 0},
{1, 0, 0},
1,
1),
cp_t(lt_t::Line,
{-1, 0, 0},
{1, 0, 0},
lt_t::Ray,
{0, -1, 0},
{0, 1, 0},
1,
1),
cp_t(lt_t::Line,
{0, 1, 0},
{0, 1, 0},
lt_t::Ray,
{1, 0, 0},
{1, 0, 0},
-1,
0),
cp_t(lt_t::Line,
{1, 0, 0},
{1, 0, 0},
lt_t::Ray,
{0, 1, 0},
{0, 1, 0},
-1,
0),
// Line to ray parallel
cp_t(lt_t::Ray,
{0, 0, 0},
{1, 0, 0},
lt_t::Line,
{1, 0, 1},
{1, 0, 0},
0,
-1),
cp_t(lt_t::Line,
{0, 0, 0},
{1, 0, 0},
lt_t::Ray,
{1, 0, 1},
{1, 0, 0},
1,
0),
cp_t(lt_t::Line,
{1, 0, 1},
{1, 0, 0},
lt_t::Ray,
{0, 0, 0},
{1, 0, 0},
0,
1),
// Line to segment
cp_t(lt_t::Line,
{0, -1, 0},
{0, 1, 0},
lt_t::Segment,
{-1, 0, 0},
{1, 0, 0},
1,
1),
cp_t(lt_t::Line,
{-1, 0, 0},
{1, 0, 0},
lt_t::Segment,
{0, -1, 0},
{0, 1, 0},
1,
1),
cp_t(lt_t::Segment,
{0, 1, 0},
{0, 2, 0},
lt_t::Line,
{1, 0, 0},
{1, 0, 0},
0,
-1),
cp_t(lt_t::Segment,
{0, 2, 0},
{0, 1, 0},
lt_t::Line,
{1, 0, 0},
{1, 0, 0},
1,
-1),
// Line to segment parallel
cp_t(lt_t::Line,
{0, 0, 0},
{1, 0, 0},
lt_t::Segment,
{1, 0, 1},
{2, 0, 1},
1,
0),
cp_t(lt_t::Line,
{0, 0, 0},
{1, 0, 0},
lt_t::Segment,
{2, 0, 1},
{1, 0, 1},
1,
1),
cp_t(lt_t::Line,
{1, 0, 1},
{1, 0, 0},
lt_t::Segment,
{0, 0, 0},
{0.5, 0, 0},
-0.5,
0.5)));
const double root2 = 1.41421356237309504880168;
INSTANTIATE_TEST_SUITE_P(
RayTests,
ClosestPointTests,
Values(
// Ray to ray
cp_t(lt_t::Ray,
{0, -1, 0},
{0, 1, 0},
lt_t::Ray,
{-1, 0, 0},
{1, 0, 0},
1,
1),
cp_t(lt_t::Ray,
{-1, 0, 0},
{1, 0, 0},
lt_t::Ray,
{0, -1, 0},
{0, 1, 0},
1,
1),
cp_t(lt_t::Ray,
{0, 1, 0},
{0, 1, 0},
lt_t::Ray,
{1, 0, 0},
{1, 0, 0},
0,
0),
cp_t(lt_t::Ray,
{1, 0, 0},
{1, 0, 0},
lt_t::Ray,
{0, 1, 0},
{0, 1, 0},
0,
0),
// Ray to ray out of bounds behind origin, these cases test the
// clamp/project/clamp/project procedure
cp_t(lt_t::Ray,
{0, 1, 0},
{1, 0, 0},
lt_t::Ray,
{2, 2, 0},
{1, 1, 0},
2,
0),
cp_t(lt_t::Ray,
{2, 2, 0},
{1, 1, 0},
lt_t::Ray,
{0, 1, 0},
{1, 0, 0},
0,
2),
cp_t(lt_t::Ray,
{1.5, 1, 0},
{1, 0, 0},
lt_t::Ray,
{2, 2, 0},
{1, 1, 0},
.5,
0),
cp_t(lt_t::Ray,
{2, 2, 0},
{1, 1, 0},
lt_t::Ray,
{1.5, 1, 0},
{1, 0, 0},
0,
.5),
// Ray to ray parallel
cp_t(lt_t::Ray,
{0, 0, 0},
{1, 0, 0},
lt_t::Ray,
{1, 0, 1},
{1, 0, 0},
1,
0),
cp_t(lt_t::Ray,
{1, 0, 1},
