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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "tests/test_utility/Sort.h"
#include <algorithm>
#include "open3d/utility/Logging.h"
#include "tests/Tests.h"
namespace open3d {
namespace tests {
TEST(Sort, Sort) {
std::vector<Eigen::Vector3d> points{
{3, 3, 3},
{1, 1, 1},
{0, 0, 0},
{2, 2, 2},
};
std::vector<Eigen::Vector3d> sorted_points{
{0, 0, 0},
{1, 1, 1},
{2, 2, 2},
{3, 3, 3},
};
ExpectEQ(Sort(points), sorted_points);
}
TEST(Sort, SortWithIndices) {
std::vector<Eigen::Vector3d> points{
{3, 3, 3},
{1, 1, 1},
{0, 0, 0},
{2, 2, 2},
};
std::vector<Eigen::Vector3d> sorted_points{
{0, 0, 0},
{1, 1, 1},
{2, 2, 2},
{3, 3, 3},
};
std::vector<size_t> indices{2, 1, 3, 0};
ExpectEQ(SortWithIndices(points).first, sorted_points);
EXPECT_EQ(SortWithIndices(points).second, indices);
}
TEST(Sort, GetIndicesAToB) {
std::vector<Eigen::Vector3d> a{
{3, 3, 3},
{1, 1, 1},
{0, 0, 0},
{2, 2, 2},
};
std::vector<Eigen::Vector3d> b{
{2, 2, 2},
{0, 0, 0},
{1, 1, 1},
{3, 3, 3},
};
ExpectEQ(ApplyIndices(a, GetIndicesAToB(a, a)), a);
ExpectEQ(ApplyIndices(b, GetIndicesAToB(b, b)), b);
ExpectEQ(ApplyIndices(a, GetIndicesAToB(a, b)), b);
ExpectEQ(ApplyIndices(b, GetIndicesAToB(b, a)), a);
}
TEST(Sort, GetIndicesAToBClose) {
std::vector<Eigen::Vector3d> a{
{3, 3, 3},
{1, 1, 1},
{4, 4, 4},
{2, 2, 2},
};
std::vector<Eigen::Vector3d> b{
{2.00001, 2.00001, 2},
{4, 4.00001, 4},
{1.00001, 1, 1.00001},
{3, 3, 3.00001},
};
double threshold = 0.001;
ExpectEQ(ApplyIndices(a, GetIndicesAToB(a, a, threshold)), a, threshold);
ExpectEQ(ApplyIndices(b, GetIndicesAToB(b, b, threshold)), b, threshold);
ExpectEQ(ApplyIndices(a, GetIndicesAToB(a, b, threshold)), b, threshold);
ExpectEQ(ApplyIndices(b, GetIndicesAToB(b, a, threshold)), a, threshold);
}
} // namespace tests
} // namespace open3d
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