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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/t/geometry/LineSet.h"
#include <gmock/gmock.h>
#include "core/CoreTest.h"
#include "open3d/core/TensorCheck.h"
#include "tests/Tests.h"
namespace open3d {
namespace tests {
class LineSetPermuteDevices : public PermuteDevices {};
INSTANTIATE_TEST_SUITE_P(LineSet,
LineSetPermuteDevices,
testing::ValuesIn(PermuteDevices::TestCases()));
class LineSetPermuteDevicePairs : public PermuteDevicePairs {};
INSTANTIATE_TEST_SUITE_P(
LineSet,
LineSetPermuteDevicePairs,
testing::ValuesIn(LineSetPermuteDevicePairs::TestCases()));
TEST_P(LineSetPermuteDevices, DefaultConstructor) {
t::geometry::LineSet lineset;
// Inherited from Geometry3D.
EXPECT_EQ(lineset.GetGeometryType(),
t::geometry::Geometry::GeometryType::LineSet);
EXPECT_EQ(lineset.Dimension(), 3);
// Public members.
EXPECT_TRUE(lineset.IsEmpty());
EXPECT_FALSE(lineset.HasPointPositions());
EXPECT_FALSE(lineset.HasLineIndices());
EXPECT_FALSE(lineset.HasLineColors());
// Default device.
EXPECT_EQ(lineset.GetDevice(), core::Device("CPU:0"));
// ToString
EXPECT_EQ(lineset.ToString(), R"(LineSet on CPU:0
[0 points ()] Attributes: None.
[0 lines ()] Attributes: None.)");
}
TEST_P(LineSetPermuteDevices, ConstructFromPointPositions) {
core::Device device = GetParam();
// Prepare data.
core::Tensor points = core::Tensor::Ones({10, 3}, core::Float32, device);
core::Tensor single_point = core::Tensor::Ones({3}, core::Float32, device);
core::Tensor lines = core::Tensor::Ones({10, 2}, core::Int64, device);
core::Tensor single_line = core::Tensor::Ones({2}, core::Int64, device);
t::geometry::LineSet lineset(points, lines);
EXPECT_TRUE(lineset.HasPointPositions());
EXPECT_EQ(lineset.GetPointPositions().GetLength(), 10);
EXPECT_EQ(lineset.GetLineIndices().GetLength(), 10);
}
TEST_P(LineSetPermuteDevices, Getters) {
using ::testing::AnyOf;
core::Device device = GetParam();
core::Tensor points = core::Tensor::Ones({2, 3}, core::Float32, device);
core::Tensor point_labels =
core::Tensor::Ones({2, 3}, core::Float32, device) * 3;
core::Tensor lines = core::Tensor::Ones({2, 2}, core::Int64, device);
core::Tensor line_colors =
core::Tensor::Ones({2, 3}, core::Float32, device) * 2;
core::Tensor line_labels =
core::Tensor::Ones({2, 3}, core::Float32, device) * 3;
t::geometry::LineSet lineset(points, lines);
lineset.SetLineColors(line_colors);
lineset.SetPointAttr("labels", point_labels);
lineset.SetLineAttr("labels", line_labels);
EXPECT_TRUE(lineset.GetPointPositions().AllClose(
core::Tensor::Ones({2, 3}, core::Float32, device)));
EXPECT_TRUE(lineset.GetPointAttr("labels").AllClose(
core::Tensor::Ones({2, 3}, core::Float32, device) * 3));
EXPECT_TRUE(lineset.GetLineIndices().AllClose(
core::Tensor::Ones({2, 2}, core::Int64, device)));
EXPECT_TRUE(lineset.GetLineColors().AllClose(
core::Tensor::Ones({2, 3}, core::Float32, device) * 2));
EXPECT_TRUE(lineset.GetLineAttr("labels").AllClose(
core::Tensor::Ones({2, 3}, core::Float32, device) * 3));
// Const getters. (void)tl gets rid of the unused variables warning.
EXPECT_NO_THROW(const core::Tensor& tl = lineset.GetPointPositions();
(void)tl);
EXPECT_NO_THROW(const core::Tensor& tl = lineset.GetPointAttr("labels");
(void)tl);
EXPECT_NO_THROW(const core::Tensor& tl = lineset.GetLineIndices();
(void)tl);
EXPECT_NO_THROW(const core::Tensor& tl = lineset.GetLineColors(); (void)tl);
EXPECT_NO_THROW(const core::Tensor& tl = lineset.GetLineAttr("labels");
(void)tl);
// ToString
std::string text = "LineSet on " + device.ToString() +
"\n[2 points (Float32)] Attributes: labels (dtype = "
"Float32, shape = {2, 3})."