{1, 0, 0},
lt_t::Ray,
{0, 0, 0},
{1, 0, 0},
0,
1),
// Ray to segment
cp_t(lt_t::Ray,
{0, -1, 0},
{0, 1, 0},
lt_t::Segment,
{-1, 0, 0},
{1, 0, 0},
1,
1),
cp_t(lt_t::Ray,
{-1, 0, 0},
{1, 0, 0},
lt_t::Segment,
{0, -1, 0},
{0, 1, 0},
1,
1),
cp_t(lt_t::Ray,
{0, 1, 0},
{0, 1, 0},
lt_t::Segment,
{1, 0, 0},
{2, 0, 0},
0,
0),
cp_t(lt_t::Ray,
{1, 0, 0},
{1, 0, 0},
lt_t::Segment,
{0, 1, 0},
{0, 2, 0},
0,
0),
// Ray to ray out of bounds behind origin, these cases test the
// clamp/project/clamp/project procedure
cp_t(lt_t::Ray,
{0, 1, 0},
{1, 0, 0},
lt_t::Segment,
{2, 2, 0},
{3, 3, 0},
2,
0),
cp_t(lt_t::Ray,
{0, 1, 0},
{1, 0, 0},
lt_t::Segment,
{3, 3, 0},
{2, 2, 0},
2,
root2),
cp_t(lt_t::Ray,
{2, 2, 0},
{1, 1, 0},
lt_t::Segment,
{0, 1, 0},
{0.5, 1, 0},
0,
0.5),
cp_t(lt_t::Ray,
{2, 2, 0},
{1, 1, 0},
lt_t::Segment,
{0.5, 1, 0},
{0, 1, 0},
0,
0)));
INSTANTIATE_TEST_SUITE_P(
SegmentTests,
ClosestPointTests,
Values(
// Regular segment to segment intersections
cp_t(lt_t::Segment,
{0, -1, 0},
{0, 1, 0},
lt_t::Segment,
{-1, 0, 0},
{1, 0, 0},
1,
1),
cp_t(lt_t::Segment,
{-1, 0, 0},
{1, 0, 0},
lt_t::Segment,
{0, -1, 0},
{0, 1, 0},
1,
1),
// Tests corresponding with special case b from "Real-Time
// Collision Detection" Figure 5.9b, p148
cp_t(lt_t::Segment,
{0, 1, 0},
{3, 1, 0},
lt_t::Segment,
{2, 2, 0},
{3, 3, 0},
2,
0),
cp_t(lt_t::Segment,
{0, 1, 0},
{3, 1, 0},
lt_t::Segment,
{3, 3, 0},
{2, 2, 0},
2,
root2),
cp_t(lt_t::Segment,
{2, 2, 0},
{3, 3, 0},
lt_t::Segment,
{0, 1, 0},
{3, 1, 0},
0,
2),
cp_t(lt_t::Segment,
{3, 3, 0},
{2, 2, 0},
lt_t::Segment,
{0, 1, 0},
{3, 1, 0},
root2,
2),
// Tests corresponding with special case b from "Real-Time
// Collision Detection" Figure 5.9c, p148
cp_t(lt_t::Segment,
{1.5, 1, 0},
{3, 1, 0},
lt_t::Segment,
{2, 2, 0},
{3, 3, 0},
0.5,
0),
cp_t(lt_t::Segment,
{1.5, 1, 0},
{3, 1, 0},
lt_t::Segment,
{3, 3, 0},
{2, 2, 0},
0.5,
root2),
cp_t(lt_t::Segment,
{2, 2, 0},
{3, 3, 0},
lt_t::Segment,
{1.5, 1, 0},
{3, 1, 0},
0,
0.5),
cp_t(lt_t::Segment,
{3, 3, 0},
{2, 2, 0},
lt_t::Segment,
{1.5, 1, 0},
{3, 1, 0},
root2,
0.5)));
} // namespace tests
} // namespace open3d
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