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9and39and3
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WIP: deactivate c++ ply reader and activate py ply reader
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-171
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2 files changed

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-171
lines changed

‎tests/integration_tests/pybinds_tests/test_pybind_units.py‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -41,13 +41,13 @@ def test_DFPointCloud_init():
4141
pc = dfb.dfb_geometry.DFPointCloud(points, normals, colors)
4242
assert pc is not None, "DFPointCloud should be initialized successfully"
4343

44-
# def test_DFPointCloud_load_from_PLY():
45-
# pc = dfb.dfb_geometry.DFPointCloud()
46-
# pc.load_from_PLY(get_ply_cloud_roof_quarter_path())
44+
def test_DFPointCloud_load_from_PLY():
45+
pc = dfb.dfb_geometry.DFPointCloud()
46+
pc.load_from_PLY(get_ply_cloud_roof_quarter_path())
4747

48-
# assert pc.points.__len__() == 7379, "DFPointCloud should have 7379 points"
49-
# assert pc.normals.__len__() == 7379, "DFPointCloud should have 7379 normals"
50-
# assert pc.colors.__len__() == 7379, "DFPointCloud should have 7379 colors"
48+
assert pc.points.__len__() == 7379, "DFPointCloud should have 7379 points"
49+
assert pc.normals.__len__() == 7379, "DFPointCloud should have 7379 normals"
50+
assert pc.colors.__len__() == 7379, "DFPointCloud should have 7379 colors"
5151

5252
# @pytest.fixture
5353
# def create_DFPointCloudSampleRoof():

‎tests/unit_tests/DFPointCloudTest.cc‎

Lines changed: 165 additions & 165 deletions
Original file line numberDiff line numberDiff line change
@@ -11,15 +11,15 @@ class DFPointCloudTestFixture : public ::testing::Test {
1111

1212
DFPointCloudTestFixture() : dfPointCloud(points, colors, normals) {}
1313

14-
void SetUp() override {
15-
dfPointCloud = diffCheck::geometry::DFPointCloud();
16-
std::string pathTest = diffCheck::io::GetRoofQuarterPlyPath();
17-
dfPointCloud.LoadFromPLY(diffCheck::io::GetRoofQuarterPlyPath());
18-
}
19-
20-
void TearDown() override {
21-
// Clean up any resources if needed
22-
}
14+
// void SetUp() override {
15+
// dfPointCloud = diffCheck::geometry::DFPointCloud();
16+
// std::string pathTest = diffCheck::io::GetRoofQuarterPlyPath();
17+
// dfPointCloud.LoadFromPLY(diffCheck::io::GetRoofQuarterPlyPath());
18+
// }
19+
20+
// void TearDown() override {
21+
// // Clean up any resources if needed
22+
// }
2323
};
2424

2525
//-------------------------------------------------------------------------
@@ -33,159 +33,159 @@ TEST_F(DFPointCloudTestFixture, Constructor) {
3333
EXPECT_EQ(dfPointCloud.GetNumNormals(), 0);
3434
}
3535