"\n[2 lines (Int64)] Attributes: ";
EXPECT_THAT(lineset.ToString(), // Compiler dependent output
AnyOf(text + "labels (dtype = Float32, shape = {2, 3}), colors "
"(dtype = Float32, shape = {2, 3}).",
text + "colors (dtype = Float32, shape = {2, 3}), labels "
"(dtype = Float32, shape = {2, 3})."));
}
TEST_P(LineSetPermuteDevices, Setters) {
core::Device device = GetParam();
// Setters are already tested in Getters' unit tests. Here we test that
// mismatched device should throw an exception. This test is only effective
// if device is a CUDA device.
t::geometry::LineSet lineset(device);
core::Device cpu_device = core::Device("CPU:0");
if (cpu_device != device) {
core::Tensor cpu_points =
core::Tensor::Ones({2, 3}, core::Float32, cpu_device);
core::Tensor cpu_lines =
core::Tensor::Ones({2, 2}, core::Int64, cpu_device);
core::Tensor cpu_colors =
core::Tensor::Ones({2, 3}, core::Float32, cpu_device) * 2;
core::Tensor cpu_labels =
core::Tensor::Ones({2, 3}, core::Float32, cpu_device) * 3;
EXPECT_ANY_THROW(lineset.SetPointPositions(cpu_points));
EXPECT_ANY_THROW(lineset.SetLineIndices(cpu_lines));
EXPECT_ANY_THROW(lineset.SetLineColors(cpu_colors));
EXPECT_ANY_THROW(lineset.SetPointAttr("labels", cpu_labels));
}
}
TEST_P(LineSetPermuteDevices, RemoveAttr) {
core::Device device = GetParam();
core::Tensor points = core::Tensor::Ones({2, 3}, core::Float32, device);
core::Tensor point_labels =
core::Tensor::Ones({2, 3}, core::Float32, device) * 3;
core::Tensor lines = core::Tensor::Ones({2, 2}, core::Int64, device);
core::Tensor line_labels =
core::Tensor::Ones({2, 3}, core::Float32, device) * 3;
t::geometry::LineSet lineset(points, lines);
lineset.SetPointAttr("labels", point_labels);
EXPECT_NO_THROW(lineset.GetPointAttr("labels"));
lineset.RemovePointAttr("labels");
EXPECT_ANY_THROW(lineset.GetPointAttr("labels"));
lineset.SetLineAttr("labels", line_labels);
EXPECT_NO_THROW(lineset.GetLineAttr("labels"));
lineset.RemoveLineAttr("labels");
EXPECT_ANY_THROW(lineset.GetLineAttr("labels"));
// Not allowed to delete primary key attribute.
EXPECT_ANY_THROW(lineset.RemovePointAttr("positions"));
EXPECT_ANY_THROW(lineset.RemoveLineAttr("indices"));
}
TEST_P(LineSetPermuteDevices, Has) {
core::Device device = GetParam();
t::geometry::LineSet lineset(device);
EXPECT_FALSE(lineset.HasPointPositions());
EXPECT_FALSE(lineset.HasPointAttr("labels"));
EXPECT_FALSE(lineset.HasLineIndices());
EXPECT_FALSE(lineset.HasLineColors());
EXPECT_FALSE(lineset.HasLineAttr("labels"));
lineset.SetPointPositions(
core::Tensor::Ones({10, 3}, core::Float32, device));
EXPECT_TRUE(lineset.HasPointPositions());
lineset.SetLineIndices(core::Tensor::Ones({10, 2}, core::Int64, device));
EXPECT_TRUE(lineset.HasLineIndices());
// Different size.
lineset.SetLineColors(core::Tensor::Ones({5, 3}, core::Float32, device));
EXPECT_FALSE(lineset.HasLineColors());
// Same size.
lineset.SetLineColors(core::Tensor::Ones({10, 3}, core::Float32, device));
EXPECT_TRUE(lineset.HasLineColors());
}
TEST_P(LineSetPermuteDevicePairs, Copy_CopyDevice) {
core::Device dst_device;
core::Device src_device;
std::tie(dst_device, src_device) = GetParam();
core::Dtype dtype_float = core::Float32;
core::Dtype dtype_int = core::Int32;
core::Tensor points = core::Tensor::Ones({2, 3}, dtype_float, src_device);
core::Tensor lines = core::Tensor::Ones({2, 2}, dtype_int, src_device);
core::Tensor colors =
core::Tensor::Ones({2, 3}, dtype_float, src_device) * 2;
core::Tensor labels =
core::Tensor::Ones({2, 3}, dtype_float, src_device) * 3;
t::geometry::LineSet lineset(src_device);
lineset.SetPointPositions(points);
lineset.SetPointAttr("labels", labels);
lineset.SetLineIndices(lines);
lineset.SetLineColors(colors);
// Copy is on the same device as source.
t::geometry::LineSet lineset_copy = lineset.Clone();
// Copy does not share the same memory with source (deep copy).
