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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/utility/IJsonConvertible.h"
#include <json/json.h>
#include "tests/Tests.h"
namespace open3d {
namespace tests {
// ----------------------------------------------------------------------------
// Test the conversion of Eigen::Vector3d to and from JsonArray.
// ----------------------------------------------------------------------------
TEST(IJsonConvertible, EigenVector3dToFromJsonArray) {
int loops = 10000;
srand((unsigned int)time(0));
for (int i = 0; i < loops; i++) {
Eigen::Vector3d v3d = Eigen::Vector3d::Random();
bool status = false;
Json::Value json_value;
Eigen::Vector3d ref;
status = utility::IJsonConvertible::EigenVector3dToJsonArray(
v3d, json_value);
EXPECT_TRUE(status);
status = utility::IJsonConvertible::EigenVector3dFromJsonArray(
ref, json_value);
EXPECT_TRUE(status);
ExpectEQ(ref, v3d);
}
}
// ----------------------------------------------------------------------------
// Test the conversion of Eigen::Vector4d to and from JsonArray.
// ----------------------------------------------------------------------------
TEST(IJsonConvertible, EigenVector4dToFromJsonArray) {
int loops = 10000;
srand((unsigned int)time(0));
for (int i = 0; i < loops; i++) {
Eigen::Vector4d v4d = Eigen::Vector4d::Random();
bool status = false;
Json::Value json_value;
Eigen::Vector4d ref;
status = utility::IJsonConvertible::EigenVector4dToJsonArray(
v4d, json_value);
EXPECT_TRUE(status);
status = utility::IJsonConvertible::EigenVector4dFromJsonArray(
ref, json_value);
EXPECT_TRUE(status);
ExpectEQ(ref, v4d);
}
}
// ----------------------------------------------------------------------------
// Test the conversion of Eigen::Matrix3d to and from JsonArray.
// ----------------------------------------------------------------------------
TEST(IJsonConvertible, EigenMatrix3dToFromJsonArray) {
int loops = 10000;
srand((unsigned int)time(0));
for (int i = 0; i < loops; i++) {
Eigen::Matrix3d m3d = Eigen::Matrix3d::Random();
bool status = false;
Json::Value json_value;
Eigen::Matrix3d ref;
status = utility::IJsonConvertible::EigenMatrix3dToJsonArray(
m3d, json_value);
EXPECT_TRUE(status);
status = utility::IJsonConvertible::EigenMatrix3dFromJsonArray(
ref, json_value);
EXPECT_TRUE(status);
ExpectEQ(ref, m3d);
}
}
// ----------------------------------------------------------------------------
// Test the conversion of Eigen::Matrix4d to and from JsonArray.
// ----------------------------------------------------------------------------
TEST(IJsonConvertible, EigenMatrix4dToFromJsonArray) {
int loops = 10000;
srand((unsigned int)time(0));
for (int i = 0; i < loops; i++) {
Eigen::Matrix4d m4d = Eigen::Matrix4d::Random();
bool status = false;
Json::Value json_value;
Eigen::Matrix4d ref;
status = utility::IJsonConvertible::EigenMatrix4dToJsonArray(
m4d, json_value);
EXPECT_TRUE(status);
status = utility::IJsonConvertible::EigenMatrix4dFromJsonArray(
ref, json_value);
EXPECT_TRUE(status);
ExpectEQ(ref, m4d);
}
}
// ----------------------------------------------------------------------------
// Test the conversion of unaligned Eigen::Matrix4d to and from
// JsonArray.
// ----------------------------------------------------------------------------
TEST(IJsonConvertible, EigenMatrix4d_uToFromJsonArray) {
int loops = 10000;
srand((unsigned int)time(0));
for (int i = 0; i < loops; i++) {
Eigen::Matrix4d_u m4d_u = Eigen::Matrix4d::Random();
bool status = false;
Json::Value json_value;
Eigen::Matrix4d_u ref;
status = utility::IJsonConvertible::EigenMatrix4dToJsonArray(
m4d_u, json_value);
EXPECT_TRUE(status);
status = utility::IJsonConvertible::EigenMatrix4dFromJsonArray(
ref, json_value);
EXPECT_TRUE(status);
ExpectEQ(ref, m4d_u);
}
}
// ----------------------------------------------------------------------------
// Test the conversion of Eigen::Matrix6d to and from JsonArray.
// ----------------------------------------------------------------------------
TEST(IJsonConvertible, EigenMatrix6dToFromJsonArray) {
int loops = 10000;
srand((unsigned int)time(0));
for (int i = 0; i < loops; i++) {
Eigen::Matrix6d m6d = Eigen::Matrix6d::Random();
bool status = false;
Json::Value json_value;
Eigen::Matrix6d ref;
status = utility::IJsonConvertible::EigenMatrix6dToJsonArray(
m6d, json_value);
EXPECT_TRUE(status);
status = utility::IJsonConvertible::EigenMatrix6dFromJsonArray(
ref, json_value);
EXPECT_TRUE(status);
ExpectEQ(ref, m6d);
}
}
// ----------------------------------------------------------------------------
// Test the conversion of unaligned Eigen::Matrix6d to and from
// JsonArray.
// ----------------------------------------------------------------------------
TEST(IJsonConvertible, EigenMatrix6d_uToFromJsonArray) {
int loops = 10000;
srand((unsigned int)time(0));
for (int i = 0; i < loops; i++) {
Eigen::Matrix6d_u m6d_u = Eigen::Matrix6d::Random();
bool status = false;
Json::Value json_value;
Eigen::Matrix6d_u ref;
status = utility::IJsonConvertible::EigenMatrix6dToJsonArray(
m6d_u, json_value);
EXPECT_TRUE(status);
status = utility::IJsonConvertible::EigenMatrix6dFromJsonArray(
ref, json_value);
EXPECT_TRUE(status);
ExpectEQ(ref, m6d_u);
}
}
} // namespace tests
} // namespace open3d
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