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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include <gmock/gmock.h>
#include "core/CoreTest.h"
#include "open3d/core/Tensor.h"
#include "open3d/data/Dataset.h"
#include "open3d/geometry/BoundingVolume.h"
#include "open3d/t/geometry/BoundingVolume.h"
#include "open3d/t/geometry/PointCloud.h"
#include "open3d/utility/FileSystem.h"
#include "tests/Tests.h"
namespace open3d {
namespace tests {
class OrientedBoundingBoxPermuteDevices : public PermuteDevicesWithSYCL {};
INSTANTIATE_TEST_SUITE_P(
OrientedBoundingBox,
OrientedBoundingBoxPermuteDevices,
testing::ValuesIn(PermuteDevicesWithSYCL::TestCases()));
class OrientedBoundingBoxPermuteDevicePairs
: public PermuteDevicePairsWithSYCL {};
INSTANTIATE_TEST_SUITE_P(
OrientedBoundingBox,
OrientedBoundingBoxPermuteDevicePairs,
testing::ValuesIn(OrientedBoundingBoxPermuteDevicePairs::TestCases()));
TEST_P(OrientedBoundingBoxPermuteDevices, ConstructorNoArg) {
t::geometry::OrientedBoundingBox obb;
// Inherited from Geometry3D.
EXPECT_EQ(obb.GetGeometryType(),
t::geometry::Geometry::GeometryType::OrientedBoundingBox);
EXPECT_EQ(obb.Dimension(), 3);
// Public members.
EXPECT_TRUE(obb.IsEmpty());
EXPECT_TRUE(obb.GetMinBound().AllClose(
core::Tensor::Init<float>({0, 0, 0}, core::Device("CPU:0"))));
EXPECT_TRUE(obb.GetMaxBound().AllClose(
core::Tensor::Init<float>({0, 0, 0}, core::Device("CPU:0"))));
EXPECT_TRUE(obb.GetColor().AllClose(
core::Tensor::Init<float>({1, 1, 1}, core::Device("CPU:0"))));
EXPECT_EQ(obb.GetDevice(), core::Device("CPU:0"));
// Print Information.
EXPECT_EQ(obb.ToString(), "OrientedBoundingBox[Float32, CPU:0]");
}
TEST_P(OrientedBoundingBoxPermuteDevices, Constructor) {
core::Device device = GetParam();
core::Tensor center = core::Tensor::Init<float>({-1, -1, -1}, device);
core::Tensor extent_err = core::Tensor::Init<float>({-1, 1, 1}, device);
core::Tensor extent = core::Tensor::Init<float>({2, 2, 2}, device);
core::Tensor rotation_err = core::Tensor::Init<float>(
{{1, 1, 0}, {0, 1, 0}, {0, 0, 1}}, device);
core::Tensor rotation = core::Tensor::Eye(3, core::Float32, device);
// Attempt to construct with invalid extent and rotation.
EXPECT_THROW(t::geometry::OrientedBoundingBox(center, rotation_err, extent),
std::runtime_error);
EXPECT_THROW(t::geometry::OrientedBoundingBox(center, rotation, extent_err),
std::runtime_error);
t::geometry::OrientedBoundingBox obb(center, rotation, extent);
// Public members.
EXPECT_FALSE(obb.IsEmpty());
EXPECT_TRUE(obb.GetMinBound().AllClose(
core::Tensor::Init<float>({-2, -2, -2}, device)));
EXPECT_TRUE(obb.GetMaxBound().AllClose(
core::Tensor::Init<float>({0, 0, 0}, device)));
EXPECT_TRUE(obb.GetColor().AllClose(
core::Tensor::Init<float>({1, 1, 1}, device)));
EXPECT_EQ(obb.GetDevice(), device);
}
TEST_P(OrientedBoundingBoxPermuteDevicePairs, CopyDevice) {
core::Device dst_device;
core::Device src_device;
std::tie(dst_device, src_device) = GetParam();
const core::Dtype dtype = core::Float32;
core::Tensor center = core::Tensor::Ones({3}, dtype, src_device);
core::Tensor extent = core::Tensor::Ones({3}, dtype, src_device) * 2;
core::Tensor rotation = core::Tensor::Eye(3, dtype, src_device);
core::Tensor color = core::Tensor::Ones({3}, dtype, src_device);
t::geometry::OrientedBoundingBox obb(center, rotation, extent);
obb.SetColor(color);
// Copy is created on the dst_device.
t::geometry::OrientedBoundingBox obb_copy =
obb.To(dst_device, /*copy=*/true);
EXPECT_EQ(obb_copy.GetDevice(), dst_device);
EXPECT_EQ(obb_copy.GetExtent().GetDtype(), obb.GetExtent().GetDtype());
}
TEST_P(OrientedBoundingBoxPermuteDevices, Setters) {
core::Device device = GetParam();
t::geometry::OrientedBoundingBox obb(device);
core::Tensor center = core::Tensor::Init<float>({-1, -1, -1}, device);
core::Tensor extent = core::Tensor::Init<float>({1.0, 1.0, 1.0}, device);
core::Tensor rotation = core::Tensor::Init<float>(
{{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}, device);
core::Tensor color = core::Tensor::Init<float>({0.0, 0.0, 0.0}, device);
// SetCenter.