EXPECT_FALSE(lineset_copy.GetPointPositions().IsSame(
lineset.GetPointPositions()));
EXPECT_FALSE(lineset_copy.GetLineColors().IsSame(lineset.GetLineColors()));
EXPECT_FALSE(lineset_copy.GetPointAttr("labels").IsSame(
lineset.GetPointAttr("labels")));
// Copy has the same attributes and values as source.
EXPECT_TRUE(lineset_copy.GetPointPositions().AllClose(
lineset.GetPointPositions()));
EXPECT_TRUE(
lineset_copy.GetLineIndices().AllClose(lineset.GetLineIndices()));
EXPECT_TRUE(lineset_copy.GetPointAttr("labels").AllClose(
lineset.GetPointAttr("labels")));
// Copy is created on the dst_device.
t::geometry::LineSet lineset_copy_dev =
lineset.To(dst_device, /*copy=*/true);
EXPECT_EQ(lineset_copy_dev.GetDevice(), dst_device);
// CopyDevice has the same attributes and values as source.
EXPECT_TRUE(lineset_copy_dev.GetPointPositions()
.To(src_device)
.AllClose(lineset.GetPointPositions()));
EXPECT_TRUE(lineset_copy_dev.GetLineIndices()
.To(src_device)
.AllClose(lineset.GetLineIndices()));
EXPECT_TRUE(lineset_copy_dev.GetPointAttr("labels")
.To(src_device)
.AllClose(lineset.GetPointAttr("labels")));
}
TEST_P(LineSetPermuteDevices, GetMinBound_GetMaxBound_GetCenter) {
core::Device device = GetParam();
t::geometry::LineSet lineset(device);
core::Tensor points = core::Tensor(std::vector<float>{1, 2, 3, 4, 5, 6},
{2, 3}, core::Float32, device);
lineset.SetPointPositions(points);
EXPECT_FALSE(lineset.IsEmpty());
EXPECT_TRUE(lineset.HasPointPositions());
EXPECT_FALSE(lineset.HasLineIndices());
EXPECT_EQ(lineset.GetMinBound().ToFlatVector<float>(),
std::vector<float>({1, 2, 3}));
EXPECT_EQ(lineset.GetMaxBound().ToFlatVector<float>(),
std::vector<float>({4, 5, 6}));
EXPECT_EQ(lineset.GetCenter().ToFlatVector<float>(),
std::vector<float>({2.5, 3.5, 4.5}));
}
TEST_P(LineSetPermuteDevices, Transform) {
core::Device device = GetParam();
t::geometry::LineSet lineset(device);
core::Tensor transformation = core::Tensor::Init<float>(
{{1, 1, 0, 1}, {0, 1, 1, 1}, {0, 1, 0, 1}, {0, 0, 0, 1}}, device);
lineset.SetPointPositions(
core::Tensor::Init<float>({{1, 1, 1}, {1, 1, 1}}, device));
lineset.Transform(transformation);
EXPECT_TRUE(lineset.GetPointPositions().AllClose(
core::Tensor::Init<float>({{3, 3, 2}, {3, 3, 2}}, device)));
}
TEST_P(LineSetPermuteDevices, Translate) {
core::Device device = GetParam();
t::geometry::LineSet lineset(device);
core::Tensor translation = core::Tensor::Init<float>({10, 20, 30}, device);
// Relative.
lineset.SetPointPositions(
core::Tensor::Init<float>({{0, 1, 2}, {6, 7, 8}}, device));
lineset.Translate(translation, /*relative=*/true);
EXPECT_TRUE(lineset.GetPointPositions().AllClose(
core::Tensor::Init<float>({{10, 21, 32}, {16, 27, 38}}, device)));
// Non-relative.
