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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/io/PointCloudIO.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/utility/FileSystem.h"
#include "tests/Tests.h"
namespace open3d {
namespace tests {
using open3d::io::ReadPointCloud;
using open3d::io::ReadPointCloudOption;
using open3d::io::WritePointCloud;
using open3d::io::WritePointCloudOption;
namespace {
template <class T>
double MaxDistance(const std::vector<T> &a, const std::vector<T> &b) {
// Note: cannot use ASSERT_EQ because we return non-void
EXPECT_EQ(a.size(), b.size());
double m = 0;
for (size_t i = 0; i < a.size(); ++i) {
m = std::max(m, (a[i] - b[i]).norm());
}
return m;
}
void RandPC(geometry::PointCloud &pc, int size = 100) {
Eigen::Vector3d one(1, 1, 1);
pc.points_.resize(size);
pc.normals_.resize(size);
pc.colors_.resize(size);
Rand(pc.points_, one * -1000, one * 1000, 0);
Rand(pc.normals_, one * -1, one, 0);
// Rand*255 seems to give whole numbers, test non-whole numbers for colors
Rand(pc.colors_, one * 0, one * .9973143, 0);
}
} // namespace
enum class IsAscii : bool { BINARY = false, ASCII = true };
enum class Compressed : bool { UNCOMPRESSED = false, COMPRESSED = true };
enum class Compare : uint32_t {
// Points are always compared
NONE = 0,
NORMALS = 1 << 0,
COLORS = 1 << 1,
NORMALS_AND_COLORS = NORMALS | COLORS
};
struct ReadWritePCArgs {
std::string filename;
IsAscii write_ascii;
Compressed compressed;
Compare compare;
};
std::vector<ReadWritePCArgs> pcArgs({
// PCD has ASCII, BINARY, and BINARY_COMPRESSED
{"testau.pcd", IsAscii::ASCII, Compressed::UNCOMPRESSED,
Compare::NORMALS_AND_COLORS}, // 0
{"testbu.pcd", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NORMALS_AND_COLORS}, // 1
{"testbc.pcd", IsAscii::BINARY, Compressed::COMPRESSED,
Compare::NORMALS_AND_COLORS}, // 2
{"testb.ply", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NORMALS_AND_COLORS}, // 3
{"testa.ply", IsAscii::ASCII, Compressed::UNCOMPRESSED,
Compare::NORMALS_AND_COLORS}, // 4
{"test.pts", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::COLORS}, // 5
{"test.xyz", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NONE}, // 6
{"test.xyzn", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NORMALS}, // 7
{"test.xyzrgb", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::COLORS}, // 8
// test subsets of PCD
{"testaup.pcd", IsAscii::ASCII, Compressed::UNCOMPRESSED,
Compare::NONE}, // 9
{"testbup.pcd", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NONE}, // 10
{"testbcp.pcd", IsAscii::BINARY, Compressed::COMPRESSED,
Compare::NONE}, // 11
{"testaun.pcd", IsAscii::ASCII, Compressed::UNCOMPRESSED,
Compare::NORMALS}, // 12
{"testbun.pcd", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NORMALS}, // 13
{"testbcn.pcd", IsAscii::BINARY, Compressed::COMPRESSED,
Compare::NORMALS}, // 14
{"testauc.pcd", IsAscii::ASCII, Compressed::UNCOMPRESSED,
Compare::COLORS}, // 15
{"testbuc.pcd", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::COLORS}, // 16
{"testbcc.pcd", IsAscii::BINARY, Compressed::COMPRESSED,
Compare::COLORS}, // 17
// test subsets of PLY
{"testbp.ply", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NONE}, // 18
{"testap.ply", IsAscii::ASCII, Compressed::UNCOMPRESSED,
Compare::NONE}, // 19
{"testbn.ply", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NORMALS}, // 20
{"testan.ply", IsAscii::ASCII, Compressed::UNCOMPRESSED,
Compare::NORMALS}, // 21
{"testbc.ply", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::COLORS}, // 22
{"testac.ply", IsAscii::ASCII, Compressed::UNCOMPRESSED,
Compare::COLORS}, // 23
// test subsets of PTS
{"testp.pts", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NONE}, // 24
});
class ReadWritePC : public testing::TestWithParam<ReadWritePCArgs> {};
INSTANTIATE_TEST_SUITE_P(ReadWritePC, ReadWritePC, testing::ValuesIn(pcArgs));
TEST_P(ReadWritePC, Basic) {
ReadWritePCArgs args = GetParam();
geometry::PointCloud pc;
RandPC(pc);
const std::string tmp_path = utility::filesystem::GetTempDirectoryPath();
// we loose some precision when saving generated data
// test writing if we have point, normal, and colors in pc
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc2;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc2,
{"auto", false, false, true}));
const double points_max_error =
1e-3; //.ply ascii has the highest error, others <1e-4
EXPECT_LT(MaxDistance(pc.points_, pc2.points_), points_max_error);
if (int(args.compare) & int(Compare::NORMALS)) {
SCOPED_TRACE("Normals");
const double normals_max_error =
1e-6; //.ply ascii has the highest error, others <1e-7
EXPECT_LT(MaxDistance(pc.normals_, pc2.normals_), normals_max_error);
}
if (int(args.compare) & int(Compare::COLORS)) {
SCOPED_TRACE("Colors");
const double colors_max_error =
1e-2; // colors are saved as uint8_t[3] in a lot of formats
EXPECT_LT(MaxDistance(pc.colors_, pc2.colors_), colors_max_error);
}
