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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/io/VoxelGridIO.h"
#include "open3d/geometry/VoxelGrid.h"
#include "open3d/utility/FileSystem.h"
#include "open3d/visualization/utility/DrawGeometry.h"
#include "tests/Tests.h"
namespace open3d {
namespace tests {
TEST(VoxelGridIO, PLYWriteRead) {
// Create voxel_grid (two voxels)
auto src_voxel_grid = std::make_shared<geometry::VoxelGrid>();
src_voxel_grid->origin_ = Eigen::Vector3d(0, 0, 0);
src_voxel_grid->voxel_size_ = 5;
src_voxel_grid->AddVoxel(geometry::Voxel(Eigen::Vector3i(1, 2, 3),
Eigen::Vector3d(0.1, 0.2, 0.3)));
src_voxel_grid->AddVoxel(geometry::Voxel(Eigen::Vector3i(4, 5, 6),
Eigen::Vector3d(0.4, 0.5, 0.6)));
// Write to file
std::string file_name = utility::filesystem::GetTempDirectoryPath() +
"/temp_voxel_grid.ply";
EXPECT_TRUE(io::WriteVoxelGrid(file_name, *src_voxel_grid));
// Read from file
auto dst_voxel_grid = std::make_shared<geometry::VoxelGrid>();
EXPECT_TRUE(io::ReadVoxelGrid(file_name, *dst_voxel_grid));
// Check values, account for unit8 conversion lost
EXPECT_EQ(src_voxel_grid->origin_, dst_voxel_grid->origin_);
EXPECT_EQ(src_voxel_grid->voxel_size_, dst_voxel_grid->voxel_size_);
EXPECT_EQ(src_voxel_grid->voxels_.size(), dst_voxel_grid->voxels_.size());
for (auto &src_it : src_voxel_grid->voxels_) {
const auto &src_voxel = src_it.second;
const auto &src_i = src_voxel.grid_index_;
const auto &src_c = src_voxel.color_;
ExpectEQ(src_i, dst_voxel_grid->voxels_[src_i].grid_index_);
auto src_rgb = utility::ColorToUint8(src_c);
auto dst_rgb =
utility::ColorToUint8(dst_voxel_grid->voxels_[src_i].color_);
ExpectEQ(src_rgb, dst_rgb);
}
// Uncomment the line below for visualization test
// visualization::DrawGeometries({dst_voxel_grid});
}
} // namespace tests
} // namespace open3d
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