obb.SetCenter(center);
EXPECT_TRUE(obb.GetCenter().AllClose(center));
// SetExtent.
obb.SetExtent(extent);
EXPECT_TRUE(obb.GetExtent().AllClose(extent));
// SetRotation.
obb.SetRotation(rotation);
EXPECT_TRUE(obb.GetRotation().AllClose(rotation));
// SetColor.
obb.SetColor(color);
EXPECT_TRUE(obb.GetColor().AllClose(color));
}
TEST_P(OrientedBoundingBoxPermuteDevices, Translate) {
core::Device device = GetParam();
core::Tensor center = core::Tensor::Init<float>({-1, -1, -1}, device);
core::Tensor extent = core::Tensor::Init<float>({1.0, 1.0, 1.0}, device);
core::Tensor rotation = core::Tensor::Init<float>(
{{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}, device);
t::geometry::OrientedBoundingBox obb(center, rotation, extent);
obb.Translate(core::Tensor::Init<float>({1, 1, 1}, device), true);
EXPECT_TRUE(obb.GetCenter().AllClose(
core::Tensor::Init<float>({0, 0, 0}, device)));
obb.Translate(core::Tensor::Init<float>({1, 1, 1}, device), false);
EXPECT_TRUE(obb.GetCenter().AllClose(
core::Tensor::Init<float>({1, 1, 1}, device)));
}
TEST_P(OrientedBoundingBoxPermuteDevices, Rotate) {
core::Device device = GetParam();
core::Tensor center = core::Tensor::Init<float>({-1, -1, -1}, device);
core::Tensor extent = core::Tensor::Init<float>({1.0, 1.0, 1.0}, device);
core::Tensor rotation = core::Tensor::Eye(3, core::Float32, device);
t::geometry::OrientedBoundingBox obb(center, rotation, extent);
auto obb_copy = obb.Clone();
core::Tensor rotation_apply = core::Tensor::Init<float>(
{{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}, device);
obb.Rotate(rotation_apply);
obb_copy.Rotate(rotation_apply,
core::Tensor::Zeros({3}, core::Float32, device));
EXPECT_TRUE(obb.GetCenter().AllClose(
core::Tensor::Init<float>({-1, -1, -1}, device)));
EXPECT_TRUE(obb.GetRotation().AllClose(core::Tensor::Init<float>(
{{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}, device)));
EXPECT_TRUE(obb_copy.GetCenter().AllClose(
core::Tensor::Init<float>({-1, 1, 1}, device)));
EXPECT_TRUE(obb_copy.GetRotation().AllClose(core::Tensor::Init<float>(
{{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}, device)));
}
TEST_P(OrientedBoundingBoxPermuteDevices, Transform) {
core::Device device = GetParam();
core::Tensor center = core::Tensor::Init<float>({-1, -1, -1}, device);
core::Tensor extent = core::Tensor::Init<float>({1.0, 1.0, 1.0}, device);
core::Tensor rotation = core::Tensor::Eye(3, core::Float32, device);
t::geometry::OrientedBoundingBox obb(center, rotation, extent);
core::Tensor transformation = core::Tensor::Init<float>(
{{1, 0, 0, 1}, {0, -1, 0, 2}, {0, 0, -1, 3}, {0, 0, 0, 1}}, device);
obb.Transform(transformation);
EXPECT_TRUE(obb.GetCenter().AllClose(
core::Tensor::Init<float>({0, 1, 2}, device)));
EXPECT_TRUE(obb.GetRotation().AllClose(core::Tensor::Init<float>(
{{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}, device)));
}
TEST_P(OrientedBoundingBoxPermuteDevices, Scale) {
core::Device device = GetParam();
core::Tensor center = core::Tensor::Init<float>({-1, -1, -1}, device);
core::Tensor extent = core::Tensor::Init<float>({1.0, 1.0, 1.0}, device);
core::Tensor rotation = core::Tensor::Eye(3, core::Float32, device);
t::geometry::OrientedBoundingBox obb(center, rotation, extent);
auto obb_copy = obb.Clone();
obb.Scale(2.0);
obb_copy.Scale(2.0, core::Tensor::Zeros({3}, core::Float32, device));
EXPECT_TRUE(obb.GetExtent().AllClose(
core::Tensor::Init<float>({2, 2, 2}, device)));
EXPECT_TRUE(obb.GetCenter().AllClose(
core::Tensor::Init<float>({-1, -1, -1}, device)));