36-
TEST_F(DFPointCloudTestFixture, ConstructorWithVectors) {
37-
std::vector<Eigen::Vector3d> points;
38-
std::vector<Eigen::Vector3d> colors;
39-
std::vector<Eigen::Vector3d> normals;
40-
diffCheck::geometry::DFPointCloud dfPointCloud(points, colors, normals);
41-
EXPECT_EQ(dfPointCloud.GetNumPoints(), 0);
42-
EXPECT_EQ(dfPointCloud.GetNumColors(), 0);
43-
EXPECT_EQ(dfPointCloud.GetNumNormals(), 0);
44-
}
45-
46-
//-------------------------------------------------------------------------
47-
// i/o
48-
//-------------------------------------------------------------------------
49-
50-
TEST_F(DFPointCloudTestFixture, LoadFromPLY) {
51-
EXPECT_EQ(dfPointCloud.GetNumPoints(), 7379);
52-
EXPECT_EQ(dfPointCloud.GetNumColors(), 7379);
53-
EXPECT_EQ(dfPointCloud.GetNumNormals(), 7379);
54-
55-
}
56-
57-
//-------------------------------------------------------------------------
58-
// properties
59-
//-------------------------------------------------------------------------
60-
61-
TEST_F(DFPointCloudTestFixture, GetNumPoints){
62-
EXPECT_EQ(dfPointCloud.GetNumPoints(), 7379);
63-
}
64-
65-
TEST_F(DFPointCloudTestFixture, GetNumColors) {
66-
EXPECT_EQ(dfPointCloud.GetNumColors(), 7379);
67-
}
68-
69-
TEST_F(DFPointCloudTestFixture, GetNumNormals) {
70-
EXPECT_EQ(dfPointCloud.GetNumNormals(), 7379);
71-
}
72-
73-
TEST_F(DFPointCloudTestFixture, HasPoints) {
74-
EXPECT_TRUE(dfPointCloud.HasPoints());
75-
}
76-
77-
TEST_F(DFPointCloudTestFixture, HasColors) {
78-
EXPECT_TRUE(dfPointCloud.HasColors());
79-
}
80-
81-
TEST_F(DFPointCloudTestFixture, HasNormals) {
82-
EXPECT_TRUE(dfPointCloud.HasNormals());
83-
}
84-
85-
//-------------------------------------------------------------------------
86-
// converters
87-
//-------------------------------------------------------------------------
88-
89-
TEST_F(DFPointCloudTestFixture, ConvertionO3dPointCloud) {
90-
std::shared_ptr<open3d::geometry::PointCloud> o3dPointCloud = dfPointCloud.Cvt2O3DPointCloud();
91-
std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloud2 = std::make_shared<diffCheck::geometry::DFPointCloud>();
92-
dfPointCloud2->Cvt2DFPointCloud(o3dPointCloud);
93-
94-
EXPECT_EQ(dfPointCloud.GetNumPoints(), dfPointCloud2->GetNumPoints());
95-
EXPECT_EQ(dfPointCloud.GetNumColors(), dfPointCloud2->GetNumColors());
96-
EXPECT_EQ(dfPointCloud.GetNumNormals(), dfPointCloud2->GetNumNormals());
97-
}
98-
99-
TEST_F(DFPointCloudTestFixture, ConvertionCilantroPointCloud) {
100-
std::shared_ptr<cilantro::PointCloud3f> cilantroPointCloud = dfPointCloud.Cvt2CilantroPointCloud();
101-
std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloud2 = std::make_shared<diffCheck::geometry::DFPointCloud>();
102-
dfPointCloud2->Cvt2DFPointCloud(cilantroPointCloud);
103-
104-
EXPECT_EQ(dfPointCloud.GetNumPoints(), dfPointCloud2->GetNumPoints());
105-
EXPECT_EQ(dfPointCloud.GetNumColors(), dfPointCloud2->GetNumColors());
106-
EXPECT_EQ(dfPointCloud.GetNumNormals(), dfPointCloud2->GetNumNormals());
107-
}
108-
109-
//-------------------------------------------------------------------------
110-
// utilities
111-
//-------------------------------------------------------------------------
112-
113-
TEST_F(DFPointCloudTestFixture, ComputeP2PDistance) {
114-
std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloud2 = std::make_shared<diffCheck::geometry::DFPointCloud>();
115-
dfPointCloud2->LoadFromPLY(diffCheck::io::GetRoofQuarterPlyPath());
