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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.
// ----------------------------------------------------------------------------
#pragma once
#include <gtest/gtest.h>
#include <Eigen/Core>
#include <sstream>
#include <string>
#include <vector>
#include "open3d/Macro.h"
#define ExpectEQ(arg, ...) \
ExpectEQInternal(::open3d::tests::LineInfo(__FILE__, __LINE__), arg, \
__VA_ARGS__)
namespace open3d {
namespace tests {
// Thresholds for comparing floating point values
const double THRESHOLD_1E_6 = 1e-6;
const Eigen::IOFormat matrix_fmt(
Eigen::StreamPrecision, 0, ", ", ",\n", "[", "]", "[", "]");
std::string LineInfo(const char* file, int line);
template <class T, int M, int N, int A>
void ExpectEQInternal(const std::string& line_info,
const Eigen::Matrix<T, M, N, A>& v0,
const Eigen::Matrix<T, M, N, A>& v1,
double threshold = THRESHOLD_1E_6) {
EXPECT_EQ(v0.size(), v1.size());
EXPECT_TRUE(v0.isApprox(v1, threshold))
<< line_info << "threshold:\n"
<< threshold << "\nv0:\n"
<< v0.format(matrix_fmt) << "\nv1:\n"
<< v1.format(matrix_fmt);
}
template <class T, int M, int N, int A>
void ExpectEQInternal(const std::string& line_info,
const std::vector<Eigen::Matrix<T, M, N, A>>& v0,
const std::vector<Eigen::Matrix<T, M, N, A>>& v1,
double threshold = THRESHOLD_1E_6) {
EXPECT_EQ(v0.size(), v1.size());
for (size_t i = 0; i < v0.size(); i++) {
ExpectEQInternal(line_info, v0[i], v1[i], threshold);
}
}
template <class T, int M, int N, int A>
void ExpectEQInternal(
const std::string& line_info,
const std::vector<Eigen::Matrix<T, M, N, A>,
Eigen::aligned_allocator<Eigen::Matrix<T, M, N, A>>>&
v0,
const std::vector<Eigen::Matrix<T, M, N, A>,
Eigen::aligned_allocator<Eigen::Matrix<T, M, N, A>>>&
v1,
double threshold = THRESHOLD_1E_6) {
EXPECT_EQ(v0.size(), v1.size());
for (size_t i = 0; i < v0.size(); i++) {
ExpectEQInternal(line_info, v0[i], v1[i], threshold);
}
}
template <class T, int M, int N, int A>
void ExpectLE(const Eigen::Matrix<T, M, N, A>& v0,
const Eigen::Matrix<T, M, N, A>& v1) {
EXPECT_EQ(v0.size(), v1.size());
for (int i = 0; i < v0.size(); i++) EXPECT_LE(v0.coeff(i), v1.coeff(i));
}
template <class T, int M, int N, int A>
void ExpectLE(const Eigen::Matrix<T, M, N, A>& v0,
const std::vector<Eigen::Matrix<T, M, N, A>>& v1) {
for (size_t i = 0; i < v1.size(); i++) ExpectLE(v0, v1[i]);
}
template <class T, int M, int N, int A>
void ExpectLE(const std::vector<Eigen::Matrix<T, M, N, A>>& v0,
const std::vector<Eigen::Matrix<T, M, N, A>>& v1) {
EXPECT_EQ(v0.size(), v1.size());
for (size_t i = 0; i < v0.size(); i++) ExpectLE(v0[i], v1[i]);
}
template <class T, int M, int N, int A>
void ExpectGE(const Eigen::Matrix<T, M, N, A>& v0,
const Eigen::Matrix<T, M, N, A>& v1) {
EXPECT_EQ(v0.size(), v1.size());
for (int i = 0; i < v0.size(); i++) EXPECT_GE(v0.coeff(i), v1.coeff(i));
}
template <class T, int M, int N, int A>
void ExpectGE(const Eigen::Matrix<T, M, N, A>& v0,
const std::vector<Eigen::Matrix<T, M, N, A>>& v1) {
for (size_t i = 0; i < v1.size(); i++) ExpectGE(v0, v1[i]);
}
template <class T, int M, int N, int A>
void ExpectGE(const std::vector<Eigen::Matrix<T, M, N, A>>& v0,
const std::vector<Eigen::Matrix<T, M, N, A>>& v1) {
EXPECT_EQ(v0.size(), v1.size());
for (size_t i = 0; i < v0.size(); i++) ExpectGE(v0[i], v1[i]);
}
// Test equality of two arrays of uint8_t.
void ExpectEQInternal(const std::string& line_info,
const uint8_t* const v0,
const uint8_t* const v1,
const size_t& size);
// Test equality of two vectors of uint8_t.
void ExpectEQInternal(const std::string& line_info,
const std::vector<uint8_t>& v0,
const std::vector<uint8_t>& v1);
// Test equality of two arrays of int.
void ExpectEQInternal(const std::string& line_info,
const int* const v0,
const int* const v1,
const size_t& size);
// Test equality of two vectors of int.
void ExpectEQInternal(const std::string& line_info,
const std::vector<int>& v0,
const std::vector<int>& v1);
// Test equality of two vectors of int64_t.
void ExpectEQInternal(const std::string& line_info,
const std::vector<int64_t>& v0,
const std::vector<int64_t>& v1);
// Test equality of two arrays of float.
void ExpectEQInternal(const std::string& line_info,
const float* const v0,
const float* const v1,
const size_t& size,
float threshold = THRESHOLD_1E_6);
// Test equality of two vectors of float.
void ExpectEQInternal(const std::string& line_info,
const std::vector<float>& v0,
const std::vector<float>& v1,
float threshold = THRESHOLD_1E_6);
// Test equality of two arrays of double.
void ExpectEQInternal(const std::string& line_info,
const double* const v0,
const double* const v1,
const size_t& size,
double threshold = THRESHOLD_1E_6);
// Test equality of two vectors of double.
void ExpectEQInternal(const std::string& line_info,
const std::vector<double>& v0,
const std::vector<double>& v1,
double threshold = THRESHOLD_1E_6);
} // namespace tests
} // namespace open3d
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