// ---------------------------------------------------------------------------- // - Open3D: www.open3d.org - // ---------------------------------------------------------------------------- // Copyright (c) 2018-2023 www.open3d.org // SPDX-License-Identifier: MIT // ---------------------------------------------------------------------------- #include "open3d/geometry/TriangleMesh.h" #include "open3d/geometry/BoundingVolume.h" #include "open3d/geometry/PointCloud.h" #include "tests/Tests.h" namespace open3d { namespace tests { /// Test if two meshes are equal. /// \param mesh0 First mesh. /// \param mesh1 Second mesh /// \param threshold absolute threshold for comparing attributes like positions, /// colors and normals. /// \param eq_triangle_vertex_order If true then triangles are only equal if the /// order of the vertices is the same. If false any permutation of the triangle /// indices is allowed. void ExpectMeshEQ(const open3d::geometry::TriangleMesh &mesh0, const open3d::geometry::TriangleMesh &mesh1, double threshold = 1e-6, bool eq_triangle_vertex_order = true) { ExpectEQ(mesh0.vertices_, mesh1.vertices_, threshold); ExpectEQ(mesh0.vertex_normals_, mesh1.vertex_normals_, threshold); ExpectEQ(mesh0.vertex_colors_, mesh1.vertex_colors_, threshold); if (eq_triangle_vertex_order) { ExpectEQ(mesh0.triangles_, mesh1.triangles_); } else { std::vector tris0 = mesh0.triangles_; std::vector tris1 = mesh1.triangles_; EXPECT_EQ(tris0.size(), tris1.size()); for (size_t i = 0; i < tris0.size(); ++i) { tris0[i] = open3d::geometry::TriangleMesh::GetOrderedTriangle( tris0[i].x(), tris0[i].y(), tris0[i].z()); tris1[i] = open3d::geometry::TriangleMesh::GetOrderedTriangle( tris1[i].x(), tris1[i].y(), tris1[i].z()); } ExpectEQ(tris0, tris1); } ExpectEQ(mesh0.triangle_normals_, mesh1.triangle_normals_, threshold); ExpectEQ(mesh0.triangle_uvs_, mesh1.triangle_uvs_); } TEST(TriangleMesh, Constructor) { geometry::TriangleMesh tm; // inherited from Geometry2D EXPECT_EQ(geometry::Geometry::GeometryType::TriangleMesh, tm.GetGeometryType()); EXPECT_EQ(3, tm.Dimension()); // public member variables EXPECT_EQ(0u, tm.vertices_.size()); EXPECT_EQ(0u, tm.vertex_normals_.size()); EXPECT_EQ(0u, tm.vertex_colors_.size()); EXPECT_EQ(0u, tm.triangles_.size()); EXPECT_EQ(0u, tm.triangle_normals_.size()); // public members EXPECT_TRUE(tm.IsEmpty()); ExpectEQ(Zero3d, tm.GetMinBound()); ExpectEQ(Zero3d, tm.GetMaxBound()); EXPECT_FALSE(tm.HasVertices()); EXPECT_FALSE(tm.HasVertexNormals()); EXPECT_FALSE(tm.HasVertexColors()); EXPECT_FALSE(tm.HasTriangles()); EXPECT_FALSE(tm.HasTriangleNormals()); } TEST(TriangleMesh, DISABLED_MemberData) { NotImplemented(); } TEST(TriangleMesh, Clear) { int size = 100; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); Eigen::Vector3i imin(0, 0, 0); Eigen::Vector3i imax(size - 1, size - 1, size - 1); geometry::TriangleMesh tm; tm.vertices_.resize(size); tm.vertex_normals_.resize(size); tm.vertex_colors_.resize(size); tm.triangles_.resize(size); tm.triangle_normals_.resize(size); Rand(tm.vertices_, dmin, dmax, 0); Rand(tm.vertex_normals_, dmin, dmax, 0); Rand(tm.vertex_colors_, dmin, dmax, 0); Rand(tm.triangles_, imin, imax, 0); Rand(tm.triangle_normals_, dmin, dmax, 0); EXPECT_FALSE(tm.IsEmpty()); ExpectEQ(Eigen::Vector3d(19.607843, 0.0, 0.0), tm.GetMinBound()); ExpectEQ(Eigen::Vector3d(996.078431, 996.078431, 996.078431), tm.GetMaxBound()); EXPECT_TRUE(tm.HasVertices()); EXPECT_TRUE(tm.HasVertexNormals()); EXPECT_TRUE(tm.HasVertexColors()); EXPECT_TRUE(tm.HasTriangles()); EXPECT_TRUE(tm.HasTriangleNormals()); tm.Clear(); // public members EXPECT_TRUE(tm.IsEmpty()); ExpectEQ(Zero3d, tm.GetMinBound()); ExpectEQ(Zero3d, tm.GetMaxBound()); EXPECT_FALSE(tm.HasVertices()); EXPECT_FALSE(tm.HasVertexNormals()); EXPECT_FALSE(tm.HasVertexColors()); EXPECT_FALSE(tm.HasTriangles()); EXPECT_FALSE(tm.HasTriangleNormals()); } TEST(TriangleMesh, IsEmpty) { int size = 100; geometry::TriangleMesh tm; EXPECT_TRUE(tm.IsEmpty()); tm.vertices_.resize(size); EXPECT_FALSE(tm.IsEmpty()); } TEST(TriangleMesh, GetMinBound) { int size = 100; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); geometry::TriangleMesh tm; tm.vertices_.resize(size); Rand(tm.vertices_, dmin, dmax, 0); ExpectEQ(Eigen::Vector3d(19.607843, 0.0, 0.0), tm.GetMinBound()); } TEST(TriangleMesh, GetMaxBound) { int size = 100; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); geometry::TriangleMesh tm; tm.vertices_.resize(size); Rand(tm.vertices_, dmin, dmax, 0); ExpectEQ(Eigen::Vector3d(996.078431, 996.078431, 996.078431), tm.GetMaxBound()); } TEST(TriangleMesh, GetCenter) { int size = 100; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); geometry::TriangleMesh tm; tm.vertices_.resize(size); Rand(tm.vertices_, dmin, dmax, 0); ExpectEQ(tm.GetCenter(), Eigen::Vector3d(531.137254, 535.176470, 501.882352)); geometry::TriangleMesh tm_empty; ExpectEQ(tm_empty.GetCenter(), Eigen::Vector3d(0, 0, 0)); } TEST(TriangleMesh, GetAxisAlignedBoundingBox) { geometry::TriangleMesh tm; geometry::AxisAlignedBoundingBox aabb; tm = geometry::TriangleMesh(); aabb = tm.GetAxisAlignedBoundingBox(); EXPECT_EQ(aabb.min_bound_, Eigen::Vector3d(0, 0, 0)); EXPECT_EQ(aabb.max_bound_, Eigen::Vector3d(0, 0, 0)); EXPECT_EQ(aabb.color_, Eigen::Vector3d(1, 1, 1)); tm = geometry::TriangleMesh({{0, 0, 0}}, {{0, 0, 0}}); aabb = tm.GetAxisAlignedBoundingBox(); EXPECT_EQ(aabb.min_bound_, Eigen::Vector3d(0, 0, 0)); EXPECT_EQ(aabb.max_bound_, Eigen::Vector3d(0, 0, 0)); EXPECT_EQ(aabb.color_, Eigen::Vector3d(1, 1, 1)); tm = geometry::TriangleMesh({{0, 2, 0}, {1, 1, 2}, {1, 0, 3}, {0, 1, 4}, {1, 2, 5}, {1, 3, 6}, {0, 0, 7}, {0, 3, 8}, {1, 0, 9}, {0, 2, 10}}, {{3, 1, 0}, {3, 2, 1}, {1, 2, 4}, {5, 4, 2}, {2, 3, 5}, {6, 3, 0}, {6, 5, 3}, {5, 6, 8}, {8, 7, 5}, {1, 7, 9}, {1, 4, 7}, {0, 1, 9}, {9, 8, 6}, {7, 8, 9}, {4, 5, 7}, {9, 6, 0}}); aabb = tm.GetAxisAlignedBoundingBox(); EXPECT_EQ(aabb.min_bound_, Eigen::Vector3d(0, 0, 0)); EXPECT_EQ(aabb.max_bound_, Eigen::Vector3d(1, 3, 10)); EXPECT_EQ(aabb.color_, Eigen::Vector3d(1, 1, 1)); } TEST(TriangleMesh, GetOrientedBoundingBox) { geometry::TriangleMesh tm; geometry::OrientedBoundingBox obb; // Empty (GetOrientedBoundingBox requires >=4 points) tm = geometry::TriangleMesh(); EXPECT_ANY_THROW(tm.GetOrientedBoundingBox()); // Point tm = geometry::TriangleMesh({{0, 0, 0}}, {{0, 0, 0}}); EXPECT_ANY_THROW(tm.GetOrientedBoundingBox()); tm = geometry::TriangleMesh({{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}, {{0, 1, 2}, {1, 2, 3}}); EXPECT_ANY_THROW(tm.GetOrientedBoundingBox()); EXPECT_NO_THROW(tm.GetOrientedBoundingBox(true)); // Plane tm = geometry::TriangleMesh({{0, 0, 0}, {0, 0, 1}, {0, 1, 0}, {0, 1, 1}}, {{0, 1, 2}, {1, 2, 3}}); EXPECT_ANY_THROW(tm.GetOrientedBoundingBox()); EXPECT_NO_THROW(tm.GetOrientedBoundingBox(true)); // Valid 4 points tm = geometry::TriangleMesh({{0, 0, 0}, {0, 0, 1}, {0, 1, 0}, {1, 1, 1}}, {{0, 1, 2}, {1, 2, 3}}); tm.GetOrientedBoundingBox(); // 8 points with known ground truth tm = geometry::TriangleMesh({{0, 0, 0}, {0, 0, 1}, {0, 2, 0}, {0, 2, 1}, {3, 0, 0}, {3, 0, 1}, {3, 2, 0}, {3, 2, 1}}, {{0, 1, 2}, {1, 2, 3}, {4, 5, 6}, {5, 6, 7}, {0, 1, 4}, {1, 4, 5}, {2, 3, 6}, {3, 6, 7}}); obb = tm.GetOrientedBoundingBox(); EXPECT_EQ(obb.center_, Eigen::Vector3d(1.5, 1, 0.5)); EXPECT_EQ(obb.extent_, Eigen::Vector3d(3, 2, 1)); EXPECT_EQ(obb.color_, Eigen::Vector3d(1, 1, 1)); EXPECT_EQ(obb.R_, Eigen::Matrix3d::Identity()); ExpectEQ(Sort(obb.GetBoxPoints()), Sort(std::vector({{0, 0, 0}, {0, 0, 1}, {0, 2, 0}, {0, 2, 1}, {3, 0, 0}, {3, 0, 1}, {3, 2, 0}, {3, 2, 1}}))); // Check for a bug where the OBB rotation contained a reflection for this // example. tm = geometry::TriangleMesh({{0, 2, 4}, {7, 9, 1}, {5, 2, 0}, {3, 8, 7}}, {{0, 1, 2}, {1, 2, 3}}); obb = tm.GetOrientedBoundingBox(); EXPECT_GT(obb.R_.determinant(), 0.999); } TEST(TriangleMesh, GetMinimalOrientedBoundingBox) { geometry::TriangleMesh tm; geometry::OrientedBoundingBox obb; // Empty (GetOrientedBoundingBox requires >=4 points) tm = geometry::TriangleMesh(); EXPECT_ANY_THROW(tm.GetMinimalOrientedBoundingBox()); // Point tm = geometry::TriangleMesh({{0, 0, 0}}, {{0, 0, 0}}); EXPECT_ANY_THROW(tm.GetMinimalOrientedBoundingBox()); tm = geometry::TriangleMesh({{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}, {{0, 1, 2}, {1, 2, 3}}); EXPECT_ANY_THROW(tm.GetMinimalOrientedBoundingBox()); EXPECT_NO_THROW(tm.GetMinimalOrientedBoundingBox(true)); // Plane tm = geometry::TriangleMesh({{0, 0, 0}, {0, 0, 1}, {0, 1, 0}, {0, 1, 1}}, {{0, 1, 2}, {1, 2, 3}}); EXPECT_ANY_THROW(tm.GetMinimalOrientedBoundingBox()); EXPECT_NO_THROW(tm.GetMinimalOrientedBoundingBox(true)); // Valid 4 points tm = geometry::TriangleMesh({{0, 0, 0}, {0, 0, 1}, {0, 1, 0}, {1, 1, 1}}, {{0, 1, 2}, {1, 2, 3}}); tm.GetMinimalOrientedBoundingBox(); // 8 points with known ground truth tm = geometry::TriangleMesh({{0, 0, 0}, {0, 0, 1}, {0, 2, 0}, {0, 2, 1}, {3, 0, 0}, {3, 0, 1}, {3, 2, 0}, {3, 2, 1}}, {{0, 1, 2}, {1, 2, 3}, {4, 5, 6}, {5, 6, 7}, {0, 1, 4}, {1, 4, 5}, {2, 3, 6}, {3, 6, 7}}); obb = tm.GetMinimalOrientedBoundingBox(); EXPECT_EQ(obb.center_, Eigen::Vector3d(1.5, 1, 0.5)); EXPECT_EQ(obb.extent_, Eigen::Vector3d(3, 2, 1)); EXPECT_EQ(obb.color_, Eigen::Vector3d(1, 1, 1)); ExpectEQ(Sort(obb.GetBoxPoints()), Sort(std::vector({{0, 0, 0}, {0, 0, 1}, {0, 2, 0}, {0, 2, 1}, {3, 0, 0}, {3, 0, 1}, {3, 2, 0}, {3, 2, 1}}))); // Check for a bug where the OBB rotation contained a reflection for this // example. tm = geometry::TriangleMesh({{0, 2, 4}, {7, 9, 1}, {5, 2, 0}, {3, 8, 7}}, {{0, 1, 2}, {1, 2, 3}}); obb = tm.GetMinimalOrientedBoundingBox(); EXPECT_GT(obb.R_.determinant(), 0.999); // should always be equal/smaller than axis aligned- & oriented bounding box tm = geometry::TriangleMesh({{0.866, 0.474, 0.659}, {0.943, 0.025, 0.789}, {0.386, 0.264, 0.691}, {0.938, 0.588, 0.496}, {0.221, 0.116, 0.257}, {0.744, 0.182, 0.052}, {0.019, 0.525, 0.699}, {0.722, 0.134, 0.668}}, {{6, 5, 4}, {6, 3, 5}, {2, 6, 4}, {6, 2, 0}, {3, 6, 0}, {5, 3, 1}, {3, 0, 1}, {7, 1, 2}, {1, 0, 2}, {4, 1, 7}, {4, 5, 1}, {7, 2, 4}}); geometry::OrientedBoundingBox mobb = tm.GetMinimalOrientedBoundingBox(); obb = tm.GetOrientedBoundingBox(); geometry::AxisAlignedBoundingBox aabb = tm.GetAxisAlignedBoundingBox(); EXPECT_GT(obb.Volume(), mobb.Volume()); EXPECT_GT(aabb.Volume(), mobb.Volume()); } TEST(TriangleMesh, Transform) { std::vector ref_vertices = { {1.411252, 4.274168, 3.130918}, {1.231757, 4.154505, 3.183678}, {1.403168, 4.268779, 2.121679}, {1.456767, 4.304511, 2.640845}, {1.620902, 4.413935, 1.851255}, {1.374684, 4.249790, 3.062485}, {1.328160, 4.218773, 1.795728}, {1.713446, 4.475631, 1.860145}, {1.409239, 4.272826, 2.011462}, {1.480169, 4.320113, 1.177780}}; std::vector ref_vertex_normals = { {396.470588, 1201.176471, 880.352941}, {320.392157, 1081.176471, 829.019608}, {268.627451, 817.647059, 406.666667}, {338.431373, 1000.392157, 614.117647}, {423.137255, 1152.549020, 483.607843}, {432.549020, 1337.647059, 