1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
|
// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/io/OctreeIO.h"
#include <json/json.h>
#include <cstdio>
#include "open3d/data/Dataset.h"
#include "open3d/geometry/Octree.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/io/PointCloudIO.h"
#include "open3d/utility/FileSystem.h"
#include "open3d/utility/IJsonConvertible.h"
#include "tests/Tests.h"
namespace open3d {
namespace tests {
void WriteReadAndAssertEqual(const geometry::Octree& src_octree) {
// Write to file
std::string file_name =
utility::filesystem::GetTempDirectoryPath() + "/temp_octree.json";
EXPECT_TRUE(io::WriteOctree(file_name, src_octree));
// Read from file
geometry::Octree dst_octree;
EXPECT_TRUE(io::ReadOctree(file_name, dst_octree));
EXPECT_TRUE(src_octree == dst_octree);
}
TEST(OctreeIO, EmptyTree) {
geometry::Octree octree(10);
ExpectEQ(octree.origin_, Eigen::Vector3d(0, 0, 0));
EXPECT_EQ(octree.size_, 0);
WriteReadAndAssertEqual(octree);
}
TEST(OctreeIO, ZeroDepth) {
geometry::Octree octree(0, Eigen::Vector3d(-1, -1, -1), 2);
Eigen::Vector3d point(0, 0, 0);
Eigen::Vector3d color(0, 0.1, 0.2);
octree.InsertPoint(point, geometry::OctreeColorLeafNode::GetInitFunction(),
geometry::OctreeColorLeafNode::GetUpdateFunction(color));
WriteReadAndAssertEqual(octree);
}
TEST(OctreeIO, JsonFileIOFragment) {
// Create octree
geometry::PointCloud pcd;
data::PLYPointCloud pointcloud_ply;
io::ReadPointCloud(pointcloud_ply.GetPath(), pcd);
size_t max_depth = 6;
geometry::Octree octree(max_depth);
octree.ConvertFromPointCloud(pcd, 0.01);
WriteReadAndAssertEqual(octree);
}
TEST(OctreeIO, JsonFileIOSevenCubes) {
// Build octree
std::vector<Eigen::Vector3d> points{
Eigen::Vector3d(0.5, 0.5, 0.5), Eigen::Vector3d(1.5, 0.5, 0.5),
Eigen::Vector3d(0.5, 1.5, 0.5), Eigen::Vector3d(1.5, 1.5, 0.5),
Eigen::Vector3d(0.5, 0.5, 1.5), Eigen::Vector3d(1.5, 0.5, 1.5),
Eigen::Vector3d(0.5, 1.5, 1.5)};
std::vector<Eigen::Vector3d> colors{
Eigen::Vector3d(0.0, 0.0, 0.0), Eigen::Vector3d(0.25, 0.0, 0.0),
Eigen::Vector3d(0.0, 0.25, 0.0), Eigen::Vector3d(0.25, 0.25, 0.0),
Eigen::Vector3d(0.0, 0.0, 0.25), Eigen::Vector3d(0.25, 0.0, 0.25),
Eigen::Vector3d(0.0, 0.25, 0.25)};
geometry::Octree octree(1, Eigen::Vector3d(0, 0, 0), 2);
for (size_t i = 0; i < points.size(); ++i) {
octree.InsertPoint(
points[i], geometry::OctreeColorLeafNode::GetInitFunction(),
geometry::OctreeColorLeafNode::GetUpdateFunction(colors[i]));
}
WriteReadAndAssertEqual(octree);
}
} // namespace tests
} // namespace open3d
|