// test writing if we only have normals or colors that we are comparing
if (!(int(args.compare) & int(Compare::NORMALS))) {
pc2.normals_.clear();
}
if (!(int(args.compare) & int(Compare::COLORS))) {
pc2.colors_.clear();
}
// Loaded data when saved should be identical when reloaded
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc2,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc3;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc3,
{"auto", false, false, true}));
EXPECT_EQ(MaxDistance(pc3.points_, pc2.points_), 0);
if (int(args.compare) & int(Compare::NORMALS)) {
SCOPED_TRACE("Normals");
EXPECT_EQ(MaxDistance(pc3.normals_, pc2.normals_), 0);
}
if (int(args.compare) & int(Compare::COLORS)) {
SCOPED_TRACE("Colors");
EXPECT_EQ(MaxDistance(pc3.colors_, pc2.colors_), 0);
}
}
// Most formats store color as uint8_t (0-255), while we store it as double
// [0.,1.] c_double=c_uint8/255.; however to go back, if we use
// c_uint8=c_double*255. then floating point error can produce a slightly lower
// number which will end up being 1 lower then what it should be. These tests
// check that all formats properly round (instead of floor) color if they
// convert to c_uint8.
// save, load, save, load
TEST_P(ReadWritePC, ColorReload) {
ReadWritePCArgs args = GetParam();
// skip formats that do not support color
if (!(int(args.compare) & int(Compare::COLORS))) {
return;
}
geometry::PointCloud pc_start;
Eigen::Vector3d one(1, 1, 1);
// we are working with 0-255, we should always be within 0.5/255.
for (int i = 0; i < 256; ++i) {
pc_start.points_.push_back(one * 0.);
pc_start.colors_.push_back(one * ((i) / 255.0));
}
const std::string tmp_path = utility::filesystem::GetTempDirectoryPath();
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc_start,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc_load;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc_load,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc_load.colors_) * 255., .5);
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc_load,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc.colors_) * 255, .5);
}
// writing as another format (.xyzrgb) then loading and writing as specified
// format
TEST_P(ReadWritePC, ColorConvertLoad) {
ReadWritePCArgs args = GetParam();
// skip formats that do not support color
if (!(int(args.compare) & int(Compare::COLORS))) {
return;
}
geometry::PointCloud pc_start;
Eigen::Vector3d one(1, 1, 1);
// we are working with 0-255, we should always be within 0.5/255.
for (int i = 0; i < 256; ++i) {
pc_start.points_.push_back(one * 0.);
pc_start.colors_.push_back(one * ((i) / 255.0));
}
const std::string tmp_path = utility::filesystem::GetTempDirectoryPath();
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc_start,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc_load;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc_load,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc_load.colors_) * 255., .5);
EXPECT_TRUE(WritePointCloud(tmp_path + "/test0.xyzrgb", pc_load,
{true, false, true}));
geometry::PointCloud pc2;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/test0.xyzrgb", pc2,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc2.colors_) * 255., .5);
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc2,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc3;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc3,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc3.colors_) * 255., .5);
}
// avg on grayscale, then writing and loading
TEST_P(ReadWritePC, ColorGrayAvg) {
ReadWritePCArgs args = GetParam();
// skip formats that do not support color
if (!(int(args.compare) & int(Compare::COLORS))) {
return;
}
geometry::PointCloud pc_start;
Eigen::Vector3d one(1, 1, 1);
// we are working with 0-255, we should always be within 0.5/255.
for (int i = 0; i < 256; ++i) {
pc_start.points_.push_back(one * 0.);
pc_start.colors_.push_back(one * ((i) / 255.0));
}
const std::string tmp_path = utility::filesystem::GetTempDirectoryPath();
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc_start,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc_load;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc_load,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc_load.colors_) * 255., .5);
geometry::PointCloud pc_avg_col = pc_load;
for (auto &c : pc_avg_col.colors_) {
double avg = (c[0] + c[1] + c[2]) / 3.;
c[0] = c[1] = c[2] = avg;
}
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc_avg_col,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc.colors_) * 255, .5);
}
// grayscale luma on grayscale, then writing and loading
TEST_P(ReadWritePC, ColorGrayscaleLuma) {
ReadWritePCArgs args = GetParam();
// skip formats that do not support color
if (!(int(args.compare) & int(Compare::COLORS))) {
return;
}
geometry::PointCloud pc_start;
Eigen::Vector3d one(1, 1, 1);
// we are working with 0-255, we should always be within 0.5/255.
