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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import numpy as np
import open3d as o3d
import pytest
def test_set_mesh_data_deserialization():
"""Tests the deserialization of messages created with the set_mesh_data
function.
"""
def set_mesh_data_to_geometry(*args, **kwargs):
bc = o3d.io.rpc.BufferConnection()
o3d.io.rpc.set_mesh_data(*args, **kwargs, connection=bc)
return o3d.io.rpc.data_buffer_to_meta_geometry(bc.get_buffer())
rng = np.random
# Geometry data
verts = rng.rand(100, 3).astype(np.float32)
tris = rng.randint(0, 100, size=[71, 3]).astype(np.int32)
lines = rng.randint(0, 100, size=[82, 2]).astype(np.int32)
dtypes = [np.uint8, np.int16, np.int32, np.float32, np.float64]
vert_attrs = {
'a':
rng.uniform(0, 256, size=verts.shape).astype(rng.choice(dtypes)),
'b':
rng.uniform(0, 256,
size=verts.shape[:1] + (7,)).astype(rng.choice(dtypes)),
'c':
rng.uniform(0, 256,
size=verts.shape + (2,)).astype(rng.choice(dtypes)),
}
tri_attrs = {
'a':
rng.uniform(0, 256,
size=tris.shape[:1] + (1,)).astype(rng.choice(dtypes)),
'b':
rng.uniform(0, 256,
size=tris.shape[:1] + (3,)).astype(rng.choice(dtypes)),
'c':
rng.uniform(0, 256,
size=tris.shape[:1] + (5,)).astype(rng.choice(dtypes)),
}
line_attrs = {
'a':
rng.uniform(0, 256,
size=lines.shape[:1] + (1,)).astype(rng.choice(dtypes)),
'b':
rng.uniform(0, 256, size=lines.shape[:1] + (1, 2, 3)).astype(
rng.choice(dtypes)),
'c':
rng.uniform(0, 256,
size=lines.shape[:1] + (2,)).astype(rng.choice(dtypes)),
}
# Material data
material_name = "defaultUnlit"
material_scalar_attributes = {'a': rng.uniform(0, 1)}
material_vector_attributes = {'a': rng.uniform(0, 1, (4,))}
texture_maps = {
'a': rng.uniform(0, 256, size=(2, 2)).astype(rng.choice(dtypes)),
'b': rng.uniform(0, 256, size=(2, 2, 1)).astype(rng.choice(dtypes)),
'c': rng.uniform(0, 256, size=(2, 2, 3)).astype(rng.choice(dtypes)),
}
o3d_texture_maps = {
key: o3d.t.geometry.Image(o3d.core.Tensor(value))
for key, value in texture_maps.items()
}
# PointCloud
path, time, geom = set_mesh_data_to_geometry(vertices=verts,
vertex_attributes=vert_attrs,
path="pcd",
time=123)
assert path == "pcd"
assert time == 123
assert isinstance(geom, o3d.t.geometry.PointCloud)
np.testing.assert_equal(geom.point.positions.numpy(), verts)
for key, value in vert_attrs.items():
np.testing.assert_equal(geom.point[key].numpy(), value)
# TriangleMesh
path, time, geom = set_mesh_data_to_geometry(
vertices=verts,
faces=tris,
vertex_attributes=vert_attrs,
face_attributes=tri_attrs,
material=material_name,
material_scalar_attributes=material_scalar_attributes,
material_vector_attributes=material_vector_attributes,
texture_maps=o3d_texture_maps,
path="trimesh",
time=123)
assert path == "trimesh"
assert time == 123
assert isinstance(geom, o3d.t.geometry.TriangleMesh)
np.testing.assert_equal(geom.vertex.positions.numpy(), verts)
np.testing.assert_equal(geom.triangle.indices.numpy(), tris)
for key, value in vert_attrs.items():
np.testing.assert_equal(geom.vertex[key].numpy(), value)
for key, value in tri_attrs.items():
np.testing.assert_equal(geom.triangle[key].numpy(), value)
# Material test
assert geom.material.material_name == material_name
assert len(
geom.material.scalar_properties) == len(material_scalar_attributes)
for key, value in geom.material.scalar_properties.items():
np.testing.assert_allclose(material_scalar_attributes[key], value)
assert len(
geom.material.vector_properties) == len(material_vector_attributes)
for key, value in geom.material.vector_properties.items():
np.testing.assert_allclose(material_vector_attributes[key], value)