lineset.SetPointPositions(
core::Tensor::Init<float>({{0, 1, 2}, {6, 7, 8}}, device));
lineset.Translate(translation, /*relative=*/false);
EXPECT_TRUE(lineset.GetPointPositions().AllClose(
core::Tensor::Init<float>({{7, 17, 27}, {13, 23, 33}}, device)));
}
TEST_P(LineSetPermuteDevices, Scale) {
core::Device device = GetParam();
t::geometry::LineSet lineset(device);
core::Tensor rotation = core::Tensor::Init<float>(
{{1, 1, 0}, {0, 1, 1}, {0, 1, 0}}, device);
core::Tensor center = core::Tensor::Ones({3}, core::Dtype::Float32, device);
double scale = 4;
lineset.SetPointPositions(core::Tensor::Init<float>(
{{0, 0, 0}, {1, 1, 1}, {2, 2, 2}}, device));
lineset.Scale(scale, center);
EXPECT_TRUE(lineset.GetPointPositions().AllClose(core::Tensor::Init<float>(
{{-3, -3, -3}, {1, 1, 1}, {5, 5, 5}}, device)));
}
TEST_P(LineSetPermuteDevices, Rotate) {
core::Device device = GetParam();
t::geometry::LineSet lineset(device);
core::Tensor rotation = core::Tensor::Init<float>(
{{1, 1, 0}, {0, 1, 1}, {0, 1, 0}}, device);
core::Tensor center = core::Tensor::Ones({3}, core::Dtype::Float32, device);
lineset.SetPointPositions(
core::Tensor::Init<float>({{2, 2, 2}, {2, 2, 2}}, device));
lineset.Rotate(rotation, center);
EXPECT_TRUE(lineset.GetPointPositions().AllClose(
core::Tensor::Init<float>({{3, 3, 2}, {3, 3, 2}}, device)));
}
TEST_P(LineSetPermuteDevices, FromLegacy) {
core::Device device = GetParam();
geometry::LineSet legacy_lineset;
legacy_lineset.points_ = std::vector<Eigen::Vector3d>{
Eigen::Vector3d(0, 0, 0), Eigen::Vector3d(0, 0, 0)};
legacy_lineset.lines_ = std::vector<Eigen::Vector2i>{Eigen::Vector2i(3, 3),
Eigen::Vector2i(3, 3)};
legacy_lineset.colors_ = std::vector<Eigen::Vector3d>{
Eigen::Vector3d(1, 1, 1), Eigen::Vector3d(1, 1, 1)};
core::Dtype float_dtype = core::Float32;
core::Dtype int_dtype = core::Int64;
t::geometry::LineSet lineset = t::geometry::LineSet::FromLegacy(
legacy_lineset, float_dtype, int_dtype, device);
EXPECT_TRUE(lineset.HasPointPositions());
EXPECT_TRUE(lineset.HasLineIndices());
EXPECT_TRUE(lineset.HasLineColors());
EXPECT_NO_THROW(
core::AssertTensorDtype(lineset.GetPointPositions(), float_dtype));
EXPECT_NO_THROW(
core::AssertTensorDtype(lineset.GetLineIndices(), int_dtype));
EXPECT_NO_THROW(
core::AssertTensorDtype(lineset.GetLineColors(), float_dtype));
EXPECT_TRUE(lineset.GetPointPositions().AllClose(
core::Tensor::Ones({2, 3}, float_dtype, device) * 0));
EXPECT_TRUE(lineset.GetLineIndices().AllClose(
core::Tensor::Ones({2, 2}, int_dtype, device) * 3));
EXPECT_TRUE(lineset.GetLineColors().AllClose(
core::Tensor::Ones({2, 3}, float_dtype, device) * 1));
}
TEST_P(LineSetPermuteDevices, ToLegacy) {
core::Device device = GetParam();
core::Dtype float_dtype = core::Float32;
core::Dtype int_dtype = core::Int64;
t::geometry::LineSet lineset(device);
lineset.SetPointPositions(core::Tensor::Ones({2, 3}, float_dtype, device) *
0);
lineset.SetLineIndices(core::Tensor::Ones({2, 2}, int_dtype, device) * 3);
lineset.SetLineColors(core::Tensor::Ones({2, 3}, float_dtype, device) * 1);
geometry::LineSet legacy_lineset = lineset.ToLegacy();
EXPECT_EQ(legacy_lineset.points_,
std::vector<Eigen::Vector3d>(
{Eigen::Vector3d(0, 0, 0), Eigen::Vector3d(0, 0, 0)}));
EXPECT_EQ(legacy_lineset.lines_,
std::vector<Eigen::Vector2i>(
{Eigen::Vector2i(3, 3), Eigen::Vector2i(3, 3)}));
EXPECT_EQ(legacy_lineset.colors_,
std::vector<Eigen::Vector3d>(
{Eigen::Vector3d(1, 1, 1), Eigen::Vector3d(1, 1, 1)}));
}
} // namespace tests
} // namespace open3d
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