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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/t/pipelines/slac/ControlGrid.h"
#include "core/CoreTest.h"
#include "open3d/core/Tensor.h"
#include "open3d/data/Dataset.h"
#include "open3d/t/io/PointCloudIO.h"
#include "open3d/t/pipelines/slac/Visualization.h"
#include "tests/Tests.h"
namespace open3d {
namespace tests {
static t::geometry::PointCloud CreateTPCDFromFile(
const std::string& fname,
const core::Device& device = core::Device("CPU:0")) {
auto pcd = io::CreatePointCloudFromFile(fname);
return t::geometry::PointCloud::FromLegacy(*pcd, core::Float32, device);
}
class ControlGridPermuteDevices : public PermuteDevices {};
INSTANTIATE_TEST_SUITE_P(ControlGrid,
ControlGridPermuteDevices,
testing::ValuesIn(PermuteDevices::TestCases()));
// TODO(wei): more well-designed test cases
TEST_P(ControlGridPermuteDevices, Touch) {
core::Device device = GetParam();
t::pipelines::slac::ControlGrid cgrid(0.5, 1000, device);
data::PCDPointCloud sample_pcd;
t::geometry::PointCloud pcd =
CreateTPCDFromFile(sample_pcd.GetPath(), device);
cgrid.Touch(pcd);
t::geometry::PointCloud pcd_param = cgrid.Parameterize(pcd);
}
TEST_P(ControlGridPermuteDevices, Deform) {
core::Device device = GetParam();
t::pipelines::slac::ControlGrid cgrid(0.5, 1000, device);
data::PCDPointCloud sample_pcd;
t::geometry::PointCloud pcd =
CreateTPCDFromFile(sample_pcd.GetPath(), device);
cgrid.Touch(pcd);
cgrid.Compactify();
t::geometry::PointCloud pcd_param = cgrid.Parameterize(pcd);
core::Tensor prev = cgrid.GetInitPositions();
core::Tensor curr = cgrid.GetCurrPositions();
curr[0][0] += 0.5;
curr[1][2] -= 0.5;
curr[2][1] += 0.5;
}
TEST_P(ControlGridPermuteDevices, Regularizer) {
core::Device device = GetParam();
t::pipelines::slac::ControlGrid cgrid(0.5, 1000, device);
data::PCDPointCloud sample_pcd;
t::geometry::PointCloud pcd =
CreateTPCDFromFile(sample_pcd.GetPath(), device);
cgrid.Touch(pcd);
cgrid.Compactify();
core::Tensor prev = cgrid.GetInitPositions();
core::Tensor curr = cgrid.GetCurrPositions();
curr[0][0] += 0.2;
curr[1][2] -= 0.2;
curr[2][1] += 0.2;
}
} // namespace tests
} // namespace open3d
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