964.392157}, {139.607843, 443.921569, 189.176471}, {291.764706, 762.352941, 317.058824}, {134.117647, 407.058824, 191.882353}, {274.509804, 801.568627, 218.627451}}; std::vector ref_triangle_normals = { {396.470588, 1201.176471, 880.352941}, {320.392157, 1081.176471, 829.019608}, {268.627451, 817.647059, 406.666667}, {338.431373, 1000.392157, 614.117647}, {423.137255, 1152.549020, 483.607843}, {432.549020, 1337.647059, 964.392157}, {139.607843, 443.921569, 189.176471}, {291.764706, 762.352941, 317.058824}, {134.117647, 407.058824, 191.882353}, {274.509804, 801.568627, 218.627451}}; int size = 10; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); geometry::TriangleMesh tm; tm.vertices_.resize(size); tm.vertex_normals_.resize(size); tm.triangle_normals_.resize(size); Rand(tm.vertices_, dmin, dmax, 0); Rand(tm.vertex_normals_, dmin, dmax, 0); Rand(tm.triangle_normals_, dmin, dmax, 0); Eigen::Matrix4d transformation; transformation << 0.10, 0.20, 0.30, 0.40, 0.50, 0.60, 0.70, 0.80, 0.90, 0.10, 0.11, 0.12, 0.13, 0.14, 0.15, 0.16; tm.Transform(transformation); ExpectEQ(ref_vertices, tm.vertices_); ExpectEQ(ref_vertex_normals, tm.vertex_normals_); ExpectEQ(ref_triangle_normals, tm.triangle_normals_); } TEST(TriangleMesh, OperatorAppend) { size_t size = 100; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); Eigen::Vector3i imin(0, 0, 0); Eigen::Vector3i imax(size - 1, size - 1, size - 1); geometry::TriangleMesh tm0; geometry::TriangleMesh tm1; tm0.vertices_.resize(size); tm0.vertex_normals_.resize(size); tm0.vertex_colors_.resize(size); tm0.triangles_.resize(size); tm0.triangle_normals_.resize(size); tm1.vertices_.resize(size); tm1.vertex_normals_.resize(size); tm1.vertex_colors_.resize(size); tm1.triangles_.resize(size); tm1.triangle_normals_.resize(size); Rand(tm0.vertices_, dmin, dmax, 0); Rand(tm0.vertex_normals_, dmin, dmax, 0); Rand(tm0.vertex_colors_, dmin, dmax, 0); Rand(tm0.triangles_, imin, imax, 0); Rand(tm0.triangle_normals_, dmin, dmax, 0); Rand(tm1.vertices_, dmin, dmax, 0); Rand(tm1.vertex_normals_, dmin, dmax, 0); Rand(tm1.vertex_colors_, dmin, dmax, 1); Rand(tm1.triangles_, imin, imax, 0); Rand(tm1.triangle_normals_, dmin, dmax, 0); geometry::TriangleMesh tm(tm0); tm += tm1; EXPECT_EQ(2 * size, tm.vertices_.size()); for (size_t i = 0; i < size; i++) { ExpectEQ(tm0.vertices_[i], tm.vertices_[i + 0]); ExpectEQ(tm1.vertices_[i], tm.vertices_[i + size]); } EXPECT_EQ(2 * size, tm.vertex_normals_.size()); for (size_t i = 0; i < size; i++) { ExpectEQ(tm0.vertex_normals_[i], tm.vertex_normals_[i + 0]); ExpectEQ(tm1.vertex_normals_[i], tm.vertex_normals_[i + size]); } EXPECT_EQ(2 * size, tm.vertex_colors_.size()); for (size_t i = 0; i < size; i++) { ExpectEQ(tm0.vertex_colors_[i], tm.vertex_colors_[i + 0]); ExpectEQ(tm1.vertex_colors_[i], tm.vertex_colors_[i + size]); } // NOTE: why is this offset required only for triangles? EXPECT_EQ(2 * size, tm.triangles_.size()); for (size_t i = 0; i < size; i++) { ExpectEQ(tm0.triangles_[i], tm.triangles_[i + 0]); ExpectEQ(Eigen::Vector3i(tm1.triangles_[i](0, 0) + size, tm1.triangles_[i](1, 0) + size, tm1.triangles_[i](2, 0) + size), tm.triangles_[i + size]); } EXPECT_EQ(2 * size, tm.triangle_normals_.size()); for (size_t i = 0; i < size; i++) { ExpectEQ(tm0.triangle_normals_[i], tm.triangle_normals_[i + 0]); ExpectEQ(tm1.triangle_normals_[i], tm.triangle_normals_[i + size]); } } TEST(TriangleMesh, OperatorADD) { size_t size = 100; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); Eigen::Vector3i imin(0, 0, 0); Eigen::Vector3i imax(size - 1, size - 1, size - 1); geometry::TriangleMesh tm0; geometry::TriangleMesh tm1; tm0.vertices_.resize(size); tm0.vertex_normals_.resize(size); tm0.vertex_colors_.resize(size); tm0.triangles_.resize(size); tm0.triangle_normals_.resize(size); tm1.vertices_.resize(size); tm1.vertex_normals_.resize(size); tm1.vertex_colors_.resize(size); tm1.triangles_.resize(size); tm1.triangle_normals_.resize(size); Rand(tm0.vertices_, dmin, dmax, 0); Rand(tm0.vertex_normals_, dmin, dmax, 0); Rand(tm0.vertex_colors_, dmin, dmax, 0); Rand(tm0.triangles_, imin, imax, 0); Rand(tm0.triangle_normals_, dmin, dmax, 0); Rand(tm1.vertices_, dmin, dmax, 0); Rand(tm1.vertex_normals_, dmin, dmax, 0); Rand(tm1.vertex_colors_, dmin, dmax, 1); Rand(tm1.triangles_, imin, imax, 0); Rand(tm1.triangle_normals_, dmin, dmax, 0); geometry::TriangleMesh tm = tm0 + tm1; EXPECT_EQ(2 * size, tm.vertices_.size()); for (size_t i = 0; i < size; i++) { ExpectEQ(tm0.vertices_[i], tm.vertices_[i + 0]); ExpectEQ(tm1.vertices_[i], tm.vertices_[i + size]); } EXPECT_EQ(2 * size, tm.vertex_normals_.size()); for (size_t i = 0; i < size; i++) { ExpectEQ(tm0.vertex_normals_[i], tm.vertex_normals_[i + 0]); ExpectEQ(tm1.vertex_normals_[i], tm.vertex_normals_[i + size]); } EXPECT_EQ(2 * size, tm.vertex_colors_.size()); for (size_t i = 0; i < size; i++) { ExpectEQ(tm0.vertex_colors_[i], tm.vertex_colors_[i + 0]); ExpectEQ(tm1.vertex_colors_[i], tm.vertex_colors_[i + size]); } // NOTE: why is this offset required only for triangles? EXPECT_EQ(2 * size, tm.triangles_.size()); for (size_t i = 0; i < size; i++) { ExpectEQ(tm0.triangles_[i], tm.triangles_[i + 0]); ExpectEQ(Eigen::Vector3i(tm1.triangles_[i](0, 0) + size, tm1.triangles_[i](1, 0) + size, tm1.triangles_[i](2, 0) + size), tm.triangles_[i + size]); } EXPECT_EQ(2 * size, tm.triangle_normals_.size()); for (size_t i = 0; i < size; i++) { ExpectEQ(tm0.triangle_normals_[i], tm.triangle_normals_[i + 0]); ExpectEQ(tm1.triangle_normals_[i], tm.triangle_normals_[i + size]); } } TEST(TriangleMesh, OperatorAdditionAssignment) { const size_t size = 100; const size_t texture_size = 10; // Define the minimum and maximum bounds for random data generation Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); Eigen::Vector3i imin(0, 0, 0); Eigen::Vector3i imax(size - 1, size - 1, size - 1); Eigen::Vector2d uvmin(0.0, 0.0); Eigen::Vector2d uvmax(1.0, 1.0); // Mesh 0 contains only UVs but no textures and material ids geometry::TriangleMesh tm0; tm0.vertices_.resize(size); tm0.triangles_.resize(size); tm0.triangle_uvs_.resize(3 * size); // Mesh 1 contains all of UVS, textures and material ids geometry::TriangleMesh tm1; tm1.vertices_.resize(size); tm1.triangles_.resize(size); tm1.triangle_uvs_.resize(3 * size); tm1.triangle_material_ids_.resize(size); tm1.textures_.resize(texture_size); // Mesh 2 does not contains any of UVs, textures or material ids geometry::TriangleMesh tm2; tm2.vertices_.resize(size); tm2.triangles_.resize(size); // Randomly generate data for tm0, tm1 and tm2 Rand(tm0.vertices_, dmin, dmax, 0); Rand(tm0.triangles_, imin, imax, 0); std::vector tm0_triangle_uvs(3 * size); Rand(tm0_triangle_uvs, uvmin, uvmax, 0); tm0.triangle_uvs_ = std::vector(tm0_triangle_uvs.begin(), tm0_triangle_uvs.end()); Rand(tm1.vertices_, dmin, dmax, 0); Rand(tm1.triangles_, imin, imax, 0); std::vector tm1_triangle_uvs(3 * size); Rand(tm1_triangle_uvs, uvmin, uvmax, 0); tm1.triangle_uvs_ = std::vector(tm1_triangle_uvs.begin(), tm1_triangle_uvs.end()); for (size_t i = 0; i < texture_size; i++) { geometry::Image texture_image; texture_image.Prepare(100, 100, 3, 1); Rand(texture_image.data_, 0, 255, 0); tm1.textures_[i] = texture_image; } Rand(tm1.triangle_material_ids_, 0, texture_size, 0); Rand(tm2.vertices_, dmin, dmax, 0); Rand(tm2.triangles_, imin, imax, 0); geometry::TriangleMesh temp_tm0 = tm0; geometry::TriangleMesh temp_tm1 = tm1; geometry::TriangleMesh temp_tm2 = tm2; // Function to reset values of temp_tm0, temp_tm1 and temp_tm2 auto reset_values = [&tm0, &tm1, &tm2](geometry::TriangleMesh &temp_tm0, geometry::TriangleMesh &temp_tm1, geometry::TriangleMesh &temp_tm2) { temp_tm0 = tm0; temp_tm1 = tm1; temp_tm2 = tm2; }; // Test addition of tm1 with itself temp_tm1 += tm1; EXPECT_EQ(temp_tm1.triangles_.size(), 2 * size); EXPECT_EQ(temp_tm1.triangle_uvs_.size(), 6 * size); EXPECT_EQ(temp_tm1.vertices_.size(), 2 * size); EXPECT_EQ(temp_tm1.textures_.size(), 2 * texture_size); EXPECT_EQ(temp_tm1.triangle_material_ids_.size(), 2 * size); for (size_t i = 0; i < size; i++) { ExpectEQ(temp_tm1.vertices_[i], temp_tm1.vertices_[i + size]); ExpectEQ(temp_tm1.triangles_[i], (Eigen::Vector3i)(temp_tm1.triangles_[i + size] - Eigen::Vector3i(size, size, size))); EXPECT_EQ(temp_tm1.triangle_material_ids_[i], temp_tm1.triangle_material_ids_[i + size] - texture_size); } for (size_t i = 0; i < 3 * size; i++) { ExpectEQ(temp_tm1.triangle_uvs_[i], temp_tm1.triangle_uvs_[i + 3 * size]); } for (size_t i = 0; i < texture_size; i++) { ExpectEQ(temp_tm1.textures_[i].data_, temp_tm1.textures_[i + texture_size].data_); } // Test addition of tm0 and tm1 reset_values(temp_tm0, temp_tm1, temp_tm2); temp_tm0 += tm1; temp_tm1 += tm0; ExpectMeshEQ(temp_tm0, temp_tm1); EXPECT_EQ(temp_tm0.textures_.size(), 0); EXPECT_EQ(temp_tm0.triangle_material_ids_.size(), 0); // Test addition of tm1 and tm2 reset_values(temp_tm0, temp_tm1, temp_tm2); temp_tm1 += tm2; temp_tm2 += tm1; ExpectMeshEQ(temp_tm1, temp_tm2); EXPECT_EQ(temp_tm0.textures_.size(), 0); EXPECT_EQ(temp_tm0.triangle_material_ids_.size(), 0); // Test addition of tm2 and tm0 reset_values(temp_tm0, temp_tm1, temp_tm2); temp_tm2 += tm0; temp_tm0 += tm2; ExpectMeshEQ(temp_tm2, temp_tm0); EXPECT_EQ(temp_tm0.textures_.size(), 0); EXPECT_EQ(temp_tm0.triangle_material_ids_.size(), 0); } TEST(TriangleMesh, ComputeTriangleNormals) { std::vector ref = {{-0.119231, 0.738792, 0.663303}, {-0.115181, 0.730934, 0.672658}, {-0.589738, -0.764139, -0.261344}, {-0.330250, 0.897644, -0.291839}, {-0.164192, 0.976753, 0.137819}, {-0.475702, 0.727947, 0.493762}, {0.990884, -0.017339, -0.133596}, {0.991673, 0.091418, -0.090700}, {0.722410, 0.154580, -0.673965}, {0.598552, -0.312929, -0.737435}, {0.712875, -0.628251, -0.311624}, {0.233815, -0.638800, -0.732984}, {0.494773, -0.472428, -0.729391}, {0.583861, 0.796905, 0.155075}, {-0.277650, -0.948722, -0.151119}, {-0.791337, 0.093176, 0.604238}, {0.569287, 0.158108, 0.806793}, {0.115315, 0.914284, 0.388314}, {0.105421, 0.835841, -0.538754}, {0.473326, 0.691900, -0.545195}, {0.719515, 0.684421, -0.117757}, {-0.713642, -0.691534, -0.111785}, {-0.085377, -0.916925, 0.389820}, {0.787892, 0.611808, -0.070127}, {0.788022, 0.488544, 0.374628}}; size_t size = 25; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(10.0, 10.0, 10.0); Eigen::Vector3i imin(0, 0, 0); Eigen::Vector3i imax(size - 1, size - 1, size - 1); geometry::TriangleMesh tm; tm.vertices_.resize(size); Rand(tm.vertices_, dmin, dmax, 0); for (size_t i = 0; i < size; i++) tm.triangles_.push_back( Eigen::Vector3i(i, (i + 1) % size, (i + 2) % size)); tm.ComputeTriangleNormals(); ExpectEQ(ref, tm.triangle_normals_); } TEST(TriangleMesh, ComputeVertexNormals) { std::vector ref = { {0.635868, 0.698804, 0.327636}, {0.327685, 0.717012, 0.615237}, {-0.346072, 0.615418, 0.708163}, {-0.690485, 0.663544, 0.287992}, {-0.406664, 0.913428, -0.016549}, {-0.356568, 0.888296, 0.289466}, {-0.276491, 0.894931, 0.350216}, {0.262855, 