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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.
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
import os
_eight_cubes_colors = np.array([
[0.0, 0.0, 0.0],
[0.1, 0.0, 0.0],
[0.0, 0.1, 0.0],
[0.1, 0.1, 0.0],
[0.0, 0.0, 0.1],
[0.1, 0.0, 0.1],
[0.0, 0.1, 0.1],
[0.1, 0.1, 0.1],
])
_eight_cubes_points = np.array([
[0.5, 0.5, 0.5],
[1.5, 0.5, 0.5],
[0.5, 1.5, 0.5],
[1.5, 1.5, 0.5],
[0.5, 0.5, 1.5],
[1.5, 0.5, 1.5],
[0.5, 1.5, 1.5],
[1.5, 1.5, 1.5],
])
def test_octree_OctreeNodeInfo():
origin = [0, 0, 0]
size = 2.0
depth = 5
child_index = 7
node_info = o3d.geometry.OctreeNodeInfo(origin, size, depth, child_index)
np.testing.assert_equal(node_info.origin, origin)
np.testing.assert_equal(node_info.size, size)
np.testing.assert_equal(node_info.depth, depth)
np.testing.assert_equal(node_info.child_index, child_index)
def test_octree_OctreeColorLeafNode():
color_leaf_node = o3d.geometry.OctreeColorLeafNode()
color = [0.1, 0.2, 0.3]
color_leaf_node.color = color
np.testing.assert_equal(color_leaf_node.color, color)
# Test copy constructor
color_leaf_node_copy = o3d.geometry.OctreeColorLeafNode(color_leaf_node)
np.testing.assert_equal(color_leaf_node_copy.color, color)
# Test OctreeLeafNode's inherited operator== function
assert color_leaf_node == color_leaf_node_copy
assert color_leaf_node_copy == color_leaf_node
# Test OctreeLeafNode's inherited clone() function
color_leaf_node_clone = color_leaf_node.clone()
np.testing.assert_equal(color_leaf_node_clone.color, color)
assert color_leaf_node == color_leaf_node_clone
assert color_leaf_node_clone == color_leaf_node
def test_octree_init():
octree = o3d.geometry.Octree(1, [0, 0, 0], 2)
def test_octree_convert_from_point_cloud():
octree = o3d.geometry.Octree(1, [0, 0, 0], 2)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(_eight_cubes_points)
pcd.colors = o3d.utility.Vector3dVector(_eight_cubes_colors)
octree.convert_from_point_cloud(pcd)
def test_octree_insert_point():
octree = o3d.geometry.Octree(1, [0, 0, 0], 2)
for point, color in zip(_eight_cubes_points, _eight_cubes_colors):
f_init = o3d.geometry.OctreeColorLeafNode.get_init_function()
f_update = o3d.geometry.OctreeColorLeafNode.get_update_function(color)
octree.insert_point(point, f_init, f_update)
def test_octree_node_access():
octree = o3d.geometry.Octree(1, [0, 0, 0], 2)
for point, color in zip(_eight_cubes_points, _eight_cubes_colors):
f_init = o3d.geometry.OctreeColorLeafNode.get_init_function()
f_update = o3d.geometry.OctreeColorLeafNode.get_update_function(color)
octree.insert_point(point, f_init, f_update)
for i in range(8):
np.testing.assert_equal(octree.root_node.children[i].color,
_eight_cubes_colors[i])
def test_octree_visualize():
pcd_data = o3d.data.PLYPointCloud()
pcd = o3d.io.read_point_cloud(pcd_data.path)
octree = o3d.geometry.Octree(8)
octree.convert_from_point_cloud(pcd)
# Enable the following line to test visualization
# o3d.visualization.draw_geometries([octree])
def test_octree_voxel_grid_convert():
pcd_data = o3d.data.PLYPointCloud()
pcd = o3d.io.read_point_cloud(pcd_data.path)
octree = o3d.geometry.Octree(8)
octree.convert_from_point_cloud(pcd)
voxel_grid = octree.to_voxel_grid()
octree_copy = voxel_grid.to_octree(max_depth=8)
# Enable the following line to test visualization
# o3d.visualization.draw_geometries([octree])
# o3d.visualization.draw_geometries([voxel_grid])
# o3d.visualization.draw_geometries([octree_copy])
def test_locate_leaf_node():
pcd_data = o3d.data.PLYPointCloud()
pcd = o3d.io.read_point_cloud(pcd_data.path)
max_depth = 5
octree = o3d.geometry.Octree(max_depth)
octree.convert_from_point_cloud(pcd, 0.01)
# Try locating a few points
for idx in range(0, len(pcd.points), 200):
point = pcd.points[idx]
node, node_info = octree.locate_leaf_node(np.array(point))
# The located node must be in bound
assert octree.is_point_in_bound(point, node_info.origin, node_info.size)
# Leaf node must be located
assert node_info.depth == max_depth
# Leaf node's size must match
assert node_info.size == octree.size / np.power(2, max_depth)
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