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point_cloud_builder_test.cc
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// Copyright 2016 The Draco Authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
#include "draco/point_cloud/point_cloud_builder.h"
#include "draco/core/draco_test_base.h"
namespace draco {
class PointCloudBuilderTest : public ::testing::Test {
protected:
// Test data.
// clang-format off
std::vector<float> pos_data_ = {10.f, 0.f, 1.f,
11.f, 1.f, 2.f,
12.f, 2.f, 8.f,
13.f, 4.f, 7.f,
14.f, 5.f, 6.f,
15.f, 6.f, 5.f,
16.f, 1.f, 3.f,
17.f, 1.f, 2.f,
11.f, 1.f, 2.f,
10.f, 0.f, 1.f};
std::vector<int16_t> intensity_data_ = {100,
200,
500,
700,
400,
400,
400,
100,
100,
100};
// clang-format on
};
TEST_F(PointCloudBuilderTest, IndividualTest_NoDedup) {
// This test verifies that PointCloudBuilder can construct point cloud using
// SetAttributeValueForPoint API without deduplication.
PointCloudBuilder builder;
builder.Start(10);
const int pos_att_id =
builder.AddAttribute(GeometryAttribute::POSITION, 3, DT_FLOAT32);
const int intensity_att_id =
builder.AddAttribute(GeometryAttribute::GENERIC, 1, DT_INT16);
for (PointIndex i(0); i < 10; ++i) {
builder.SetAttributeValueForPoint(pos_att_id, i,
pos_data_.data() + 3 * i.value());
builder.SetAttributeValueForPoint(intensity_att_id, i,
intensity_data_.data() + i.value());
}
std::unique_ptr<PointCloud> res = builder.Finalize(false);
ASSERT_TRUE(res != nullptr);
ASSERT_EQ(res->num_points(), 10);
}
TEST_F(PointCloudBuilderTest, IndividualTest_Dedup) {
// This test verifies that PointCloudBuilder can construct point cloud using
// SetAttributeValueForPoint API with deduplication.
PointCloudBuilder builder;
builder.Start(10);
const int pos_att_id =
builder.AddAttribute(GeometryAttribute::POSITION, 3, DT_FLOAT32);
const int intensity_att_id =
builder.AddAttribute(GeometryAttribute::GENERIC, 1, DT_INT16);
for (PointIndex i(0); i < 10; ++i) {
builder.SetAttributeValueForPoint(pos_att_id, i,
pos_data_.data() + 3 * i.value());
builder.SetAttributeValueForPoint(intensity_att_id, i,
intensity_data_.data() + i.value());
}
std::unique_ptr<PointCloud> res = builder.Finalize(true);
ASSERT_TRUE(res != nullptr);
ASSERT_EQ(res->num_points(), 9);
}
TEST_F(PointCloudBuilderTest, BatchTest) {
// This test verifies that PointCloudBuilder can construct point cloud using
// SetAttributeValuesForAllPoints API.
PointCloudBuilder builder;
builder.Start(10);
const int pos_att_id =
builder.AddAttribute(GeometryAttribute::POSITION, 3, DT_FLOAT32);
const int intensity_att_id =
builder.AddAttribute(GeometryAttribute::GENERIC, 1, DT_INT16);
builder.SetAttributeValuesForAllPoints(pos_att_id, pos_data_.data(), 0);
builder.SetAttributeValuesForAllPoints(intensity_att_id,
intensity_data_.data(), 0);
std::unique_ptr<PointCloud> res = builder.Finalize(false);
ASSERT_TRUE(res != nullptr);
ASSERT_EQ(res->num_points(), 10);
for (PointIndex i(0); i < 10; ++i) {
float pos_val[3];
res->attribute(pos_att_id)->GetMappedValue(i, pos_val);
for (int c = 0; c < 3; ++c) {
ASSERT_EQ(pos_val[c], pos_data_[3 * i.value() + c]);
}
int16_t int_val;
res->attribute(intensity_att_id)->GetMappedValue(i, &int_val);
ASSERT_EQ(intensity_data_[i.value()], int_val);
}
}
TEST_F(PointCloudBuilderTest, MultiUse) {
// This test verifies that PointCloudBuilder can be used multiple times
PointCloudBuilder builder;
{
builder.Start(10);
const int pos_att_id =
builder.AddAttribute(GeometryAttribute::POSITION, 3, DT_FLOAT32);
const int intensity_att_id =
builder.AddAttribute(GeometryAttribute::GENERIC, 1, DT_INT16);
builder.SetAttributeValuesForAllPoints(pos_att_id, pos_data_.data(), 0);
builder.SetAttributeValuesForAllPoints(intensity_att_id,
intensity_data_.data(), 0);
std::unique_ptr<PointCloud> res = builder.Finalize(false);
ASSERT_TRUE(res != nullptr);
ASSERT_EQ(res->num_points(), 10);
for (PointIndex i(0); i < 10; ++i) {
float pos_val[3];
res->attribute(pos_att_id)->GetMappedValue(i, pos_val);
for (int c = 0; c < 3; ++c) {
ASSERT_EQ(pos_val[c], pos_data_[3 * i.value() + c]);
}
int16_t int_val;
res->attribute(intensity_att_id)->GetMappedValue(i, &int_val);
ASSERT_EQ(intensity_data_[i.value()], int_val);
}
}
{
// Use only a sub-set of data (offsetted to avoid possible reuse of old
// data).
builder.Start(4);
const int pos_att_id =
builder.AddAttribute(GeometryAttribute::POSITION, 3, DT_FLOAT32);
const int intensity_att_id =
builder.AddAttribute(GeometryAttribute::GENERIC, 1, DT_INT16);
constexpr int offset = 5;
builder.SetAttributeValuesForAllPoints(pos_att_id,
pos_data_.data() + 3 * offset, 0);
builder.SetAttributeValuesForAllPoints(intensity_att_id,
intensity_data_.data() + offset, 0);
std::unique_ptr<PointCloud> res = builder.Finalize(false);
ASSERT_TRUE(res != nullptr);
ASSERT_EQ(res->num_points(), 4);
for (PointIndex i(0); i < 4; ++i) {
float pos_val[3];
res->attribute(pos_att_id)->GetMappedValue(i, pos_val);
for (int c = 0; c < 3; ++c) {
ASSERT_EQ(pos_val[c], pos_data_[3 * (i.value() + offset) + c]);
}
int16_t int_val;
res->attribute(intensity_att_id)->GetMappedValue(i, &int_val);
ASSERT_EQ(intensity_data_[i.value() + offset], int_val);
}
}
}
} // namespace draco