0.848183, 0.459883}, {0.933461, 0.108347, -0.341923}, {0.891804, 0.050667, -0.449577}, {0.735392, -0.110383, -0.668592}, {0.469090, -0.564602, -0.679102}, {0.418223, -0.628548, -0.655758}, {0.819226, 0.168537, -0.548145}, {0.963613, 0.103044, -0.246642}, {-0.506244, 0.320837, 0.800488}, {0.122226, -0.058031, 0.990804}, {0.175502, 0.533543, 0.827364}, {0.384132, 0.892338, 0.237015}, {0.273664, 0.896739, -0.347804}, {0.361530, 0.784805, -0.503366}, {0.429700, 0.646636, -0.630253}, {-0.264834, -0.963970, -0.025005}, {0.940214, -0.336158, -0.054732}, {0.862650, 0.449603, 0.231714}}; size_t size = 25; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(10.0, 10.0, 10.0); Eigen::Vector3i imin(0, 0, 0); Eigen::Vector3i imax(size - 1, size - 1, size - 1); geometry::TriangleMesh tm; tm.vertices_.resize(size); Rand(tm.vertices_, dmin, dmax, 0); for (size_t i = 0; i < size; i++) tm.triangles_.push_back( Eigen::Vector3i(i, (i + 1) % size, (i + 2) % size)); tm.ComputeVertexNormals(); ExpectEQ(ref, tm.vertex_normals_); tm.ComputeVertexNormals(); ExpectEQ(ref, tm.vertex_normals_); } TEST(TriangleMesh, ComputeAdjacencyList) { // 4-sided pyramid with A as top vertex, bottom has two triangles Eigen::Vector3d A(0, 0, 1); // 0 Eigen::Vector3d B(1, 1, 0); // 1 Eigen::Vector3d C(-1, 1, 0); // 2 Eigen::Vector3d D(-1, -1, 0); // 3 Eigen::Vector3d E(1, -1, 0); // 4 std::vector vertices{A, B, C, D, E}; geometry::TriangleMesh tm; tm.vertices_.insert(tm.vertices_.end(), std::begin(vertices), std::end(vertices)); tm.triangles_ = {Eigen::Vector3i(0, 1, 2), Eigen::Vector3i(0, 2, 3), Eigen::Vector3i(0, 3, 4), Eigen::Vector3i(0, 4, 1), Eigen::Vector3i(1, 2, 4), Eigen::Vector3i(2, 3, 4)}; EXPECT_FALSE(tm.HasAdjacencyList()); tm.ComputeAdjacencyList(); EXPECT_TRUE(tm.HasAdjacencyList()); // A EXPECT_TRUE(tm.adjacency_list_[0] == std::unordered_set({1, 2, 3, 4})); // B EXPECT_TRUE(tm.adjacency_list_[1] == std::unordered_set({0, 2, 4})); // C EXPECT_TRUE(tm.adjacency_list_[2] == std::unordered_set({0, 1, 3, 4})); // D EXPECT_TRUE(tm.adjacency_list_[3] == std::unordered_set({0, 2, 4})); // E EXPECT_TRUE(tm.adjacency_list_[4] == std::unordered_set({0, 1, 2, 3})); } TEST(TriangleMesh, Purge) { std::vector ref_vertices = { {839.215686, 392.156863, 780.392157}, {796.078431, 909.803922, 196.078431}, {333.333333, 764.705882, 274.509804}, {552.941176, 474.509804, 627.450980}, {364.705882, 509.803922, 949.019608}, {913.725490, 635.294118, 713.725490}, {141.176471, 603.921569, 15.686275}, {239.215686, 133.333333, 803.921569}, {152.941176, 400.000000, 129.411765}, {105.882353, 996.078431, 215.686275}, {509.803922, 835.294118, 611.764706}, {294.117647, 635.294118, 521.568627}, {490.196078, 972.549020, 290.196078}, {768.627451, 525.490196, 768.627451}, {400.000000, 890.196078, 282.352941}, {349.019608, 803.921569, 917.647059}, {66.666667, 949.019608, 525.490196}, {82.352941, 192.156863, 662.745098}, {890.196078, 345.098039, 62.745098}, {19.607843, 454.901961, 62.745098}, {235.294118, 968.627451, 901.960784}, {847.058824, 262.745098, 537.254902}, {372.549020, 756.862745, 509.803922}, {666.666667, 529.411765, 39.215686}}; std::vector ref_vertex_normals = { {839.215686, 392.156863, 780.392157}, {796.078431, 909.803922, 196.078431}, {333.333333, 764.705882, 274.509804}, {552.941176, 474.509804, 627.450980}, {364.705882, 509.803922, 949.019608}, {913.725490, 635.294118, 713.725490}, {141.176471, 603.921569, 15.686275}, {239.215686, 133.333333, 803.921569}, {152.941176, 400.000000, 129.411765}, {105.882353, 996.078431, 215.686275}, {509.803922, 835.294118, 611.764706}, {294.117647, 635.294118, 521.568627}, {490.196078, 972.549020, 290.196078}, {768.627451, 525.490196, 768.627451}, {400.000000, 890.196078, 282.352941}, {349.019608, 803.921569, 917.647059}, {66.666667, 949.019608, 525.490196}, {82.352941, 192.156863, 662.745098}, {890.196078, 345.098039, 62.745098}, {19.607843, 454.901961, 62.745098}, {235.294118, 968.627451, 901.960784}, {847.058824, 262.745098, 537.254902}, {372.549020, 756.862745, 509.803922}, {666.666667, 529.411765, 39.215686}}; std::vector ref_vertex_colors = { {839.215686, 392.156863, 780.392157}, {796.078431, 909.803922, 196.078431}, {333.333333, 764.705882, 274.509804}, {552.941176, 474.509804, 627.450980}, {364.705882, 509.803922, 949.019608}, {913.725490, 635.294118, 713.725490}, {141.176471, 603.921569, 15.686275}, {239.215686, 133.333333, 803.921569}, {152.941176, 400.000000, 129.411765}, {105.882353, 996.078431, 215.686275}, {509.803922, 835.294118, 611.764706}, {294.117647, 635.294118, 521.568627}, {490.196078, 972.549020, 290.196078}, {768.627451, 525.490196, 768.627451}, {400.000000, 890.196078, 282.352941}, {349.019608, 803.921569, 917.647059}, {66.666667, 949.019608, 525.490196}, {82.352941, 192.156863, 662.745098}, {890.196078, 345.098039, 62.745098}, {19.607843, 454.901961, 62.745098}, {235.294118, 968.627451, 901.960784}, {847.058824, 262.745098, 537.254902}, {372.549020, 756.862745, 509.803922}, {666.666667, 529.411765, 39.215686}}; std::vector ref_triangles = { {20, 9, 18}, {19, 21, 4}, {8, 18, 6}, {13, 11, 15}, {8, 12, 22}, {21, 15, 17}, {3, 14, 0}, {5, 3, 19}, {2, 23, 5}, {12, 20, 14}, {7, 15, 12}, {11, 23, 6}, {9, 21, 6}, {8, 19, 22}, {1, 22, 12}, {1, 4, 15}, {21, 8, 1}, {0, 10, 1}, {5, 23, 21}, {20, 6, 12}, {8, 18, 12}, {16, 12, 0}}; std::vector ref_triangle_normals = { {839.215686, 392.156863, 780.392157}, {796.078431, 909.803922, 196.078431}, {333.333333, 764.705882, 274.509804}, {552.941176, 474.509804, 627.450980}, {364.705882, 509.803922, 949.019608}, {913.725490, 635.294118, 713.725490}, {141.176471, 603.921569, 15.686275}, {239.215686, 133.333333, 803.921569}, {105.882353, 996.078431, 215.686275}, {509.803922, 835.294118, 611.764706}, {294.117647, 635.294118, 521.568627}, {490.196078, 972.549020, 290.196078}, {400.000000, 890.196078, 282.352941}, {349.019608, 803.921569, 917.647059}, {66.666667, 949.019608, 525.490196}, {82.352941, 192.156863, 662.745098}, {890.196078, 345.098039, 62.745098}, {19.607843, 454.901961, 62.745098}, {235.294118, 968.627451, 901.960784}, {847.058824, 262.745098, 537.254902}, {372.549020, 756.862745, 509.803922}, {666.666667, 529.411765, 39.215686}}; int size = 25; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); Eigen::Vector3i imin(0, 0, 0); Eigen::Vector3i imax(size - 1, size - 1, size - 1); geometry::TriangleMesh tm0; geometry::TriangleMesh tm1; tm0.vertices_.resize(size); tm0.vertex_normals_.resize(size); tm0.vertex_colors_.resize(size); tm0.triangles_.resize(size); tm0.triangle_normals_.resize(size); tm1.vertices_.resize(size); tm1.vertex_normals_.resize(size); tm1.vertex_colors_.resize(size); tm1.triangles_.resize(size); tm1.triangle_normals_.resize(size); Rand(tm0.vertices_, dmin, dmax, 0); Rand(tm0.vertex_normals_, dmin, dmax, 0); Rand(tm0.vertex_colors_, dmin, dmax, 0); Rand(tm0.triangles_, imin, imax, 0); Rand(tm0.triangle_normals_, dmin, dmax, 0); Rand(tm1.vertices_, dmin, dmax, 0); Rand(tm1.vertex_normals_, dmin, dmax, 0); Rand(tm1.vertex_colors_, dmin, dmax, 1); Rand(tm1.triangles_, imin, imax, 0); Rand(tm1.triangle_normals_, dmin, dmax, 0); geometry::TriangleMesh tm = tm0 + tm1; tm.RemoveDuplicatedVertices(); tm.RemoveDuplicatedTriangles(); tm.RemoveUnreferencedVertices(); tm.RemoveDegenerateTriangles(); ExpectEQ(ref_vertices, tm.vertices_); ExpectEQ(ref_vertex_normals, tm.vertex_normals_); ExpectEQ(ref_vertex_colors, tm.vertex_colors_); ExpectEQ(ref_triangles, tm.triangles_); ExpectEQ(ref_triangle_normals, tm.triangle_normals_); } TEST(TriangleMesh, MergeCloseVertices) { geometry::TriangleMesh mesh; mesh.vertices_ = {{0.000000, 0.000000, 0.000000}, {0.000000, 0.200000, 0.000000}, {1.000000, 0.200000, 0.000000}, {1.000000, 0.000000, 0.000000}}; mesh.vertex_normals_ = {{0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; mesh.triangles_ = {{0, 2, 1}, {2, 0, 3}}; mesh.triangle_normals_ = {{0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; geometry::TriangleMesh ref; ref.vertices_ = {{0.000000, 0.100000, 0.000000}, {1.000000, 0.100000, 0.000000}}; ref.vertex_normals_ = {{0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; ref.triangles_ = {{0, 1, 0}, {1, 0, 1}}; ref.triangle_normals_ = {{0.000000, 0.000000, 0.000000}, {0.000000, 0.000000, -0.000000}}; mesh.MergeCloseVertices(1); ExpectMeshEQ(mesh, ref); mesh.vertices_ = {{0.000000, 0.000000, 0.000000}, {0.000000, 0.200000, 0.000000}, {1.000000, 0.200000, 0.000000}, {1.000000, 0.000000, 0.000000}}; mesh.vertex_normals_ = {{0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; mesh.triangles_ = {{0, 2, 1}, {2, 0, 3}}; mesh.triangle_normals_ = {{0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; ref.vertices_ = {{0.000000, 0.000000, 0.000000}, {0.000000, 0.200000, 0.000000}, {1.000000, 0.200000, 0.000000}, {1.000000, 0.000000, 0.000000}}; ref.vertex_normals_ = {{0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; ref.triangles_ = {{0, 2, 1}, {2, 0, 3}}; ref.triangle_normals_ = {{0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; mesh.MergeCloseVertices(0.1); ExpectMeshEQ(mesh, ref); } TEST(TriangleMesh, SamplePointsUniformly) { auto mesh_empty = geometry::TriangleMesh(); EXPECT_THROW(mesh_empty.SamplePointsUniformly(100), std::runtime_error); std::vector vertices = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0}}; std::vector triangles = {{0, 1, 2}}; auto mesh_simple = geometry::TriangleMesh(); mesh_simple.vertices_ = vertices; mesh_simple.triangles_ = triangles; size_t n_points = 100; auto pcd_simple = mesh_simple.SamplePointsUniformly(n_points); EXPECT_TRUE(pcd_simple->points_.size() == n_points); EXPECT_TRUE(pcd_simple->colors_.size() == 0); EXPECT_TRUE(pcd_simple->normals_.size() == 0); std::vector colors = {{1, 0, 0}, {1, 0, 0}, {1, 0, 0}}; std::vector normals = {{0, 1, 0}, {0, 1, 0}, {0, 1, 0}}; mesh_simple.vertex_colors_ = colors; mesh_simple.vertex_normals_ = normals; pcd_simple = mesh_simple.SamplePointsUniformly(n_points); EXPECT_TRUE(pcd_simple->points_.size() == n_points); EXPECT_TRUE(pcd_simple->colors_.size() == n_points); EXPECT_TRUE(pcd_simple->normals_.size() == n_points); for (size_t pidx = 0; pidx < n_points; ++pidx) { ExpectEQ(pcd_simple->colors_[pidx], Eigen::Vector3d(1, 0, 0)); ExpectEQ(pcd_simple->normals_[pidx], Eigen::Vector3d(0, 1, 0)); } // use triangle normal instead of the vertex normals EXPECT_FALSE(mesh_simple.HasTriangleNormals()); pcd_simple = mesh_simple.SamplePointsUniformly(n_points, true); // the mesh now has triangle normals as a side effect. EXPECT_TRUE(mesh_simple.HasTriangleNormals()); EXPECT_TRUE(pcd_simple->points_.size() == n_points); EXPECT_TRUE(pcd_simple->colors_.size() == n_points); EXPECT_TRUE(pcd_simple->normals_.size() == n_points); for (size_t pidx = 0; pidx < n_points; ++pidx) { ExpectEQ(pcd_simple->colors_[pidx], Eigen::Vector3d(1, 0, 0)); ExpectEQ(pcd_simple->normals_[pidx], Eigen::Vector3d(0, 0, 1)); } // use triangle normal, this time the mesh has no vertex normals mesh_simple.vertex_normals_.clear(); pcd_simple = mesh_simple.SamplePointsUniformly(n_points, true); EXPECT_TRUE(pcd_simple->points_.size() == n_points); EXPECT_TRUE(pcd_simple->colors_.size() == n_points); EXPECT_TRUE(pcd_simple->normals_.size() == n_points); for (size_t pidx = 0; pidx < n_points; ++pidx) { ExpectEQ(pcd_simple->colors_[pidx], Eigen::Vector3d(1, 0, 0)); ExpectEQ(pcd_simple->normals_[pidx], Eigen::Vector3d(0, 0, 1)); } } TEST(TriangleMesh, FilterSharpen) { auto mesh = std::make_shared(); mesh->vertices_ = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0}, {-1, 0, 0}, {0, -1, 0}}; mesh->triangles_ = {{0, 1, 2}, {0, 2, 3}, {0, 3, 4}, {0, 4, 1}}; mesh = mesh->FilterSharpen(1, 1); std::vector ref1 = { {0, 0, 0}, {4, 0, 0}, {0, 4, 0}, {-4, 0, 0}, {0, -4, 0}}; ExpectEQ(mesh->vertices_, ref1); mesh = mesh->FilterSharpen(9, 0.1); std::vector ref2 = {{0, 0, 0}, {42.417997, 0, 0}, {0, 42.417997, 0}, {-42.417997, 0, 0}, {0, -42.417997, 0}}; ExpectEQ(mesh->vertices_, ref2); } TEST(TriangleMesh, FilterSmoothSimple) { auto mesh = std::make_shared(); mesh->vertices_ = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0}, {-1, 0, 0}, {0, -1, 0}}; mesh->triangles_ = {{0, 1, 2}, {0, 2, 3}, {0, 3, 4}, {0, 4, 1}}; mesh = mesh->FilterSmoothSimple(1); std::vector ref1 = {{0, 0, 0}, {0.25, 0, 0}, {0, 0.25, 0}, {-0.25, 0, 0}, {0, -0.25, 0}}; ExpectEQ(mesh->vertices_, ref1, 1e-4); mesh = mesh->FilterSmoothSimple(3); std::vector ref2 = {{0, 0, 0}, {0.003906, 0, 0}, {0, 0.003906, 0}, {-0.003906, 0, 0}, {0, -0.003906, 0}}; ExpectEQ(mesh->vertices_, ref2, 1e-4); } TEST(TriangleMesh, FilterSmoothLaplacian) { auto mesh = std::make_shared(); mesh->vertices_ = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0}, {-1, 0, 0}, {0, -1, 0}}; mesh->triangles_ = {{0, 1, 2}, {0, 2, 3}, {0, 3, 4}, {0, 4, 1}}; mesh = mesh->FilterSmoothLaplacian(1, 0.5); std::vector ref1 = { {0, 0, 0}, {0.5, 0, 0}, {0, 0.5, 0}, {-0.5, 0, 0}, {0, -0.5, 0}}; ExpectEQ(mesh->vertices_, ref1, 1e-3); mesh = mesh->FilterSmoothLaplacian(10, 0.5); std::vector ref2 = {{0, 0, 0}, {0.000488, 0, 0}, {0, 0.000488, 0}, {-0.000488, 0, 0}, {0, -0.000488, 0}}; ExpectEQ(mesh->vertices_, ref2, 1e-3); } TEST(TriangleMesh, FilterSmoothTaubin) { auto mesh = std::make_shared(); mesh->vertices_ = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0}, {-1, 0, 0}, {0, -1, 0}}; mesh->triangles_ = {{0, 1, 2}, {0, 2, 3}, {0, 3, 4}, {0, 4, 1}}; mesh = mesh->FilterSmoothTaubin(1, 0.5, -0.53); std::vector ref1 = {{0, 0, 0}, {0.765, 0, 0}, {0, 0.765, 0}, {-0.765, 0, 0}, {0, -0.765, 0}}; ExpectEQ(mesh->vertices_, ref1, 1e-4); mesh = mesh->FilterSmoothTaubin(10, 0.5, -0.53); std::vector ref2 = {{0, 0, 0}, {0.052514, 0, 0}, {0, 0.052514, 0}, {-0.052514, 0, 0}, {0, -0.052514, 0}}; ExpectEQ(mesh->vertices_, ref2, 1e-4); } TEST(TriangleMesh, HasVertices) { int size = 100; geometry::TriangleMesh tm; EXPECT_FALSE(tm.HasVertices()); tm.vertices_.resize(size); EXPECT_TRUE(tm.HasVertices()); } TEST(TriangleMesh, HasTriangles) { int size = 100; geometry::TriangleMesh tm; EXPECT_FALSE(tm.HasTriangles()); tm.vertices_.resize(size); tm.triangles_.resize(size); EXPECT_TRUE(tm.HasTriangles()); } TEST(TriangleMesh, HasVertexNormals) { int size = 100; geometry::TriangleMesh tm; EXPECT_FALSE(tm.HasVertexNormals()); tm.vertices_.resize(size); tm.vertex_normals_.resize(size); EXPECT_TRUE(tm.HasVertexNormals()); } TEST(TriangleMesh, HasVertexColors) { int size = 100; geometry::TriangleMesh tm; EXPECT_FALSE(tm.HasVertexColors()); tm.vertices_.resize(size); tm.vertex_colors_.resize(size); EXPECT_TRUE(tm.HasVertexColors()); } TEST(TriangleMesh, HasTriangleNormals) { int size = 100; geometry::TriangleMesh tm; EXPECT_FALSE(tm.HasTriangleNormals()); tm.vertices_.resize(size); tm.triangles_.resize(size); tm.triangle_normals_.resize(size); EXPECT_TRUE(tm.HasTriangleNormals()); } TEST(TriangleMesh, NormalizeNormals) { std::vector ref_vertex_normals = { {0.692861, 0.323767, 0.644296}, {0.650010, 0.742869, 0.160101}, {0.379563, 0.870761, 0.312581}, {0.575046, 0.493479, 0.652534}, {0.320665, 0.448241, 0.834418}, {0.691127, 0.480526, 0.539850}, {0.227557, 0.973437, 0.025284}, {0.281666, 0.156994, 0.946582}, {0.341869, 0.894118, 0.289273}, {0.103335, 0.972118, 0.210498}, {0.441745, 0.723783, 0.530094}, {0.336903, 0.727710, 0.597441}, {0.434917, 0.862876, 0.257471}, {0.636619, 0.435239, 0.636619}, {0.393717, 0.876213, 0.277918}, {0.275051, 0.633543, 0.723167}, {0.061340, 0.873191, 0.483503}, {0.118504, 0.276510, 0.953677}, {0.930383, 0.360677, 0.065578}, {0.042660, 0.989719, 0.136513}, {0.175031, 0.720545, 0.670953}, {0.816905, 0.253392, 0.518130}, {0.377967, 0.767871, 0.517219}, {0.782281, 0.621223, 0.046017}, {0.314385, 0.671253, 0.671253}}; std::vector ref_triangle_normals = { {0.331843, 0.660368, 0.673642}, {0.920309, 0.198342, 0.337182}, {0.778098, 0.279317, 0.562624}, {0.547237, 0.723619, 0.420604}, {0.360898, 0.671826, 0.646841}, {0.657733, 0.738934, 0.146163}, {0.929450, 0.024142, 0.368159}, {0.160811, 0.969595, 0.184460}, {0.922633, 0.298499, 0.244226}, {0.874092, 0.189272, 0.447370}, {0.776061, 0.568382, 0.273261}, {0.663812, 0.544981, 0.512200}, {0.763905, 0.227940, 0.603732}, {0.518555, 0.758483, 0.394721}, {0.892885, 0.283206, 0.350074}, {0.657978, 0.751058, 0.054564}, {0.872328, 0.483025, 0.075698}, {0.170605, 0.588415, 0.790356}, {0.982336, 0.178607, 0.055815}, {0.881626, 0.121604, 0.456013}, {0.616413, 0.573987, 0.539049}, {0.372896, 0.762489, 0.528733}, {0.669715, 0.451103, 0.589905}, {0.771164, 0.057123, 0.634068}, {0.620625, 0.620625, 0.479217}}; int size = 25; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(10.0, 10.0, 10.0); geometry::TriangleMesh tm; tm.vertex_normals_.resize(size); tm.triangle_normals_.resize(size); Rand(tm.vertex_normals_, dmin, dmax, 0); Rand(tm.triangle_normals_, dmin, dmax, 1); tm.NormalizeNormals(); ExpectEQ(ref_vertex_normals, tm.vertex_normals_); ExpectEQ(ref_triangle_normals, tm.triangle_normals_); } TEST(TriangleMesh, PaintUniformColor) { int size = 25; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(10.0, 10.0, 10.0); geometry::TriangleMesh tm; tm.vertices_.resize(size); tm.vertex_colors_.resize(size); Eigen::Vector3d color(233. / 255., 171. / 255., 53.0 / 255.); tm.PaintUniformColor(color); for (size_t i = 0; i < tm.vertex_colors_.size(); i++) ExpectEQ(color, tm.vertex_colors_[i]); } TEST(TriangleMesh, EulerPoincareCharacteristic) { EXPECT_TRUE(geometry::TriangleMesh::CreateBox() ->EulerPoincareCharacteristic() == 2); EXPECT_TRUE(geometry::TriangleMesh::CreateSphere() ->EulerPoincareCharacteristic() == 2); EXPECT_TRUE(geometry::TriangleMesh::CreateCylinder() ->EulerPoincareCharacteristic() == 2); EXPECT_TRUE(geometry::TriangleMesh::CreateCone() ->EulerPoincareCharacteristic() == 2); EXPECT_TRUE(geometry::TriangleMesh::CreateTorus() ->EulerPoincareCharacteristic() == 0); geometry::TriangleMesh mesh0; mesh0.vertices_ = {{0, 0, 0}, {1, 0, 0}, {1, 1, 0}, {1, 1, 1}, {-1, 0, 0}, {-1, 1, 0}, {-1, 1, 1}}; mesh0.triangles_ = {{0, 1, 2}, {0, 1, 3}, {0, 2, 3}, {1, 2, 3}, {0, 4, 5}, {0, 4, 6}, {0, 5, 6}, {4, 5, 6}}; EXPECT_TRUE(mesh0.EulerPoincareCharacteristic() == 3); geometry::TriangleMesh mesh1; mesh1.vertices_ = {{0, 0, 0}, {0, 0, 1}, {0, 1, 1}, {0, 0, 2}, {1, 0.5, 1}}; mesh1.triangles_ = {{0, 1, 2}, {1, 2, 3}, {1, 2, 4}}; EXPECT_TRUE(mesh1.EulerPoincareCharacteristic() == 1); } TEST(TriangleMesh, IsEdgeManifold) { EXPECT_TRUE(geometry::TriangleMesh::CreateBox()->IsEdgeManifold(true)); EXPECT_TRUE(geometry::TriangleMesh::CreateSphere()->IsEdgeManifold(true)); EXPECT_TRUE(geometry::TriangleMesh::CreateCylinder()->IsEdgeManifold(true)); EXPECT_TRUE(geometry::TriangleMesh::CreateCone()->IsEdgeManifold(true)); EXPECT_TRUE(geometry::TriangleMesh::CreateTorus()->IsEdgeManifold(true)); EXPECT_TRUE(geometry::TriangleMesh::CreateBox()->IsEdgeManifold(false)); EXPECT_TRUE(geometry::TriangleMesh::CreateSphere()->IsEdgeManifold(false)); EXPECT_TRUE( geometry::TriangleMesh::CreateCylinder()->IsEdgeManifold(false)); EXPECT_TRUE(geometry::TriangleMesh::CreateCone()->IsEdgeManifold(false)); EXPECT_TRUE(geometry::TriangleMesh::CreateTorus()->IsEdgeManifold(false)); geometry::TriangleMesh mesh0; mesh0.vertices_ = {{0, 0, 0}, {0, 0, 1}, {0, 1, 1}, {0, 0, 2}, {1, 0.5, 1}}; mesh0.triangles_ = {{0, 1, 2}, {1, 2, 3}, {1, 2, 4}}; EXPECT_FALSE(mesh0.IsEdgeManifold(true)); EXPECT_FALSE(mesh0.IsEdgeManifold(false)); geometry::TriangleMesh mesh1; mesh1.vertices_ = {{0, 0, 0}, {0, 0, 1}, {0, 1, 1}, {0, 0, 2}}; mesh1.triangles_ = {{0, 1, 2}, {1, 2, 3}}; EXPECT_TRUE(mesh1.IsEdgeManifold(true)); EXPECT_FALSE(mesh1.IsEdgeManifold(false)); } TEST(TriangleMesh, IsVertexManifold) { EXPECT_TRUE(geometry::TriangleMesh::CreateBox()->IsVertexManifold()); EXPECT_TRUE(geometry::TriangleMesh::CreateSphere()->IsVertexManifold()); EXPECT_TRUE(geometry::TriangleMesh::CreateCylinder()->IsVertexManifold()); EXPECT_TRUE(geometry::TriangleMesh::CreateCone()->IsVertexManifold()); EXPECT_TRUE(geometry::TriangleMesh::CreateTorus()->IsVertexManifold()); geometry::TriangleMesh mesh0; mesh0.vertices_ = {{0, 0, 0}, {1, 1, 1}, {1, 0, 1}, {0, 1, 1}, {1, 1, -1}, {1, 0, -1}}; mesh0.triangles_ = {{0, 1, 2}, {0, 2, 3}, {0, 4, 5}}; EXPECT_FALSE(mesh0.IsVertexManifold()); geometry::TriangleMesh mesh1; mesh1.vertices_ = {{0, 0, 0}, {1, 1, 1}, {1, 0, 1}, {0, 1, 1}, {1, 1, -1}, {1, 0, -1}, {0, 1, -1}}; mesh1.triangles_ = {{0, 1, 2}, {0, 2, 3}, {0, 4, 5}, {0, 5, 6}}; EXPECT_FALSE(mesh1.IsVertexManifold()); } TEST(TriangleMesh, IsSelfIntersecting) { EXPECT_FALSE(geometry::TriangleMesh::CreateBox()->IsSelfIntersecting()); EXPECT_FALSE(geometry::TriangleMesh::CreateSphere()->IsSelfIntersecting()); EXPECT_FALSE( geometry::TriangleMesh::CreateCylinder()->IsSelfIntersecting()); EXPECT_FALSE(geometry::TriangleMesh::CreateCone()->IsSelfIntersecting()); EXPECT_FALSE(geometry::TriangleMesh::CreateTorus()->IsSelfIntersecting()); // simple intersection geometry::TriangleMesh mesh0; mesh0.vertices_ = {{0, 0, 0}, {0, 1, 0}, {1, 0, 0}, {1, 1, 0}, {0.5, 0.5, -1}, {0, 1, 1}, {1, 0, 1}}; mesh0.triangles_ = {{0, 1, 2}, {1, 2, 3}, {4, 5, 6}}; EXPECT_TRUE(mesh0.IsSelfIntersecting()); // co-planar intersection geometry::TriangleMesh mesh1; mesh1.vertices_ = {{0, 0, 0}, {0, 1, 0}, {1, 0, 0}, {0.1, 0.1, 0}, {0.1, 1.1, 0}, {1.1, 0.1, 0}}; mesh1.triangles_ = {{0, 1, 2}, {3, 4, 5}}; EXPECT_TRUE(mesh1.IsSelfIntersecting()); } TEST(TriangleMesh, GetVolume) { EXPECT_NEAR(geometry::TriangleMesh::CreateBox()->GetVolume(), 1.0, 0.01); EXPECT_NEAR(geometry::TriangleMesh::CreateSphere()->GetVolume(), 4.0 / 3.0 * M_PI, 0.05); } TEST(TriangleMesh, ClusterConnectedTriangles) { // Test 1 geometry::TriangleMesh mesh; mesh.vertices_ = { {0.000000, 0.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}, {1.000000, 0.000000, 1.000000}, {0.000000, 1.000000, 0.000000}, {1.000000, 1.000000, 0.000000}, {0.000000, 1.000000, 1.000000}, {1.000000, 1.000000, 1.000000}, {0.000000, 0.