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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/t/pipelines/kernel/TransformationConverter.h"
#include "core/CoreTest.h"
#include "open3d/core/Tensor.h"
#include "tests/Tests.h"
namespace open3d {
namespace tests {
class TransformationConverterPermuteDevices : public PermuteDevices {};
INSTANTIATE_TEST_SUITE_P(TransformationConverter,
TransformationConverterPermuteDevices,
testing::ValuesIn(PermuteDevices::TestCases()));
TEST_P(TransformationConverterPermuteDevices, RtToTransformation) {
core::Device device = GetParam();
for (const core::Dtype& dtype : {core::Float32, core::Float64}) {
core::Tensor rotation = core::Tensor::Eye(3, dtype, device);
core::Tensor translation = core::Tensor::Zeros({3}, dtype, device);
core::Tensor transformation_ =
t::pipelines::kernel::RtToTransformation(rotation, translation);
core::Tensor transformation = core::Tensor::Eye(4, dtype, device);
EXPECT_TRUE(transformation_.AllClose(transformation));
}
}
TEST_P(TransformationConverterPermuteDevices, PoseToTransformation) {
core::Device device = GetParam();
for (const core::Dtype& dtype : {core::Float32, core::Float64}) {
core::Tensor pose = core::Tensor::Zeros({6}, dtype, device);
core::Tensor transformation_ =
t::pipelines::kernel::PoseToTransformation(pose);
core::Tensor transformation = core::Tensor::Eye(4, dtype, device);
EXPECT_TRUE(transformation_.AllClose(transformation));
}
}
} // namespace tests
} // namespace open3d
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