116-
std::vector<double> distances = dfPointCloud.ComputeP2PDistance(dfPointCloud2);
117-
EXPECT_EQ(distances.size(), 7379);
118-
}
119-
120-
TEST_F(DFPointCloudTestFixture, ComputeAABB) {
121-
std::vector<Eigen::Vector3d> bbox = dfPointCloud.ComputeBoundingBox();
122-
EXPECT_EQ(bbox.size(), 2);
123-
}
124-
125-
TEST_F(DFPointCloudTestFixture, ComputeOBB) {
126-
std::vector<Eigen::Vector3d> obb = dfPointCloud.GetTightBoundingBox();
127-
EXPECT_EQ(obb.size(), 8);
128-
}
129-
130-
TEST_F(DFPointCloudTestFixture, EstimateNormals) {
131-
// knn
132-
dfPointCloud.EstimateNormals();
133-
EXPECT_EQ(dfPointCloud.GetNumNormals(), 7379);
134-
// radius
135-
dfPointCloud.EstimateNormals(false, 50, 0.1);
136-
}
137-
138-
TEST_F(DFPointCloudTestFixture, ApplyColor) {
139-
dfPointCloud.ApplyColor(Eigen::Vector3d(1.0, 0.0, 0.0));
140-
for (int i = 0; i < dfPointCloud.GetNumColors(); i++) {
141-
EXPECT_EQ(dfPointCloud.Colors[i], Eigen::Vector3d(1.0, 0.0, 0.0));
142-
}
143-
dfPointCloud.ApplyColor(255, 0, 0);
144-
for (int i = 0; i < dfPointCloud.GetNumColors(); i++) {
145-
EXPECT_EQ(dfPointCloud.Colors[i], Eigen::Vector3d(1.0, 0.0, 0.0));
146-
}
147-
}
148-
149-
//-------------------------------------------------------------------------
150-
// Downsamplers
151-
//-------------------------------------------------------------------------
152-
153-
TEST_F(DFPointCloudTestFixture, Downsample) {
154-
dfPointCloud.VoxelDownsample(0.1);
155-
std::cout << "after downsampling .. " << dfPointCloud.GetNumPoints() << std::endl;
156-
EXPECT_LT(dfPointCloud.GetNumPoints(), 7379);
157-
DFPointCloudTestFixture::SetUp();
158-
159-
dfPointCloud.UniformDownsample(2);
160-
std::cout << "after downsampling .. " << dfPointCloud.GetNumPoints() << std::endl;
161-
EXPECT_LT(dfPointCloud.GetNumPoints(), 7379);
162-
DFPointCloudTestFixture::SetUp();
163-
164-
dfPointCloud.DownsampleBySize(1000);
165-
std::cout << "after downsampling .. " << dfPointCloud.GetNumPoints() << std::endl;
166-
EXPECT_LT(dfPointCloud.GetNumPoints(), 1000);
167-
DFPointCloudTestFixture::SetUp();
168-
}
169-
170-
//-------------------------------------------------------------------------
171-
// Transformers
172-
//-------------------------------------------------------------------------
173-
174-
TEST_F(DFPointCloudTestFixture, Transform) {
175-
Eigen::Matrix4d transformationMatrix = Eigen::Matrix4d::Identity();
176-
diffCheck::transformation::DFTransformation transformation = diffCheck::transformation::DFTransformation(transformationMatrix);
177-
dfPointCloud.ApplyTransformation(transformation);
178-
179-
std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloud2 = std::make_shared<diffCheck::geometry::DFPointCloud>();
180-
dfPointCloud2->LoadFromPLY(diffCheck::io::GetRoofQuarterPlyPath());
181-
dfPointCloud2->ApplyTransformation(transformation);
182-
183-
std::vector<double> distances = dfPointCloud.ComputeP2PDistance(dfPointCloud2);
184-
for (int i = 0; i < distances.size(); i++) {
185-
EXPECT_EQ(distances[i], 0);
186-
}
187-
}
188-
189-
//-------------------------------------------------------------------------
190-
// Others
191-
//-------------------------------------------------------------------------
36+
// TEST_F(DFPointCloudTestFixture, ConstructorWithVectors) {
37+
// std::vector<Eigen::Vector3d> points;
38+
// std::vector<Eigen::Vector3d> colors;
39+
// std::vector<Eigen::Vector3d> normals;
40+