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}, {1.000000, 0.000000, 1.000000}, {0.000000, 1.000000, 0.000000}, {1.000000, 1.000000, 0.000000}, {0.000000, 1.000000, 1.000000}, {1.000000, 1.000000, 1.000000}, {0.000000, 0.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}, {1.000000, 0.000000, 1.000000}, {0.000000, 1.000000, 0.000000}, {1.000000, 1.000000, 0.000000}, {0.000000, 1.000000, 1.000000}, {1.000000, 1.000000, 1.000000}, {0.000000, 0.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}, {1.000000, 0.000000, 1.000000}, {0.000000, 1.000000, 0.000000}, {1.000000, 1.000000, 0.000000}, {0.000000, 1.000000, 1.000000}, {1.000000, 1.000000, 1.000000}}; mesh.triangles_ = {{4, 7, 5}, {4, 6, 7}, {0, 2, 4}, {2, 6, 4}, {0, 1, 2}, {1, 3, 2}, {1, 5, 7}, {1, 7, 3}, {2, 3, 7}, {2, 7, 6}, {0, 4, 1}, {1, 4, 5}, {12, 15, 13}, {12, 14, 15}, {8, 10, 12}, {10, 14, 12}, {8, 9, 10}, {9, 11, 10}, {9, 13, 15}, {9, 15, 11}, {10, 11, 15}, {10, 15, 14}, {8, 12, 9}, {9, 12, 13}, {20, 23, 21}, {20, 22, 23}, {16, 18, 20}, {18, 22, 20}, {16, 17, 18}, {17, 19, 18}, {17, 21, 23}, {17, 23, 19}, {18, 19, 23}, {18, 23, 22}, {16, 20, 17}, {17, 20, 21}, {28, 31, 29}, {28, 30, 31}, {24, 26, 28}, {26, 30, 28}, {24, 25, 26}, {25, 27, 26}, {25, 29, 31}, {25, 31, 27}, {26, 27, 31}, {26, 31, 30}, {24, 28, 25}, {25, 28, 29}}; std::vector gt_clusters = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3}; std::vector gt_cluster_n_triangles = {12, 12, 12, 12}; std::vector gt_cluster_area = {6.0, 6.0, 6.0, 6.0}; std::vector clusters; std::vector cluster_n_triangles; std::vector cluster_area; std::tie(clusters, cluster_n_triangles, cluster_area) = mesh.ClusterConnectedTriangles(); EXPECT_EQ(gt_clusters, clusters); EXPECT_EQ(cluster_n_triangles, gt_cluster_n_triangles); EXPECT_EQ(cluster_area, gt_cluster_area); // Test 2 mesh.Clear(); mesh.vertices_ = { {0.000000, 0.000000, 0.000000}, {0.500000, 0.866025, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.500000, 0.866025, 0.000000}, {2.000000, 0.000000, 0.000000}, {2.500000, 0.866025, 0.000000}, {3.000000, 0.000000, 0.000000}, {2.500000, 0.866025, 0.000000}, {4.000000, 0.000000, 0.000000}, {4.500000, 0.866025, 0.000000}, {5.000000, 0.000000, 0.000000}, {4.500000, 0.866025, 0.000000}, {6.000000, 0.000000, 0.000000}, {6.500000, 0.866025, 0.000000}, {7.000000, 0.000000, 0.000000}, {6.500000, 0.866025, 0.000000}}; mesh.triangles_ = {{0, 1, 2}, {12, 14, 15}, {4, 5, 6}, {8, 10, 11}, {8, 9, 10}, {4, 6, 7}, {12, 13, 14}, {0, 2, 3}}; gt_clusters = {0, 1, 2, 3, 3, 2, 1, 0}; gt_cluster_n_triangles = {2, 2, 2, 2}; gt_cluster_area = {0.866025, 0.866025, 0.866025, 0.866025}; std::tie(clusters, cluster_n_triangles, cluster_area) = mesh.ClusterConnectedTriangles(); EXPECT_EQ(gt_clusters, clusters); EXPECT_EQ(cluster_n_triangles, gt_cluster_n_triangles); EXPECT_EQ(cluster_area, gt_cluster_area); } TEST(TriangleMesh, RemoveTrianglesByMask) { geometry::TriangleMesh mesh_in; geometry::TriangleMesh mesh_gt; mesh_in.vertices_ = { {0.000000, 0.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}, {1.000000, 0.000000, 1.000000}, {0.000000, 1.000000, 0.000000}, {1.000000, 1.000000, 0.000000}, {0.000000, 1.000000, 1.000000}, {1.000000, 1.000000, 1.000000}, {0.488681, 0.819323, 0.638359}, {0.481610, 0.823406, 0.638359}, {0.481610, 0.815241, 0.638359}, {0.752265, 0.943083, 0.892225}, {0.745194, 0.947166, 0.892225}, {0.745194, 0.939001, 0.892225}, {0.424683, 0.903004, 0.423322}, {0.417612, 0.907086, 0.423322}, {0.417612, 0.898921, 0.423322}}; mesh_in.vertex_normals_ = { {-0.577350, -0.577350, -0.577350}, {0.577350, -0.577350, -0.577350}, {-0.577350, -0.577350, 0.577350}, {0.577350, -0.577350, 0.577350}, {-0.577350, 0.577350, -0.577350}, {0.577350, 0.577350, -0.577350}, {-0.577350, 0.577350, 0.577350}, {0.577350, 0.577350, 0.577350}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; mesh_in.triangles_ = {{4, 7, 5}, {4, 6, 7}, {0, 2, 4}, {2, 6, 4}, {0, 1, 2}, {1, 3, 2}, {1, 5, 7}, {1, 7, 3}, {2, 3, 7}, {2, 7, 6}, {0, 4, 1}, {1, 4, 5}, {8, 9, 10}, {11, 12, 13}, {14, 15, 16}}; mesh_in.triangle_normals_ = { {0.000000, 1.000000, 0.000000}, {0.000000, 1.000000, 0.000000}, {-1.000000, 0.000000, 0.000000}, {-1.000000, 0.000000, 0.000000}, {0.000000, -1.000000, 0.000000}, {0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, -1.000000}, {0.000000, 0.000000, -1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; mesh_in.triangle_uvs_ = { {0.0, 0.0}, {1.0, 0.0}, {0.0, 1.0}, {1.0, 0.0}, {1.0, 0.0}, {0.0, 1.0}, {0.0, 1.0}, {1.0, 0.0}, {0.0, 1.0}, {0.0, 0.0}, {0.0, 1.0}, {0.0, 1.0}, {1.0, 0.0}, {0.0, 1.0}, {0.0, 1.0}, {0.0, 1.0}, {0.0, 1.0}, {0.0, 1.0}, {0.0, 0.0}, {1.0, 0.0}, {1.0, 1.0}, {1.0, 0.0}, {1.0, 0.0}, {1.0, 1.0}, {0.0, 1.0}, {1.0, 0.0}, {1.0, 1.0}, {0.0, 0.0}, {1.0, 1.0}, {0.0, 1.0}, {1.0, 0.0}, {1.0, 1.0}, {0.0, 1.0}, {0.0, 1.0}, {1.0, 1.0}, {0.0, 1.0}, {0.0, 0.0}, {1.0, 1.0}, {0.5, 1.0}, {1.0, 0.0}, {1.0, 1.0}, {0.5, 1.0}, {0.0, 1.0}, {1.0, 1.0}, {0.5, 1.0}}; mesh_gt.vertices_ = { {0.000000, 0.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}, {1.000000, 0.000000, 1.000000}, {0.000000, 1.000000, 0.000000}, {1.000000, 1.000000, 0.000000}, {0.000000, 1.000000, 1.000000}, {1.000000, 1.000000, 1.000000}, {0.488681, 0.819323, 0.638359}, {0.481610, 0.823406, 0.638359}, {0.481610, 0.815241, 0.638359}, {0.752265, 0.943083, 0.892225}, {0.745194, 0.947166, 0.892225}, {0.745194, 0.939001, 0.892225}, {0.424683, 0.903004, 0.423322}, {0.417612, 0.907086, 0.423322}, {0.417612, 0.898921, 0.423322}}; mesh_gt.vertex_normals_ = { {-0.577350, -0.577350, -0.577350}, {0.577350, -0.577350, -0.577350}, {-0.577350, -0.577350, 0.577350}, {0.577350, -0.577350, 0.577350}, {-0.577350, 0.577350, -0.577350}, {0.577350, 0.577350, -0.577350}, {-0.577350, 0.577350, 0.577350}, {0.577350, 0.577350, 0.577350}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; mesh_gt.triangles_ = {{4, 7, 5}, {4, 6, 7}, {0, 2, 4}, {2, 6, 4}, {0, 1, 2}, {1, 3, 2}, {1, 5, 7}, {1, 7, 3}, {2, 3, 7}, {2, 7, 6}, {0, 4, 1}, {1, 4, 5}}; mesh_gt.triangle_normals_ = { {0.000000, 1.000000, 0.000000}, {0.000000, 1.000000, 0.000000}, {-1.000000, 0.000000, 0.000000}, {-1.000000, 0.000000, 0.000000}, {0.000000, -1.000000, 0.000000}, {0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, -1.000000}, {0.000000, 0.000000, -1.000000}}; mesh_gt.triangle_uvs_ = {{0.0, 0.0}, {1.0, 0.0}, {0.0, 1.0}, {1.0, 0.0}, {1.0, 0.0}, {0.0, 1.0}, {0.0, 1.0}, {1.0, 0.0}, {0.0, 1.0}, {0.0, 0.0}, {0.0, 1.0}, {0.0, 1.0}, {1.0, 0.0}, {0.0, 1.0}, {0.0, 1.0}, {0.0, 1.0}, {0.0, 1.0}, {0.0, 1.0}, {0.0, 0.0}, {1.0, 0.0}, {1.0, 1.0}, {1.0, 0.0}, {1.0, 0.0}, {1.0, 1.0}, {0.0, 1.0}, {1.0, 0.0}, {1.0, 1.0}, {0.0, 0.0}, {1.0, 1.0}, {0.0, 1.0}, {1.0, 0.0}, {1.0, 1.0}, {0.0, 1.0}, {0.0, 1.0}, {1.0, 1.0}, {0.0, 1.0}}; std::vector triangles_to_remove = {false, false, false, false, false, false, false, false, false, false, false, false, true, true, true}; mesh_in.RemoveTrianglesByMask(triangles_to_remove); ExpectMeshEQ(mesh_in, mesh_gt); } TEST(TriangleMesh, DeformAsRigidAsPossible) { geometry::TriangleMesh mesh_in; geometry::TriangleMesh mesh_gt; mesh_in.vertices_ = { {0.000000, 0.000000, 0.000000}, {0.000000, 1.000000, 0.000000}, {1.000000, 1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.500000, 0.500000, 0.000000}, {0.500000, 1.000000, 0.000000}, {0.000000, 0.500000, 0.000000}, {0.500000, 0.000000, 0.000000}, {1.000000, 0.500000, 0.000000}, {0.250000, 0.250000, 0.000000}, {0.250000, 0.500000, 0.000000}, {0.000000, 0.250000, 0.000000}, {0.750000, 0.750000, 0.000000}, {0.750000, 1.000000, 0.000000}, {0.500000, 0.750000, 0.000000}, {0.250000, 1.000000, 0.000000}, {0.000000, 0.750000, 0.000000}, {0.250000, 0.750000, 0.000000}, {0.750000, 0.500000, 0.000000}, {1.000000, 0.750000, 0.000000}, {0.250000, 0.000000, 0.000000}, {0.500000, 0.250000, 0.000000}, {0.750000, 0.000000, 0.000000}, {1.000000, 0.250000, 0.000000}, {0.750000, 0.250000, 0.000000}, {0.125000, 0.125000, 0.000000}, {0.125000, 0.250000, 0.000000}, {0.000000, 0.125000, 0.000000}, {0.375000, 0.375000, 0.000000}, {0.375000, 0.500000, 0.000000}, {0.250000, 0.375000, 0.000000}, {0.125000, 0.500000, 0.000000}, {0.000000, 0.375000, 0.000000}, {0.125000, 0.375000, 0.000000}, {0.625000, 0.625000, 0.000000}, {0.625000, 0.750000, 0.000000}, {0.500000, 0.625000, 0.000000}, {0.875000, 0.875000, 0.000000}, {0.875000, 1.000000, 0.000000}, {0.750000, 0.875000, 0.000000}, {0.625000, 1.000000, 0.000000}, {0.500000, 0.875000, 0.000000}, {0.625000, 0.875000, 0.000000}, {0.375000, 1.000000, 0.000000}, {0.250000, 0.875000, 0.000000}, {0.375000, 0.875000, 0.000000}, {0.125000, 1.000000, 0.000000}, {0.000000, 0.875000, 0.000000}, {0.125000, 0.875000, 0.000000}, {0.000000, 0.625000, 0.000000}, {0.125000, 0.625000, 0.000000}, {0.125000, 0.750000, 0.000000}, {0.375000, 0.625000, 0.000000}, {0.375000, 0.750000, 0.000000}, {0.250000, 0.625000, 0.000000}, {0.875000, 0.750000, 0.000000}, {1.000000, 0.875000, 0.000000}, {0.625000, 0.500000, 0.000000}, {0.750000, 0.625000, 0.000000}, {0.875000, 0.500000, 0.000000}, {1.000000, 0.625000, 0.000000}, {0.875000, 0.625000, 0.000000}, {0.375000, 0.250000, 0.000000}, {0.500000, 0.375000, 0.000000}, {0.125000, 0.000000, 0.000000}, {0.250000, 0.125000, 0.000000}, {0.375000, 0.000000, 0.000000}, {0.500000, 0.125000, 0.000000}, {0.375000, 0.125000, 0.000000}, {0.625000, 0.000000, 0.000000}, {0.750000, 0.125000, 0.000000}, {0.625000, 0.125000, 0.000000}, {0.875000, 0.000000, 0.000000}, {1.000000, 0.125000, 0.000000}, {0.875000, 0.125000, 0.000000}, {1.000000, 0.375000, 0.000000}, {0.875000, 0.375000, 0.000000}, {0.875000, 0.250000, 0.000000}, {0.625000, 0.375000, 0.000000}, {0.625000, 0.250000, 0.000000}, {0.750000, 0.375000, 0.000000}}; mesh_in.triangles_ = { {0, 25, 27}, {25, 9, 26}, {26, 11, 27}, {25, 26, 27}, {9, 28, 30}, {28, 4, 29}, {29, 10, 30}, {28, 29, 30}, {10, 31, 33}, {31, 6, 32}, {32, 11, 33}, {31, 32, 33}, {9, 30, 26}, {30, 10, 33}, {33, 11, 26}, {30, 33, 26}, {4, 34, 36}, {34, 12, 35}, {35, 14, 36}, {34, 35, 36}, {12, 37, 39}, {37, 2, 38}, {38, 13, 39}, {37, 38, 39}, {13, 40, 42}, {40, 5, 41}, {41, 14, 42}, {40, 41, 42}, {12, 39, 35}, {39, 13, 42}, {42, 14, 35}, {39, 42, 35}, {5, 43, 45}, {43, 15, 44}, {44, 17, 45}, {43, 44, 45}, {15, 46, 48}, {46, 1, 47}, {47, 16, 48}, {46, 47, 48}, {16, 49, 51}, {49, 6, 50}, {50, 17, 51}, {49, 50, 51}, {15, 48, 44}, {48, 16, 51}, {51, 17, 44}, {48, 51, 44}, {4, 36, 29}, {36, 14, 52}, {52, 10, 29}, {36, 52, 29}, {14, 41, 53}, {41, 5, 45}, {45, 17, 53}, {41, 45, 53}, {17, 50, 54}, {50, 6, 31}, {31, 10, 54}, {50, 31, 54}, {14, 53, 52}, {53, 17, 54}, {54, 10, 52}, {53, 54, 52}, {2, 37, 56}, {37, 12, 55}, {55, 19, 56}, {37, 55, 56}, {12, 34, 58}, {34, 4, 57}, {57, 18, 58}, {34, 57, 58}, {18, 59, 61}, {59, 8, 60}, {60, 19, 61}, {59, 60, 61}, {12, 58, 55}, {58, 18, 61}, {61, 19, 55}, {58, 61, 55}, {4, 28, 63}, {28, 9, 62}, {62, 21, 63}, {28, 62, 63}, {9, 25, 65}, {25, 0, 64}, {64, 20, 65}, {25, 64, 65}, {20, 66, 68}, {66, 7, 67}, {67, 21, 68}, {66, 67, 68}, {9, 65, 62}, {65, 20, 68}, {68, 21, 62}, {65, 68, 62}, {7, 69, 71}, {69, 22, 70}, {70, 24, 71}, {69, 70, 71}, {22, 