// ---------------------------------------------------------------------------- // - Open3D: www.open3d.org - // ---------------------------------------------------------------------------- // The MIT License (MIT) // // Copyright (c) 2018 www.open3d.org // // Permission is hereby granted, free of charge, to any person obtaining a copy // of this software and associated documentation files (the "Software"), to deal // in the Software without restriction, including without limitation the rights // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell // copies of the Software, and to permit persons to whom the Software is // furnished to do so, subject to the following conditions: // // The above copyright notice and this permission notice shall be included in // all copies or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS // IN THE SOFTWARE. // ---------------------------------------------------------------------------- #include "Open3D/IO/ClassIO/VoxelGridIO.h" #include "Open3D/Geometry/VoxelGrid.h" #include "Open3D/Visualization/Utility/DrawGeometry.h" #include "TestUtility/UnitTest.h" namespace open3d { namespace unit_test { TEST(VoxelGridIO, PLYWriteRead) { // Create voxel_grid (two voxels) auto src_voxel_grid = std::make_shared(); src_voxel_grid->origin_ = Eigen::Vector3d(0, 0, 0); src_voxel_grid->voxel_size_ = 5; src_voxel_grid->AddVoxel(geometry::Voxel(Eigen::Vector3i(1, 2, 3), Eigen::Vector3d(0.1, 0.2, 0.3))); src_voxel_grid->AddVoxel(geometry::Voxel(Eigen::Vector3i(4, 5, 6), Eigen::Vector3d(0.4, 0.5, 0.6))); // Write to file std::string file_name = std::string(TEST_DATA_DIR) + "/temp_voxel_grid.ply"; EXPECT_TRUE(io::WriteVoxelGrid(file_name, *src_voxel_grid)); // Read from file auto dst_voxel_grid = std::make_shared(); EXPECT_TRUE(io::ReadVoxelGrid(file_name, *dst_voxel_grid)); EXPECT_EQ(std::remove(file_name.c_str()), 0); // Check values, account for unit8 conversion lost EXPECT_EQ(src_voxel_grid->origin_, dst_voxel_grid->origin_); EXPECT_EQ(src_voxel_grid->voxel_size_, dst_voxel_grid->voxel_size_); EXPECT_EQ(src_voxel_grid->voxels_.size(), dst_voxel_grid->voxels_.size()); for (auto &src_it : src_voxel_grid->voxels_) { const auto &src_voxel = src_it.second; const auto &src_i = src_voxel.grid_index_; const auto &src_c = src_voxel.color_; ExpectEQ(src_i, dst_voxel_grid->voxels_[src_i].grid_index_); ExpectEQ( Eigen::Vector3d((src_c * 255.0).cast().cast()), Eigen::Vector3d((dst_voxel_grid->voxels_[src_i].color_ * 255.0) .cast() .cast())); } // Uncomment the line below for visualization test // visualization::DrawGeometries({dst_voxel_grid}); } } // namespace unit_test } // namespace open3d