// diffCheck::geometry::DFPointCloud dfPointCloud(points, colors, normals);
41+
// EXPECT_EQ(dfPointCloud.GetNumPoints(), 0);
42+
// EXPECT_EQ(dfPointCloud.GetNumColors(), 0);
43+
// EXPECT_EQ(dfPointCloud.GetNumNormals(), 0);
44+
// }
45+
46+
// //-------------------------------------------------------------------------
47+
// // i/o
48+
// //-------------------------------------------------------------------------
49+
50+
// TEST_F(DFPointCloudTestFixture, LoadFromPLY) {
51+
// EXPECT_EQ(dfPointCloud.GetNumPoints(), 7379);
52+
// EXPECT_EQ(dfPointCloud.GetNumColors(), 7379);
53+
// EXPECT_EQ(dfPointCloud.GetNumNormals(), 7379);
54+
55+
// }
56+
57+
// //-------------------------------------------------------------------------
58+
// // properties
59+
// //-------------------------------------------------------------------------
60+
61+
// TEST_F(DFPointCloudTestFixture, GetNumPoints){
62+
// EXPECT_EQ(dfPointCloud.GetNumPoints(), 7379);
63+
// }
64+
65+
// TEST_F(DFPointCloudTestFixture, GetNumColors) {
66+
// EXPECT_EQ(dfPointCloud.GetNumColors(), 7379);
67+
// }
68+
69+
// TEST_F(DFPointCloudTestFixture, GetNumNormals) {
70+
// EXPECT_EQ(dfPointCloud.GetNumNormals(), 7379);
71+
// }
72+
73+
// TEST_F(DFPointCloudTestFixture, HasPoints) {
74+
// EXPECT_TRUE(dfPointCloud.HasPoints());
75+
// }
76+
77+
// TEST_F(DFPointCloudTestFixture, HasColors) {
78+
// EXPECT_TRUE(dfPointCloud.HasColors());
79+
// }
80+
81+
// TEST_F(DFPointCloudTestFixture, HasNormals) {
82+
// EXPECT_TRUE(dfPointCloud.HasNormals());
83+
// }
84+
85+
// //-------------------------------------------------------------------------
86+
// // converters
87+
// //-------------------------------------------------------------------------
88+
89+
// TEST_F(DFPointCloudTestFixture, ConvertionO3dPointCloud) {
90+
// std::shared_ptr<open3d::geometry::PointCloud> o3dPointCloud = dfPointCloud.Cvt2O3DPointCloud();
91+
// std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloud2 = std::make_shared<diffCheck::geometry::DFPointCloud>();
92+
// dfPointCloud2->Cvt2DFPointCloud(o3dPointCloud);
93+
94+
// EXPECT_EQ(dfPointCloud.GetNumPoints(), dfPointCloud2->GetNumPoints());
95+
// EXPECT_EQ(dfPointCloud.GetNumColors(), dfPointCloud2->GetNumColors());
96+
// EXPECT_EQ(dfPointCloud.GetNumNormals(), dfPointCloud2->GetNumNormals());
97+
// }
98+
99+
// TEST_F(DFPointCloudTestFixture, ConvertionCilantroPointCloud) {
100+
// std::shared_ptr<cilantro::PointCloud3f> cilantroPointCloud = dfPointCloud.Cvt2CilantroPointCloud();
101+
// std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloud2 = std::make_shared<diffCheck::geometry::DFPointCloud>();
102+
// dfPointCloud2->Cvt2DFPointCloud(cilantroPointCloud);
103+
104+
// EXPECT_EQ(dfPointCloud.GetNumPoints(), dfPointCloud2->GetNumPoints());
105+
// EXPECT_EQ(dfPointCloud.GetNumColors(), dfPointCloud2->GetNumColors());
106+
// EXPECT_EQ(dfPointCloud.GetNumNormals(), dfPointCloud2->GetNumNormals());
107+
// }
108+
109+
// //-------------------------------------------------------------------------
110+
// // utilities
111+
// //-------------------------------------------------------------------------
112+
113+
// TEST_F(DFPointCloudTestFixture, ComputeP2PDistance) {
114+
// std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloud2 = std::make_shared<diffCheck::geometry::DFPointCloud>();
115+
// dfPointCloud2->LoadFromPLY(diffCheck::io::GetRoofQuarterPlyPath());
116+