72, 74}, {72, 3, 73}, {73, 23, 74}, {72, 73, 74}, {23, 75, 77}, {75, 8, 76}, {76, 24, 77}, {75, 76, 77}, {22, 74, 70}, {74, 23, 77}, {77, 24, 70}, {74, 77, 70}, {4, 63, 57}, {63, 21, 78}, {78, 18, 57}, {63, 78, 57}, {21, 67, 79}, {67, 7, 71}, {71, 24, 79}, {67, 71, 79}, {24, 76, 80}, {76, 8, 59}, {59, 18, 80}, {76, 59, 80}, {21, 79, 78}, {79, 24, 80}, {80, 18, 78}, {79, 80, 78}}; mesh_gt.vertices_ = { {0.000000, 0.000000, 0.000000}, {0.000000, 1.000000, 0.000000}, {1.000000, 1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.500000, 0.500000, 0.400000}, {0.500000, 1.000000, 0.000000}, {0.000000, 0.500000, 0.000000}, {0.500000, 0.000000, 0.000000}, {1.000000, 0.500000, 0.000000}, {0.250492, 0.250492, 0.040018}, {0.248198, 0.500000, 0.102907}, {0.000000, 0.250000, 0.000000}, {0.749508, 0.749508, 0.040018}, {0.750000, 1.000000, 0.000000}, {0.500000, 0.751802, 0.102907}, {0.250000, 1.000000, 0.000000}, {0.000000, 0.750000, 0.000000}, {0.250492, 0.749508, 0.040018}, {0.751802, 0.500000, 0.102907}, {1.000000, 0.750000, 0.000000}, {0.250000, 0.000000, 0.000000}, {0.500000, 0.248198, 0.102907}, {0.750000, 0.000000, 0.000000}, {1.000000, 0.250000, 0.000000}, {0.749508, 0.250492, 0.040018}, {0.125000, 0.125000, 0.000000}, {0.125000, 0.250000, 0.000000}, {0.000000, 0.125000, 0.000000}, {0.366700, 0.366700, 0.181470}, {0.361404, 0.500000, 0.242836}, {0.248165, 0.374408, 0.083221}, {0.125000, 0.500000, 0.000000}, {0.000000, 0.375000, 0.000000}, {0.125000, 0.375000, 0.000000}, {0.633300, 0.633300, 0.181470}, {0.625592, 0.751835, 0.083221}, {0.500000, 0.638596, 0.242836}, {0.875000, 0.875000, 0.000000}, {0.875000, 1.000000, 0.000000}, {0.750000, 0.875000, 0.000000}, {0.625000, 1.000000, 0.000000}, {0.500000, 0.875000, 0.000000}, {0.625000, 0.875000, 0.000000}, {0.375000, 1.000000, 0.000000}, {0.250000, 0.875000, 0.000000}, {0.375000, 0.875000, 0.000000}, {0.125000, 1.000000, 0.000000}, {0.000000, 0.875000, 0.000000}, {0.125000, 0.875000, 0.000000}, {0.000000, 0.625000, 0.000000}, {0.125000, 0.625000, 0.000000}, {0.125000, 0.750000, 0.000000}, {0.366700, 0.633300, 0.181470}, {0.374408, 0.751835, 0.083221}, {0.248165, 0.625592, 0.083221}, {0.875000, 0.750000, 0.000000}, {1.000000, 0.875000, 0.000000}, {0.638596, 0.500000, 0.242836}, {0.751835, 0.625592, 0.083221}, {0.875000, 0.500000, 0.000000}, {1.000000, 0.625000, 0.000000}, {0.875000, 0.625000, 0.000000}, {0.374408, 0.248165, 0.083221}, {0.500000, 0.361404, 0.242836}, {0.125000, 0.000000, 0.000000}, {0.250000, 0.125000, 0.000000}, {0.375000, 0.000000, 0.000000}, {0.500000, 0.125000, 0.000000}, {0.375000, 0.125000, 0.000000}, {0.625000, 0.000000, 0.000000}, {0.750000, 0.125000, 0.000000}, {0.625000, 0.125000, 0.000000}, {0.875000, 0.000000, 0.000000}, {1.000000, 0.125000, 0.000000}, {0.875000, 0.125000, 0.000000}, {1.000000, 0.375000, 0.000000}, {0.875000, 0.375000, 0.000000}, {0.875000, 0.250000, 0.000000}, {0.633300, 0.366700, 0.181470}, {0.625592, 0.248165, 0.083221}, {0.751835, 0.374408, 0.083221}}; mesh_gt.triangles_ = { {0, 25, 27}, {25, 9, 26}, {26, 11, 27}, {25, 26, 27}, {9, 28, 30}, {28, 4, 29}, {29, 10, 30}, {28, 29, 30}, {10, 31, 33}, {31, 6, 32}, {32, 11, 33}, {31, 32, 33}, {9, 30, 26}, {30, 10, 33}, {33, 11, 26}, {30, 33, 26}, {4, 34, 36}, {34, 12, 35}, {35, 14, 36}, {34, 35, 36}, {12, 37, 39}, {37, 2, 38}, {38, 13, 39}, {37, 38, 39}, {13, 40, 42}, {40, 5, 41}, {41, 14, 42}, {40, 41, 42}, {12, 39, 35}, {39, 13, 42}, {42, 14, 35}, {39, 42, 35}, {5, 43, 45}, {43, 15, 44}, {44, 17, 45}, {43, 44, 45}, {15, 46, 48}, {46, 1, 47}, {47, 16, 48}, {46, 47, 48}, {16, 49, 51}, {49, 6, 50}, {50, 17, 51}, {49, 50, 51}, {15, 48, 44}, {48, 16, 51}, {51, 17, 44}, {48, 51, 44}, {4, 36, 29}, {36, 14, 52}, {52, 10, 29}, {36, 52, 29}, {14, 41, 53}, {41, 5, 45}, {45, 17, 53}, {41, 45, 53}, {17, 50, 54}, {50, 6, 31}, {31, 10, 54}, {50, 31, 54}, {14, 53, 52}, {53, 17, 54}, {54, 10, 52}, {53, 54, 52}, {2, 37, 56}, {37, 12, 55}, {55, 19, 56}, {37, 55, 56}, {12, 34, 58}, {34, 4, 57}, {57, 18, 58}, {34, 57, 58}, {18, 59, 61}, {59, 8, 60}, {60, 19, 61}, {59, 60, 61}, {12, 58, 55}, {58, 18, 61}, {61, 19, 55}, {58, 61, 55}, {4, 28, 63}, {28, 9, 62}, {62, 21, 63}, {28, 62, 63}, {9, 25, 65}, {25, 0, 64}, {64, 20, 65}, {25, 64, 65}, {20, 66, 68}, {66, 7, 67}, {67, 21, 68}, {66, 67, 68}, {9, 65, 62}, {65, 20, 68}, {68, 21, 62}, {65, 68, 62}, {7, 69, 71}, {69, 22, 70}, {70, 24, 71}, {69, 70, 71}, {22, 72, 74}, {72, 3, 73}, {73, 23, 74}, {72, 73, 74}, {23, 75, 77}, {75, 8, 76}, {76, 24, 77}, {75, 76, 77}, {22, 74, 70}, {74, 23, 77}, {77, 24, 70}, {74, 77, 70}, {4, 63, 57}, {63, 21, 78}, {78, 18, 57}, {63, 78, 57}, {21, 67, 79}, {67, 7, 71}, {71, 24, 79}, {67, 71, 79}, {24, 76, 80}, {76, 8, 59}, {59, 18, 80}, {76, 59, 80}, {21, 79, 78}, {79, 24, 80}, {80, 18, 78}, {79, 80, 78}}; std::vector constraint_ids = { 1, 46, 47, 48, 16, 51, 49, 50, 6, 31, 33, 32, 11, 26, 27, 25, 0, 64, 65, 20, 66, 68, 67, 7, 69, 71, 70, 22, 72, 74, 73, 3, 15, 44, 43, 45, 5, 41, 40, 42, 13, 39, 37, 38, 2, 56, 55, 19, 61, 60, 59, 8, 76, 75, 77, 23, 4}; std::vector constraint_pos = { {0.000000, 1.000000, 0.000000}, {0.125000, 1.000000, 0.000000}, {0.000000, 0.875000, 0.000000}, {0.125000, 0.875000, 0.000000}, {0.000000, 0.750000, 0.000000}, {0.125000, 0.750000, 0.000000}, {0.000000, 0.625000, 0.000000}, {0.125000, 0.625000, 0.000000}, {0.000000, 0.500000, 0.000000}, {0.125000, 0.500000, 0.000000}, {0.125000, 0.375000, 0.000000}, {0.000000, 0.375000, 0.000000}, {0.000000, 0.250000, 0.000000}, {0.125000, 0.250000, 0.000000}, {0.000000, 0.125000, 0.000000}, {0.125000, 0.125000, 0.000000}, {0.000000, 0.000000, 0.000000}, {0.125000, 0.000000, 0.000000}, {0.250000, 0.125000, 0.000000}, {0.250000, 0.000000, 0.000000}, {0.375000, 0.000000, 0.000000}, {0.375000, 0.125000, 0.000000}, {0.500000, 0.125000, 0.000000}, {0.500000, 0.000000, 0.000000}, {0.625000, 0.000000, 0.000000}, {0.625000, 0.125000, 0.000000}, {0.750000, 0.125000, 0.000000}, {0.750000, 0.000000, 0.000000}, {0.875000, 0.000000, 0.000000}, {0.875000, 0.125000, 0.000000}, {1.000000, 0.125000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.250000, 1.000000, 0.000000}, {0.250000, 0.875000, 0.000000}, {0.375000, 1.000000, 0.000000}, {0.375000, 0.875000, 0.000000}, {0.500000, 1.000000, 0.000000}, {0.500000, 0.875000, 0.000000}, {0.625000, 1.000000, 0.000000}, {0.625000, 0.875000, 0.000000}, {0.750000, 1.000000, 0.000000}, {0.750000, 0.875000, 0.000000}, {0.875000, 0.875000, 0.000000}, {0.875000, 1.000000, 0.000000}, {1.000000, 1.000000, 0.000000}, {1.000000, 0.875000, 0.000000}, {0.875000, 0.750000, 0.000000}, {1.000000, 0.750000, 0.000000}, {0.875000, 0.625000, 0.000000}, {1.000000, 0.625000, 0.000000}, {0.875000, 0.500000, 0.000000}, {1.000000, 0.500000, 0.000000}, {0.875000, 0.375000, 0.000000}, {1.000000, 0.375000, 0.000000}, {0.875000, 0.250000, 0.000000}, {1.000000, 0.250000, 0.000000}, {0.500000, 0.500000, 0.400000}}; auto mesh_deform = mesh_in.DeformAsRigidAsPossible(constraint_ids, constraint_pos, 50); ExpectMeshEQ(*mesh_deform, mesh_gt, 1e-5); } TEST(TriangleMesh, SelectByIndex) { std::vector ref_vertices = { {360.784314, 717.647059, 800.000000}, {90.196078, 133.333333, 517.647059}, {913.725490, 858.823529, 200.000000}, {647.058824, 360.784314, 286.274510}, {811.764706, 752.941176, 352.941176}, {764.705882, 333.333333, 533.333333}, {529.411765, 454.901961, 639.215686}, {39.215686, 411.764706, 694.117647}, {600.000000, 129.411765, 78.431373}, {447.058824, 486.274510, 792.156863}, {588.235294, 576.470588, 529.411765}, {47.058824, 525.490196, 176.470588}, {39.215686, 435.294118, 929.411765}, {866.666667, 545.098039, 737.254902}, {945.098039, 98.039216, 274.509804}, {341.176471, 47.058824, 764.705882}, {831.372549, 713.725490, 631.372549}, {811.764706, 682.352941, 909.803922}, {290.196078, 356.862745, 874.509804}, {90.196078, 960.784314, 866.666667}, {349.019608, 803.921569, 917.647059}, {886.274510, 945.098039, 54.901961}, {439.215686, 117.647059, 588.235294}, {635.294118, 984.313725, 337.254902}, {258.823529, 647.058824, 549.019608}}; std::vector ref_vertex_normals = { {717.647059, 800.000000, 674.509804}, {133.333333, 517.647059, 74.509804}, {858.823529, 200.000000, 792.156863}, {360.784314, 286.274510, 329.411765}, {752.941176, 352.941176, 996.078431}, {333.333333, 533.333333, 215.686275}, {454.901961, 639.215686, 713.725490}, {411.764706, 694.117647, 670.588235}, {129.411765, 78.431373, 376.470588}, {486.274510, 792.156863, 635.294118}, {576.470588, 529.411765, 592.156863}, {525.490196, 176.470588, 925.490196}, {435.294118, 929.411765, 929.411765}, {545.098039, 737.254902, 929.411765}, {98.039216, 274.509804, 239.215686}, {47.058824, 764.705882, 800.000000}, {713.725490, 631.372549, 513.725490}, {682.352941, 909.803922, 482.352941}, {356.862745, 874.509804, 341.176471}, {960.784314, 866.666667, 164.705882}, {803.921569, 917.647059, 66.666667}, {945.098039, 54.901961, 921.568627}, {117.647059, 588.235294, 576.470588}, {984.313725, 337.254902, 894.117647}, {647.058824, 549.019608, 917.647059}}; std::vector ref_vertex_colors = { {396.078431, 392.156863, 596.078431}, {160.784314, 862.745098, 462.745098}, {882.352941, 180.392157, 776.470588}, {200.000000, 698.039216, 886.274510}, {286.274510, 90.196078, 933.333333}, {756.862745, 133.333333, 74.509804}, {43.137255, 772.549020, 858.823529}, {882.352941, 156.862745, 827.450980}, {239.215686, 341.176471, 921.568627}, {635.294118, 184.313725, 623.529412}, {274.509804, 807.843137, 745.098039}, {47.058824, 800.000000, 678.431373}, {172.549020, 796.078431, 654.901961}, {513.725490, 341.176471, 94.117647}, {764.705882, 533.333333, 474.509804}, {337.254902, 133.333333, 3.921569}, {266.666667, 329.411765, 756.862745}, {831.372549, 870.588235, 976.470588}, {125.490196, 82.352941, 784.313725}, {450.980392, 411.764706, 403.921569}, {654.901961, 439.215686, 396.078431}, {168.627451, 525.490196, 596.078431}, {94.117647, 945.098039, 274.509804}, {203.921569, 400.000000, 678.431373}, {141.176471, 560.784314, 870.588235}}; std::vector ref_triangles = { {3, 6, 9}, {12, 15, 18}, {8, 11, 14}, {17, 20, 23}, {4, 7, 10}, {13, 16, 19}, {0, 3, 6}, {9, 12, 15}, {18, 21, 24}, {5, 8, 11}, {14, 17, 20}, {1, 4, 7}, {10, 13, 16}, {24, 12, 10}, {6, 9, 12}, {15, 18, 21}, {2, 5, 8}, {11, 14, 17}, {9, 10, 15}, {7, 10, 13}, {16, 19, 22}}; std::vector ref_triangle_normals = { {909.803922, 274.509804, 364.705882}, {635.294118, 15.686275, 152.941176}, {262.745098, 156.862745, 207.843137}, {392.156863, 635.294118, 133.333333}, {35.294118, 698.039216, 341.176471}, {698.039216, 749.019608, 588.235294}, {839.215686, 909.803922, 274.509804}, {364.705882, 635.294118, 15.686275}, {152.941176, 996.078431, 611.764706}, {90.196078, 262.745098, 156.862745}, {207.843137, 392.156863, 635.294118}, {811.764706, 35.294118, 698.039216}, {341.176471, 698.039216, 749.019608}, {933.333333, 796.078431, 992.156863}, {274.509804, 364.705882, 635.294118}, {15.686275, 152.941176, 996.078431}, {647.058824, 90.196078, 262.745098}, {156.862745, 207.843137, 