assert len(geom.material.texture_maps) == len(texture_maps)
for key, value in geom.material.texture_maps.items():
np.testing.assert_equal(np.squeeze(texture_maps[key]),
np.squeeze(value.as_tensor().numpy()))
# Catch Material errors
with pytest.raises(
RuntimeError,
match="SetMeshData: Please provide a material for the texture maps"
):
path, time, geom = set_mesh_data_to_geometry(
vertices=verts,
faces=tris,
material="",
material_scalar_attributes=material_scalar_attributes,
material_vector_attributes=material_vector_attributes,
texture_maps=o3d_texture_maps,
path="trimesh",
time=123)
# LineSet
path, time, geom = set_mesh_data_to_geometry(vertices=verts,
lines=lines,
vertex_attributes=vert_attrs,
line_attributes=line_attrs,
path="lines",
time=123)
assert path == "lines"
assert time == 123
assert isinstance(geom, o3d.t.geometry.LineSet)
np.testing.assert_equal(geom.point.positions.numpy(), verts)
np.testing.assert_equal(geom.line.indices.numpy(), lines)
for key, value in vert_attrs.items():
np.testing.assert_equal(geom.point[key].numpy(), value)
for key, value in line_attrs.items():
np.testing.assert_equal(geom.line[key].numpy(), value)
#
# Test partial data
#
path, time, geom = set_mesh_data_to_geometry(vertex_attributes=vert_attrs,
path="pcd",
time=123,
o3d_type="PointCloud")
assert path == "pcd"
assert time == 123
assert isinstance(geom, o3d.t.geometry.PointCloud)
for key, value in vert_attrs.items():
np.testing.assert_equal(geom.point[key].numpy(), value)
path, time, geom = set_mesh_data_to_geometry(vertex_attributes=vert_attrs,
face_attributes=tri_attrs,
path="trimesh",
time=123,
o3d_type="TriangleMesh")
assert path == "trimesh"
assert time == 123
assert isinstance(geom, o3d.t.geometry.TriangleMesh)
for key, value in vert_attrs.items():
np.testing.assert_equal(geom.vertex[key].numpy(), value)
for key, value in tri_attrs.items():
np.testing.assert_equal(geom.triangle[key].numpy(), value)
path, time, geom = set_mesh_data_to_geometry(vertex_attributes=vert_attrs,
line_attributes=line_attrs,
path="lines",
time=123,
o3d_type="LineSet")
assert path == "lines"
assert time == 123
assert isinstance(geom, o3d.t.geometry.LineSet)
for key, value in vert_attrs.items():
np.testing.assert_equal(geom.point[key].numpy(), value)
for key, value in line_attrs.items():
np.testing.assert_equal(geom.line[key].numpy(), value)
# Without o3d_type and no primary key data the returned object is None
path, time, geom = set_mesh_data_to_geometry(vertex_attributes=vert_attrs,
path="unknown",
time=123,
o3d_type="")
assert path == "unknown"
assert time == 123
assert geom is None
def test_recv_msgpack():
"""Test receiving messages constructed with msgpack.
"""
msgpack = pytest.importorskip('msgpack')
def numpy_to_Array(arr):
if isinstance(arr, np.ndarray):
return {
'type': arr.dtype.str,
'shape': arr.shape,
'data': arr.tobytes()
}
raise ValueError('Object is not a Numpy array.')
verts = np.array([[1, 2, 3]], dtype=np.float32)
roughness = 0.3
base_color = [0.2, 0.1, 0.9, 0.77]
data = msgpack.packb({'msg_id': 'set_mesh_data'})
data += msgpack.packb({
'path': 'test',
'data': {
'vertices': numpy_to_Array(verts),
'material': 'lit',
'material_scalar_attributes': {
'roughness': roughness
},
'material_vector_attributes': {
'base_color': base_color
}
}
})
out_o3d = o3d.io.rpc.data_buffer_to_meta_geometry(data)
assert out_o3d[:2] == ("test", 0.)
assert np.allclose(out_o3d[2].point.positions.numpy(), verts)
assert np.isclose(out_o3d[2].material.scalar_properties['roughness'],
roughness)
assert np.allclose(out_o3d[2].material.vector_properties['base_color'],
base_color)
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