// std::vector<double> distances = dfPointCloud.ComputeP2PDistance(dfPointCloud2);
117+
// EXPECT_EQ(distances.size(), 7379);
118+
// }
119+
120+
// TEST_F(DFPointCloudTestFixture, ComputeAABB) {
121+
// std::vector<Eigen::Vector3d> bbox = dfPointCloud.ComputeBoundingBox();
122+
// EXPECT_EQ(bbox.size(), 2);
123+
// }
124+
125+
// TEST_F(DFPointCloudTestFixture, ComputeOBB) {
126+
// std::vector<Eigen::Vector3d> obb = dfPointCloud.GetTightBoundingBox();
127+
// EXPECT_EQ(obb.size(), 8);
128+
// }
129+
130+
// TEST_F(DFPointCloudTestFixture, EstimateNormals) {
131+
// // knn
132+
// dfPointCloud.EstimateNormals();
133+
// EXPECT_EQ(dfPointCloud.GetNumNormals(), 7379);
134+
// // radius
135+
// dfPointCloud.EstimateNormals(false, 50, 0.1);
136+
// }
137+
138+
// TEST_F(DFPointCloudTestFixture, ApplyColor) {
139+
// dfPointCloud.ApplyColor(Eigen::Vector3d(1.0, 0.0, 0.0));
140+
// for (int i = 0; i < dfPointCloud.GetNumColors(); i++) {
141+
// EXPECT_EQ(dfPointCloud.Colors[i], Eigen::Vector3d(1.0, 0.0, 0.0));
142+
// }
143+
// dfPointCloud.ApplyColor(255, 0, 0);
144+
// for (int i = 0; i < dfPointCloud.GetNumColors(); i++) {
145+
// EXPECT_EQ(dfPointCloud.Colors[i], Eigen::Vector3d(1.0, 0.0, 0.0));
146+
// }
147+
// }
148+
149+
// //-------------------------------------------------------------------------
150+
// // Downsamplers
151+
// //-------------------------------------------------------------------------
152+
153+
// TEST_F(DFPointCloudTestFixture, Downsample) {
154+
// dfPointCloud.VoxelDownsample(0.1);
155+
// std::cout << "after downsampling .. " << dfPointCloud.GetNumPoints() << std::endl;
156+
// EXPECT_LT(dfPointCloud.GetNumPoints(), 7379);
157+
// DFPointCloudTestFixture::SetUp();
158+
159+
// dfPointCloud.UniformDownsample(2);
160+
// std::cout << "after downsampling .. " << dfPointCloud.GetNumPoints() << std::endl;
161+
// EXPECT_LT(dfPointCloud.GetNumPoints(), 7379);
162+
// DFPointCloudTestFixture::SetUp();
163+
164+
// dfPointCloud.DownsampleBySize(1000);
165+
// std::cout << "after downsampling .. " << dfPointCloud.GetNumPoints() << std::endl;
166+
// EXPECT_LT(dfPointCloud.GetNumPoints(), 1000);
167+
// DFPointCloudTestFixture::SetUp();
168+
// }
169+
170+
// //-------------------------------------------------------------------------
171+
// // Transformers
172+
// //-------------------------------------------------------------------------
173+
174+
// TEST_F(DFPointCloudTestFixture, Transform) {
175+
// Eigen::Matrix4d transformationMatrix = Eigen::Matrix4d::Identity();
176+
// diffCheck::transformation::DFTransformation transformation = diffCheck::transformation::DFTransformation(transformationMatrix);
177+
// dfPointCloud.ApplyTransformation(transformation);
178+
179+
// std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloud2 = std::make_shared<diffCheck::geometry::DFPointCloud>();
180+
// dfPointCloud2->LoadFromPLY(diffCheck::io::GetRoofQuarterPlyPath());
181+
// dfPointCloud2->ApplyTransformation(transformation);
182+
183+
// std::vector<double> distances = dfPointCloud.ComputeP2PDistance(dfPointCloud2);
184+
// for (int i = 0; i < distances.size(); i++) {
185+
// EXPECT_EQ(distances[i], 0);
186+
// }
187+
// }
188+
189+
// //-------------------------------------------------------------------------
190+
// // Others
191+
// //-------------------------------------------------------------------------

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