392.156863}, {682.352941, 294.117647, 149.019608}, {698.039216, 341.176471, 698.039216}, {749.019608, 588.235294, 243.137255}}; int size = 1000; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); Eigen::Vector3i imin(0, 0, 0); Eigen::Vector3i imax(size - 1, size - 1, size - 1); geometry::TriangleMesh tm; tm.vertices_.resize(size); tm.vertex_normals_.resize(size); tm.vertex_colors_.resize(size); tm.triangles_.resize(size); tm.triangle_normals_.resize(size); Rand(tm.vertices_, dmin, dmax, 0); Rand(tm.vertex_normals_, dmin, dmax, 1); Rand(tm.vertex_colors_, dmin, dmax, 2); Rand(tm.triangles_, imin, imax, 3); Rand(tm.triangle_normals_, dmin, dmax, 4); std::vector indices(size / 40); Rand(indices, 0, size - 1, 0); auto output_tm = tm.SelectByIndex(indices); ExpectEQ(ref_vertices, output_tm->vertices_); ExpectEQ(ref_vertex_normals, output_tm->vertex_normals_); ExpectEQ(ref_vertex_colors, output_tm->vertex_colors_); ExpectEQ(ref_triangles, output_tm->triangles_); ExpectEQ(ref_triangle_normals, output_tm->triangle_normals_); } TEST(TriangleMesh, CropTriangleMesh) { std::vector ref_vertices = { {615.686275, 639.215686, 517.647059}, {615.686275, 760.784314, 772.549020}, {678.431373, 643.137255, 443.137255}, {345.098039, 529.411765, 454.901961}, {360.784314, 576.470588, 592.156863}, {317.647059, 666.666667, 525.490196}}; std::vector ref_vertex_normals = { {639.215686, 517.647059, 400.000000}, {760.784314, 772.549020, 282.352941}, {643.137255, 443.137255, 266.666667}, {529.411765, 454.901961, 639.215686}, {576.470588, 592.156863, 662.745098}, {666.666667, 525.490196, 847.058824}}; std::vector ref_vertex_colors = { {647.058824, 325.490196, 603.921569}, {941.176471, 121.568627, 513.725490}, {807.843137, 309.803922, 3.921569}, {686.274510, 43.137255, 772.549020}, {576.470588, 698.039216, 831.372549}, {854.901961, 341.176471, 878.431373}}; std::vector ref_triangles = {{1, 0, 3}, {5, 2, 4}}; std::vector ref_triangle_normals = { {125.490196, 160.784314, 913.725490}, {764.705882, 901.960784, 807.843137}}; int size = 1000; Eigen::Vector3d dmin(0.0, 0.0, 0.0); Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0); Eigen::Vector3i imin(0, 0, 0); Eigen::Vector3i imax(size - 1, size - 1, size - 1); geometry::TriangleMesh tm; tm.vertices_.resize(size); tm.vertex_normals_.resize(size); tm.vertex_colors_.resize(size); tm.triangles_.resize(size); tm.triangle_normals_.resize(size); Rand(tm.vertices_, dmin, dmax, 0); Rand(tm.vertex_normals_, dmin, dmax, 1); Rand(tm.vertex_colors_, dmin, dmax, 2); Rand(tm.triangles_, imin, imax, 3); Rand(tm.triangle_normals_, dmin, dmax, 4); Eigen::Vector3d cropBoundMin(300.0, 300.0, 300.0); Eigen::Vector3d cropBoundMax(800.0, 800.0, 800.0); auto output_tm = tm.Crop( geometry::AxisAlignedBoundingBox(cropBoundMin, cropBoundMax)); ExpectEQ(ref_vertices, output_tm->vertices_); ExpectEQ(ref_vertex_normals, output_tm->vertex_normals_); ExpectEQ(ref_vertex_colors, output_tm->vertex_colors_); ExpectEQ(ref_triangles, output_tm->triangles_); ExpectEQ(ref_triangle_normals, output_tm->triangle_normals_); } TEST(TriangleMesh, CreateFromPointCloudPoisson) { geometry::PointCloud pcd; pcd.points_ = { {-0.215279, 0.121252, 0.965784}, {0.079266, 0.643799, 0.755848}, {0.001534, -0.691225, 0.720568}, {0.663793, 0.567055, 0.478929}, {-0.929397, -0.262081, 0.238929}, {0.741441, -0.628480, 0.209423}, {-0.844085, 0.510828, 0.131410}, {0.001478, -0.999346, 0.006834}, {-0.075616, 0.987936, -0.077669}, {-0.599516, -0.738522, -0.297292}, {0.952159, -0.061734, -0.284187}, {0.616751, -0.543117, -0.562931}, {-0.066283, 0.653032, -0.748836}, {0.408743, 0.133839, -0.900872}, {-0.165481, -0.187750, -0.964982}}; pcd.normals_ = { {-0.227789, 0.134744, 0.961608}, {0.084291, 0.646929, 0.752716}, {-0.002898, -0.694359, 0.717585}, {0.666542, 0.565546, 0.476952}, {-0.930073, -0.260750, 0.237944}, {0.740792, -0.629608, 0.208559}, {-0.843751, 0.511569, 0.130869}, {0.001436, -0.999352, 0.006806}, {-0.076095, 0.987987, -0.077349}, {-0.598343, -0.739977, -0.296067}, {0.952641, -0.060018, -0.283016}, {0.620242, -0.541600, -0.560605}, {-0.071145, 0.656184, -0.745733}, {0.414599, 0.141599, -0.897109}, {-0.172774, -0.204293, -0.960815}}; pcd.colors_ = { {0.380208, 0.759545, 0.171340}, {0.288485, 0.063605, 0.643738}, {0.997344, 0.888908, 0.802631}, {0.249312, 0.621767, 0.718174}, {0.953116, 0.032469, 0.828249}, {0.763606, 0.914161, 0.458050}, {0.735258, 0.974643, 0.458129}, {0.985589, 0.649781, 0.064284}, {0.714224, 0.413067, 0.800399}, {0.433070, 0.962528, 0.138826}, {0.066043, 0.867413, 0.276809}, {0.321559, 0.662692, 0.011849}, {0.353338, 0.784374, 0.899556}, {0.248052, 0.431480, 0.339511}, {0.880225, 0.614243, 0.379607}}; geometry::TriangleMesh mesh_gt; mesh_gt.vertices_ = {{-0.535122, -0.678988, -0.546102}, {-0.856971, -0.552207, -0.546102}, {0.011381, -0.852840, -0.546102}, {-1.081624, -0.478258, -0.546102}, {0.557883, -0.571511, -0.546102}, {0.576765, -0.552207, -0.546102}, {0.739454, -0.005705, -0.546102}, {-1.081624, 0.339532, -0.546102}, {-0.720499, 0.540798, -0.546102}, {-0.535122, 0.637316, -0.546102}, {0.011381, 0.788968, -0.546102}, {0.559266, 0.540798, -0.546102}, {0.557883, 0.542438, -0.546102}, {-0.535122, -0.552207, -0.761037}, {0.011381, -0.552207, -0.838612}, {-1.081624, -0.005705, -1.024482}, {-0.535122, -0.005705, -1.038080}, {0.011381, -0.005705, -1.001911}, {0.557883, -0.552207, -0.565591}, {0.557883, -0.005705, -0.755925}, {-0.535122, 0.540798, -0.678056}, {0.011381, 0.540798, -0.807635}, {0.557883, 0.540798, -0.547422}, {-0.535122, -0.868303, 0.000401}, {-0.957409, -0.552207, 0.000401}, {0.011381, -0.981478, 0.000401}, {-1.081624, -0.413615, 0.000401}, {0.557883, -0.735421, 0.000401}, {0.756038, -0.552207, 0.000401}, {1.045917, -0.005705, 0.000401}, {-1.081624, 0.279246, 0.000401}, {-0.856915, 0.540798, 0.000401}, {-0.535122, 0.806682, 0.000401}, {0.011381, 0.995774, 0.000401}, {0.876659, 0.540798, 0.000401}, {0.557883, 0.851917, 0.000401}, {0.011381, -0.775497, 0.546903}, {-0.494233, -0.552207, 0.546903}, {-0.535122, -0.513868, 0.546903}, {-0.768247, -0.005705, 0.546903}, {0.557883, -0.601114, 0.546903}, {0.621286, -0.552207, 0.546903}, {0.891579, -0.005705, 0.546903}, {-0.535122, 0.523186, 0.546903}, {-0.516131, 0.540798, 0.546903}, {0.011381, 0.784610, 0.546903}, {0.613233, 0.540798, 0.546903}, {0.557883, 0.585415, 0.546903}, {-0.535122, -0.552207, 0.520166}, {-1.081624, -0.005705, 0.145186}, {-0.535122, 0.540798, 0.529053}, {0.011381, -0.552207, 0.785752}, {-0.535122, -0.005705, 0.773541}, {0.011381, -0.005705, 1.045411}, {0.557883, -0.552207, 0.612610}, {0.557883, -0.005705, 0.880973}, {0.011381, 0.540798, 0.802148}, {0.557883, 0.540798, 0.593895}}; mesh_gt.vertex_normals_ = {{-0.363328, -0.449218, -0.596538}, {-0.363328, -0.449218, -0.596538}, {-0.363328, -0.449218, -0.596538}, {-0.363328, -0.449218, -0.596538}, {0.748097, -0.287048, -0.401288}, {0.748097, -0.287048, -0.401288}, {0.624682, -0.539519, -0.560146}, {-0.067839, 0.778945, -0.391656}, {-0.067839, 0.778945, -0.391656}, {-0.067839, 0.778945, -0.391656}, {-0.071381, 0.660859, -0.743014}, {0.375628, 0.123591, -0.806610}, {0.375628, 0.123591, -0.806610}, {-0.363328, -0.449218, -0.596538}, {-0.363328, -0.449218, -0.596538}, {-0.363328, -0.449218, -0.596538}, {-0.363328, -0.449218, -0.596538}, {-0.176322, -0.208808, -0.957378}, {0.748097, -0.287048, -0.401288}, {0.748097, -0.287048, -0.401288}, {-0.067839, 0.778945, -0.391656}, {-0.067839, 0.778945, -0.391656}, {0.414932, 0.141672, -0.897776}, {-0.596520, -0.737720, -0.301946}, {-0.596520, -0.737720, -0.301946}, {-0.363328, -0.449218, -0.596538}, {-0.363328, -0.449218, -0.596538}, {0.748097, -0.287048, -0.401288}, {0.748097, -0.287048, -0.401288}, {0.953452, -0.063973, -0.286170}, {-0.067839, 0.778945, -0.391656}, {-0.067839, 0.778945, -0.391656}, {-0.067839, 0.778945, -0.391656}, {-0.076419, 0.990524, -0.082928}, {0.375628, 0.123591, -0.806610}, {0.375628, 0.123591, -0.806610}, {-0.005705, -0.991160, 0.013986}, {-0.005705, -0.991160, 0.013986}, {-0.919808, -0.270837, 0.240837}, {-0.919808, -0.270837, 0.240837}, {0.670787, -0.570145, 0.185455}, {0.744380, -0.632658, 0.209540}, {0.670787, -0.570145, 0.185455}, {-0.842126, 0.510549, 0.137740}, {-0.506191, 0.304790, 0.516282}, {-0.506191, 0.304790, 0.516282}, {0.358188, 0.573235, 0.581938}, {0.358188, 0.573235, 0.581938}, {-0.298994, -0.629163, 0.308635}, {-0.919808, -0.270837, 0.240837}, {-0.842126, 0.510549, 0.137740}, {-0.009941, -0.693804, 0.708891}, {-0.298994, -0.629163, 0.308635}, {-0.298994, -0.629163, 0.308635}, {0.670787, -0.570145, 0.185455}, {0.670787, -0.570145, 0.185455}, {-0.232912, 0.137861, 0.956863}, {0.358188, 0.573235, 0.581938}}; mesh_gt.vertex_colors_ = { {0.651185, 0.780322, 0.270666}, {0.651185, 0.780322, 0.270666}, {0.651185, 0.780322, 0.270666}, {0.651185, 0.780322, 0.270666}, {0.213958, 0.758281, 0.162138}, {0.213958, 0.758281, 0.162138}, {0.319808, 0.664247, 0.014295}, {0.535119, 0.601156, 0.828728}, {0.535119, 0.601156, 0.828728}, {0.535119, 0.601156, 0.828728}, {0.356296, 0.781393, 0.898403}, {0.280560, 0.453637, 0.352787}, {0.280560, 0.453637, 0.352787}, {0.651185, 0.780322, 0.270666}, {0.651185, 0.780322, 0.270666}, {0.651185, 0.780322, 0.270666}, {0.651185, 0.780322, 0.270666}, {0.876498, 0.616945, 0.377835}, {0.213958, 0.758281, 0.162138}, {0.213958, 0.758281, 0.162138}, {0.535119, 0.601156, 0.828728}, {0.535119, 0.601156, 0.828728}, {0.248333, 0.431672, 0.339626}, {0.436619, 0.959563, 0.140971}, {0.436619, 0.959563, 0.140971}, {0.651185, 0.780322, 0.270666}, {0.651185, 0.780322, 0.270666}, {0.213958, 0.758281, 0.162138}, {0.213958, 0.758281, 0.162138}, {0.068450, 0.865637, 0.274943}, {0.535119, 0.601156, 0.828728}, {0.535119, 0.601156, 0.828728}, {0.535119, 0.601156, 0.828728}, {0.711309, 0.416128, 0.800860}, {0.280560, 0.453637, 0.352787}, {0.280560, 0.453637, 0.352787}, {0.985049, 0.646890, 0.076101}, {0.985049, 0.646890, 0.076101}, {0.953348, 0.044255, 0.821904}, {0.953348, 0.044255, 0.821904}, {0.742035, 0.885688, 0.458892}, {0.763420, 0.913915, 0.458058}, {0.742035, 0.885688, 0.458892}, {0.732370, 0.972691, 0.455932}, {0.557746, 0.854674, 0.323112}, {0.557746, 0.854674, 0.323112}, {0.284898, 0.359292, 0.669062}, {0.284898, 0.359292, 0.669062}, {0.962866, 0.528193, 0.561334}, {0.953348, 0.044255, 0.821904}, {0.732370, 0.972691, 0.455932}, {0.996524, 0.880332, 0.796895}, {0.962866, 0.528193, 0.561334}, {0.962866, 0.528193, 0.561334}, {0.742035, 0.885688, 0.458892}, {0.742035, 0.885688, 0.458892}, {0.383097, 0.761093, 0.173810}, {0.284898, 0.359292, 0.669062}}; mesh_gt.triangles_ = { {1, 13, 0}, {0, 14, 2}, {13, 14, 0}, {1, 15, 13}, {15, 16, 13}, {1, 3, 15}, {14, 13, 16}, {16, 17, 14}, {2, 18, 4}, {14, 18, 2}, {4, 18, 5}, {18, 14, 17}, {17, 19, 18}, {18, 19, 6}, {6, 5, 18}, {7, 16, 15}, {7, 8, 16}, {8, 20, 16}, {21, 16, 20}, {17, 16, 21}, {9, 20, 8}, {10, 20, 9}, {21, 20, 10}, {22, 17, 21}, {19, 17, 22}, {19, 22, 11}, {11, 6, 19}, {22, 21, 10}, {10, 12, 22}, {11, 22, 12}, {24, 0, 23}, {1, 0, 24}, {0, 