EXPECT_TRUE(obb_copy.GetCenter().AllClose(
core::Tensor::Init<float>({-2, -2, -2}, device)));
}
TEST_P(OrientedBoundingBoxPermuteDevices, GetBoxPoints) {
core::Device device = GetParam();
core::Tensor center = core::Tensor::Init<float>({-1., -1., -1.}, device);
core::Tensor extent = core::Tensor::Init<float>({0.0, 0.0, 1.0}, device);
core::Tensor rotation = core::Tensor::Eye(3, core::Float32, device);
t::geometry::OrientedBoundingBox obb(center, rotation, extent);
auto box_points = obb.GetBoxPoints();
EXPECT_TRUE(
box_points.AllClose(core::Tensor::Init<float>({{-1.0, -1.0, -1.5},
{-1.0, -1.0, -1.5},
{-1.0, -1.0, -1.5},
{-1.0, -1.0, -0.5},
{-1.0, -1.0, -0.5},
{-1.0, -1.0, -0.5},
{-1.0, -1.0, -0.5},
{-1.0, -1.0, -1.5}},
device)));
}
TEST_P(OrientedBoundingBoxPermuteDevices, GetPointIndicesWithinBoundingBox) {
core::Device device = GetParam();
if (device.IsSYCL()) GTEST_SKIP() << "Not Implemented!";
core::Tensor center = core::Tensor::Init<float>({0.5, 0.5, 0.5}, device);
core::Tensor rotation = core::Tensor::Eye(3, core::Float32, device);
core::Tensor extent = core::Tensor::Init<float>({1, 1, 1}, device);
t::geometry::OrientedBoundingBox obb(center, rotation, extent);
core::Tensor points = core::Tensor::Init<float>({{0.1, 0.3, 0.9},
{-0.2, 0.2, 0.5},
{0.9, 0.2, 0.4},
{0.3, 0.6, 0.8},
{0.2, 0.4, 0.2},
{1.2, 0.3, 0.5}},
device);
core::Tensor indices = obb.GetPointIndicesWithinBoundingBox(points);
EXPECT_TRUE(indices.AllClose(
core::Tensor::Init<int64_t>({0, 2, 3, 4}, device)));
}
TEST_P(OrientedBoundingBoxPermuteDevices, LegacyConversion) {
core::Device device = GetParam();
core::Tensor center = core::Tensor::Init<float>({-1, -1, -1}, device);
core::Tensor extent = core::Tensor::Init<float>({1.0, 1.0, 1.0}, device);
core::Tensor rotation =
core::Tensor::Init<float>({{0.770062, -0.231286, -0.594569},
{-0.584733, 0.116831, -0.802769},
{0.255133, 0.965845, -0.0452729}},
device);
t::geometry::OrientedBoundingBox obb(center, rotation, extent);
auto legacy_obb = obb.ToLegacy();
ExpectEQ(legacy_obb.center_, Eigen::Vector3d(-1, -1, -1));
ExpectEQ(legacy_obb.extent_, Eigen::Vector3d(1, 1, 1));
ExpectEQ(legacy_obb.color_, Eigen::Vector3d(1, 1, 1));
// In Legacy, the data-type is eigen-double, so the created aabb is of
// type Float64.
auto obb_new = t::geometry::OrientedBoundingBox::FromLegacy(
legacy_obb, core::Float64, device);
EXPECT_TRUE(obb_new.GetCenter().AllClose(
core::Tensor::Init<double>({-1, -1, -1}, device)));
EXPECT_TRUE(obb_new.GetExtent().AllClose(
core::Tensor::Init<double>({1, 1, 1}, device)));
EXPECT_TRUE(obb_new.GetRotation().AllClose(
core::Tensor::Init<double>({{0.770062, -0.231286, -0.594569},
{-0.584733, 0.116831, -0.802769},
{0.255133, 0.965845, -0.0452729}},
device),
1e-5, 1e-5));
}
TEST_P(OrientedBoundingBoxPermuteDevices, CreateFromPoints) {
core::Device device = GetParam();
core::Tensor points = core::Tensor::Init<float>({{0.1, 0.3, 0.9},
{0.9, 0.2, 0.4},
{0.3, 0.6, 0.8},
{0.2, 0.4, 0.2}},
device);
t::geometry::OrientedBoundingBox obb =
t::geometry::OrientedBoundingBox::CreateFromPoints(points);
EXPECT_TRUE(obb.GetCenter().AllClose(
core::Tensor::Init<float>({0.376834, 0.383993, 0.438357}, device)));
EXPECT_TRUE(obb.GetExtent().AllClose(
core::Tensor::Init<float>({0.936462, 0.593233, 0.345308}, device)));
EXPECT_TRUE(obb.GetRotation().AllClose(
core::Tensor::Init<float>({{0.77006164, -0.5847325, 0.25513324},
{-0.23128562, 0.11683135, 0.96584543},
{-0.59456878, -0.80276917, -0.04527287}},
device)));
}
} // namespace tests
} // namespace open3d
|