for (int i = 0; i < 256; ++i) {
pc_start.points_.push_back(one * 0.);
pc_start.colors_.push_back(one * ((i) / 255.0));
}
const std::string tmp_path = utility::filesystem::GetTempDirectoryPath();
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc_start,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc_load;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc_load,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc_load.colors_) * 255., .5);
geometry::PointCloud pc_avg_col = pc_load;
for (auto &c : pc_avg_col.colors_) {
double gray = .2126 * c[0] + .7152 * c[1] + .0722 * c[2];
c[0] = c[1] = c[2] = gray;
}
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc_avg_col,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc.colors_) * 255, .5);
}
// crop instead of wraparound, color -.5 ends up <=0, color 1.5 ends up >=1
TEST_P(ReadWritePC, ColorCrop) {
ReadWritePCArgs args = GetParam();
// skip formats that do not support color
if (!(int(args.compare) & int(Compare::COLORS))) {
return;
}
geometry::PointCloud pc_start;
Eigen::Vector3d one(1, 1, 1);
pc_start.points_.push_back(one * 0.);
pc_start.colors_.push_back(one * (-.5));
pc_start.points_.push_back(one * 0.);
pc_start.colors_.push_back(one * (1.5));
const std::string tmp_path = utility::filesystem::GetTempDirectoryPath();
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc_start,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc_load;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc_load,
{"auto", false, false, true}));
EXPECT_LT(pc_load.colors_[0](0), .001);
EXPECT_GT(pc_load.colors_[1](0), .999);
}
// +-0.2/255. should round and be within 0.5 (note it maybe off by
// sqrt(3*.2^2)=.346)
TEST_P(ReadWritePC, ColorRounding) {
ReadWritePCArgs args = GetParam();
// skip formats that do not support color
if (!(int(args.compare) & int(Compare::COLORS))) {
return;
}
{
geometry::PointCloud pc_start;
Eigen::Vector3d one(1, 1, 1);
// we are working with 0-255, we should always be within 0.5/255.
for (int i = 0; i < 256; ++i) {
pc_start.points_.push_back(one * 0.);
pc_start.colors_.push_back(one * ((i - 0.2) / 255.0));
}
const std::string tmp_path =
utility::filesystem::GetTempDirectoryPath();
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc_start,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc_load;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc_load,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc_load.colors_) * 255., .5);
}
{
geometry::PointCloud pc_start;
Eigen::Vector3d one(1, 1, 1);
// we are working with 0-255, we should always be within 0.5/255.
for (int i = 0; i < 256; ++i) {
pc_start.points_.push_back(one * 0.);
pc_start.colors_.push_back(one * ((i + 0.2) / 255.0));
}
const std::string tmp_path =
utility::filesystem::GetTempDirectoryPath();
EXPECT_TRUE(WritePointCloud(
tmp_path + "/" + args.filename, pc_start,
{bool(args.write_ascii), bool(args.compressed), true}));
geometry::PointCloud pc_load;
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc_load,
{"auto", false, false, true}));
EXPECT_LT(MaxDistance(pc_start.colors_, pc_load.colors_) * 255., .5);
}
}
TEST_P(ReadWritePC, UpdateProgressCallback) {
ReadWritePCArgs args = GetParam();
geometry::PointCloud pc;
RandPC(pc, 32 * 1024);
double last_percent;
int num_calls;
auto Clear = [&]() { last_percent = num_calls = 0; };
auto Update = [&](double percent) {
last_percent = percent;
++num_calls;
return true;
};
{
WritePointCloudOption p(bool(args.write_ascii), bool(args.compressed));
p.update_progress = Update;
Clear();
const std::string tmp_path =
utility::filesystem::GetTempDirectoryPath();
EXPECT_TRUE(WritePointCloud(tmp_path + "/" + args.filename, pc, p));
EXPECT_EQ(last_percent, 100.);
EXPECT_GT(num_calls, 10);
}
{
ReadPointCloudOption p(Update);
Clear();
const std::string tmp_path =
utility::filesystem::GetTempDirectoryPath();
EXPECT_TRUE(ReadPointCloud(tmp_path + "/" + args.filename, pc, p));
EXPECT_EQ(last_percent, 100.);
EXPECT_GT(num_calls, 10);
}
}
// Test In Memory XYZ
TEST(ReadWritePC, InMemoryXYZ) {
geometry::PointCloud pc_start;
Eigen::Vector3d r1(1, 2, 3);
Eigen::Vector3d r2(4, 5, 6);
Eigen::Vector3d r3(7, 8, 9);
pc_start.points_.push_back(r1);
pc_start.points_.push_back(r2);
pc_start.points_.push_back(r3);
unsigned char *buf = nullptr;
size_t len = 0;
EXPECT_TRUE(WritePointCloud(buf, len, pc_start,
{"mem::xyz", false, false, true}));
geometry::PointCloud pc_load;
EXPECT_TRUE(ReadPointCloud(buf, len, pc_load,
{"mem::xyz", false, false, true}));
EXPECT_EQ(pc_load.points_.size(), 3);
// Cleanup
delete[] buf;
}
TEST(PointCloudIO, DISABLED_CreatePointCloudFromFile) { NotImplemented(); }
TEST(PointCloudIO, DISABLED_CreatePointCloudFromMemory) { NotImplemented(); }
} // namespace tests
} // namespace open3d
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