2, 25}, {25, 23, 0}, {3, 1, 24}, {24, 26, 3}, {2, 4, 27}, {27, 25, 2}, {27, 5, 28}, {4, 5, 27}, {28, 6, 29}, {5, 6, 28}, {8, 7, 30}, {30, 31, 8}, {32, 8, 31}, {9, 8, 32}, {33, 9, 32}, {10, 9, 33}, {6, 11, 34}, {34, 29, 6}, {12, 10, 33}, {33, 35, 12}, {34, 12, 35}, {11, 12, 34}, {24, 23, 48}, {36, 23, 25}, {36, 37, 23}, {37, 48, 23}, {38, 24, 48}, {38, 39, 24}, {39, 26, 24}, {39, 49, 26}, {38, 48, 37}, {25, 27, 40}, {40, 36, 25}, {27, 28, 41}, {41, 40, 27}, {28, 29, 42}, {42, 41, 28}, {39, 30, 49}, {39, 31, 30}, {39, 50, 31}, {39, 43, 50}, {44, 50, 43}, {32, 31, 50}, #if defined(__APPLE__) && defined(__arm64__) // Apple Silicon consistently triangulates the vertices differently {44, 45, 50}, {45, 32, 50}, #else {44, 32, 50}, {44, 45, 32}, #endif {45, 33, 32}, {42, 34, 46}, {29, 34, 42}, {47, 33, 45}, {35, 33, 47}, {34, 35, 47}, {47, 46, 34}, {37, 36, 51}, {39, 38, 52}, {53, 52, 51}, {52, 37, 51}, {52, 38, 37}, {36, 40, 54}, {54, 51, 36}, {54, 40, 41}, {51, 54, 55}, {55, 53, 51}, {55, 41, 42}, {54, 41, 55}, {43, 39, 52}, {56, 52, 53}, {56, 44, 52}, {44, 43, 52}, {45, 44, 56}, {56, 55, 57}, {53, 55, 56}, {55, 42, 46}, {46, 57, 55}, {45, 56, 57}, {57, 47, 45}, {57, 46, 47} }; std::vector densities_gt = { 0.39865168929100037, 0.32580316066741943, 0.39778709411621094, 0.2200755625963211, 0.428702175617218, 0.4288075268268585, 0.44350555539131165, 0.24208465218544006, 0.3794262409210205, 0.407772421836853, 0.41914406418800354, 0.4330996870994568, 0.4330378770828247, 0.3689049780368805, 0.4012255072593689, 0.07905912399291992, 0.30074167251586914, 0.3844510018825531, 0.4286557137966156, 0.43353089690208435, 0.3970388174057007, 0.41389259696006775, 0.4331146478652954, 0.39110293984413147, 0.3399316370487213, 0.3989846110343933, 0.294955313205719, 0.44293972849845886, 0.4377133548259735, 0.36585745215415955, 0.31271663308143616, 0.3885934352874756, 0.4121553897857666, 0.3849177360534668, 0.3899257779121399, 0.3932742774486542, 0.42859214544296265, 0.44281646609306335, 0.4422561824321747, 0.4249078631401062, 0.4210644066333771, 0.41715115308761597, 0.38326939940452576, 0.43757864832878113, 0.4378965198993683, 0.42082998156547546, 0.41933944821357727, 0.42220038175582886, 0.439664751291275, 0.3250156342983246, 0.437633752822876, 0.4227336645126343, 0.42734524607658386, 0.35958021879196167, 0.41651853919029236, 0.3831002116203308, 0.41637951135635376, 0.42157289385795593}; std::shared_ptr mesh_es; std::vector densities_es; #if __APPLE__ // TODO: To be investigated. // // macOS could sometimes be stuck on this test. Examples: // - https://github.com/isl-org/Open3D/runs/844549493#step:6:3150 // - https://github.com/isl-org/Open3D/runs/741891346#step:5:3146 // - https://github.com/isl-org/Open3D/runs/734021844#step:5:3169 // // We suspect that this is related to threading. Here we set n_threads=1, // and if the macOS CI still stuck on this test occasionally, we might need // to look somewhere else. std::tie(mesh_es, densities_es) = geometry::TriangleMesh::CreateFromPointCloudPoisson( pcd, 2, 0, 1.1f, false, /*n_threads=*/1); #else std::tie(mesh_es, densities_es) = geometry::TriangleMesh::CreateFromPointCloudPoisson(pcd, 2); #endif ExpectMeshEQ(*mesh_es, mesh_gt, 1e-4); ExpectEQ(densities_es, densities_gt, 1e-4); } TEST(TriangleMesh, CreateFromPointCloudAlphaShape) { geometry::PointCloud pcd; pcd.points_ = { {0.765822, 1.000000, 0.486627}, {0.034963, 1.000000, 0.632086}, {0.000000, 0.093962, 0.028012}, {0.000000, 0.910057, 0.049732}, {0.017178, 0.000000, 0.946382}, {0.972485, 0.000000, 0.431460}, {0.794109, 0.033417, 1.000000}, {0.700868, 0.648112, 1.000000}, {0.164379, 0.516339, 1.000000}, {0.521248, 0.377170, 0.000000}}; geometry::TriangleMesh mesh_gt; mesh_gt.vertices_ = { {0.521248, 0.377170, 0.000000}, {0.017178, 0.000000, 0.946382}, {0.972485, 0.000000, 0.431460}, {0.000000, 0.093962, 0.028012}, {0.164379, 0.516339, 1.000000}, {0.700868, 0.648112, 1.000000}, {0.765822, 1.000000, 0.486627}, {0.794109, 0.033417, 1.000000}, {0.034963, 1.000000, 0.632086}, {0.000000, 0.910057, 0.049732}}; mesh_gt.triangles_ = {{0, 2, 3}, {1, 2, 3}, {2, 5, 6}, {0, 2, 6}, {4, 5, 7}, {2, 5, 7}, {1, 2, 7}, {1, 4, 7}, {1, 4, 8}, {1, 3, 8}, {4, 5, 8}, {5, 6, 8}, {3, 8, 9}, {0, 3, 9}, {6, 8, 9}, {0, 6, 9}}; auto mesh_es = geometry::TriangleMesh::CreateFromPointCloudAlphaShape(pcd, 1); ExpectMeshEQ(*mesh_es, mesh_gt, 1e-6, false); } TEST(TriangleMesh, CreateMeshSphere) { std::vector ref_vertices = { {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, -1.000000}, {0.587785, 0.000000, 0.809017}, {0.475528, 0.345492, 0.809017}, {0.181636, 0.559017, 0.809017}, {-0.181636, 0.559017, 0.809017}, {-0.475528, 0.345492, 0.809017}, {-0.587785, 0.000000, 0.809017}, {-0.475528, -0.345492, 0.809017}, {-0.181636, -0.559017, 0.809017}, {0.181636, -0.559017, 0.809017}, {0.475528, -0.345492, 0.809017}, {0.951057, 0.000000, 0.309017}, {0.769421, 0.559017, 0.309017}, {0.293893, 0.904508, 0.309017}, {-0.293893, 0.904508, 0.309017}, {-0.769421, 0.559017, 0.309017}, {-0.951057, 0.000000, 0.309017}, {-0.769421, -0.559017, 0.309017}, {-0.293893, -0.904508, 0.309017}, {0.293893, -0.904508, 0.309017}, {0.769421, -0.559017, 0.309017}, {0.951057, 0.000000, -0.309017}, {0.769421, 0.559017, -0.309017}, {0.293893, 0.904508, -0.309017}, {-0.293893, 0.904508, -0.309017}, {-0.769421, 0.559017, -0.309017}, {-0.951057, 0.000000, -0.309017}, {-0.769421, -0.559017, -0.309017}, {-0.293893, -0.904508, -0.309017}, {0.293893, -0.904508, -0.309017}, {0.769421, -0.559017, -0.309017}, {0.587785, 0.000000, -0.809017}, {0.475528, 0.345492, -0.809017}, {0.181636, 0.559017, -0.809017}, {-0.181636, 0.559017, -0.809017}, {-0.475528, 0.345492, -0.809017}, {-0.587785, 0.000000, -0.809017}, {-0.475528, -0.345492, -0.809017}, {-0.181636, -0.559017, -0.809017}, {0.181636, -0.559017, -0.809017}, {0.475528, -0.345492, -0.809017}}; std::vector ref_triangles = { {0, 2, 3}, {1, 33, 32}, {0, 3, 4}, {1, 34, 33}, {0, 4, 5}, {1, 35, 34}, {0, 5, 6}, {1, 36, 35}, {0, 6, 7}, {1, 37, 36}, {0, 7, 8}, {1, 38, 37}, {0, 8, 9}, {1, 39, 38}, {0, 9, 10}, {1, 40, 39}, {0, 10, 11}, {1, 41, 40}, {0, 11, 2}, {1, 32, 41}, {12, 3, 2}, {12, 13, 3}, {13, 4, 3}, {13, 14, 4}, {14, 5, 4}, {14, 15, 5}, {15, 6, 5}, {15, 16, 6}, {16, 7, 6}, {16, 17, 7}, {17, 8, 7}, {17, 18, 8}, {18, 9, 8}, {18, 19, 9}, {19, 10, 9}, {19, 20, 10}, {20, 11, 10}, {20, 21, 11}, {21, 2, 11}, {21, 12, 2}, {22, 13, 12}, {22, 23, 13}, {23, 14, 13}, {23, 24, 14}, {24, 15, 14}, {24, 25, 15}, {25, 16, 15}, {25, 26, 16}, {26, 17, 16}, {26, 27, 17}, {27, 18, 17}, {27, 28, 18}, {28, 19, 18}, {28, 29, 19}, {29, 20, 19}, {29, 30, 20}, {30, 21, 20}, {30, 31, 21}, {31, 12, 21}, {31, 22, 12}, {32, 23, 22}, {32, 33, 23}, {33, 24, 23}, {33, 34, 24}, {34, 25, 24}, {34, 35, 25}, {35, 26, 25}, {35, 36, 26}, {36, 27, 26}, {36, 37, 27}, {37, 28, 27}, {37, 38, 28}, {38, 29, 28}, {38, 39, 29}, {39, 30, 29}, {39, 40, 30}, {40, 31, 30}, {40, 41, 31}, {41, 22, 31}, {41, 32, 22}}; auto output_tm = geometry::TriangleMesh::CreateSphere(1.0, 5); ExpectEQ(ref_vertices, output_tm->vertices_); ExpectEQ(ref_triangles, output_tm->triangles_); } TEST(TriangleMesh, CreateMeshCylinder) { std::vector ref_vertices = { {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, -1.000000}, {1.000000, 0.000000, 1.000000}, {0.309017, 0.951057, 1.000000}, {-0.809017, 0.587785, 1.000000}, {-0.809017, -0.587785, 1.000000}, {0.309017, -0.951057, 1.000000}, {1.000000, 0.000000, 0.500000}, {0.309017, 0.951057, 0.500000}, {-0.809017, 0.587785, 0.500000}, {-0.809017, -0.587785, 0.500000}, {0.309017, -0.951057, 0.500000}, {1.000000, 0.000000, 0.000000}, {0.309017, 0.951057, 0.000000}, {-0.809017, 0.587785, 0.000000}, {-0.809017, -0.587785, 0.000000}, {0.309017, -0.951057, 0.000000}, {1.000000, 0.000000, -0.500000}, {0.309017, 0.951057, -0.500000}, {-0.809017, 0.587785, -0.500000}, {-0.809017, -0.587785, -0.500000}, {0.309017, -0.951057, -0.500000}, {1.000000, 0.000000, -1.000000}, {0.309017, 0.951057, -1.000000}, {-0.809017, 0.587785, -1.000000}, {-0.809017, -0.587785, -1.000000}, {0.309017, -0.951057, -1.000000}}; std::vector ref_triangles = { {0, 2, 3}, {1, 23, 22}, {0, 3, 4}, {1, 24, 23}, {0, 4, 5}, {1, 25, 24}, {0, 5, 6}, {1, 26, 25}, {0, 6, 2}, {1, 22, 26}, {7, 3, 2}, {7, 8, 3}, {8, 4, 3}, {8, 9, 4}, {9, 5, 4}, {9, 10, 5}, {10, 6, 5}, {10, 11, 6}, {11, 2, 6}, {11, 7, 2}, {12, 8, 7}, {12, 13, 8}, {13, 9, 8}, {13, 14, 9}, {14, 10, 9}, {14, 15, 10}, {15, 11, 10}, {15, 16, 11}, {16, 7, 11}, {16, 12, 7}, {17, 13, 12}, {17, 18, 13}, {18, 14, 13}, {18, 19, 14}, {19, 15, 14}, {19, 20, 15}, {20, 16, 15}, {20, 21, 16}, {21, 12, 16}, {21, 17, 12}, {22, 18, 17}, {22, 23, 18}, {23, 19, 18}, {23, 24, 19}, {24, 20, 19}, {24, 25, 20}, {25, 21, 20}, {25, 26, 21}, {26, 17, 21}, {26, 22, 17}}; auto output_tm = geometry::TriangleMesh::CreateCylinder(1.0, 2.0, 5); ExpectEQ(ref_vertices, output_tm->vertices_); ExpectEQ(ref_triangles, output_tm->triangles_); } TEST(TriangleMesh, CreateMeshCone) { std::vector ref_vertices = { {0.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 2.000000}, {1.000000, 0.000000, 0.000000}, {0.309017, 0.951057, 0.000000}, {-0.809017, 0.587785, 0.000000}, {-0.809017, -0.587785, 0.000000}, {0.309017, -0.951057, 0.000000}}; std::vector ref_triangles = { {0, 3, 2}, {1, 2, 3}, {0, 4, 3}, {1, 3, 4}, {0, 5, 4}, {1, 4, 5}, {0, 6, 5}, {1, 5, 6}, {0, 2, 6}, {1, 6, 2}}; auto output_tm = geometry::TriangleMesh::CreateCone(1.0, 2.0, 5); ExpectEQ(ref_vertices, output_tm->vertices_); ExpectEQ(ref_triangles, output_tm->triangles_); } TEST(TriangleMesh, CreateMeshArrow) { std::vector ref_vertices = { {0.000000, 0.000000, 2.000000}, {0.000000, 0.000000, 0.000000}, {1.000000, 0.000000, 2.000000}, {0.309017, 0.951057, 2.000000}, {-0.809017, 0.587785, 2.000000}, {-0.809017, -0.587785, 2.000000}, {0.309017, -0.951057, 2.000000}, {1.000000, 0.000000, 1.500000}, {0.309017, 0.951057, 1.500000}, {-0.809017, 0.587785, 1.500000}, {-0.809017, -0.587785, 1.500000}, {0.309017, -0.951057, 1.500000}, {1.000000, 0.000000, 1.000000}, {0.309017, 0.951057, 1.000000}, {-0.809017, 0.587785, 1.000000}, {-0.809017, -0.587785, 1.000000}, {0.309017, -0.951057, 1.000000}, {1.000000, 0.000000, 0.500000}, {0.309017, 0.951057, 0.500000}, {-0.809017, 0.587785, 0.500000}, {-0.809017, -0.587785, 0.500000}, {0.309017, -0.951057, 0.500000}, {1.000000, 0.000000, 0.000000}, {0.309017, 0.951057, 0.000000}, {-0.809017, 0.587785, 0.000000}, {-0.809017, -0.587785, 0.000000}, {0.309017, -0.951057, 0.000000}, {0.000000, 0.000000, 2.000000}, {0.000000, 0.000000, 3.000000}, {1.500000, 0.000000, 2.000000}, {0.463525, 1.426585, 2.000000}, {-1.213525, 0.881678, 2.000000}, {-1.213525, -0.881678, 2.000000}, {0.463525, -1.426585, 2.000000}}; std::vector ref_triangles = { {0, 2, 3}, {1, 23, 22}, {0, 3, 4}, {1, 24, 23}, {0, 4, 5}, {1, 25, 24}, {0, 5, 6}, {1, 26, 25}, {0, 6, 2}, {1, 22, 26}, {7, 3, 2}, {7, 8, 3}, {8, 4, 3}, {8, 9, 4}, {9, 5, 4}, {9, 10, 5}, {10, 6, 5}, {10, 11, 6}, {11, 2, 6}, {11, 7, 2}, {12, 8, 7}, {12, 13, 8}, {13, 9, 8}, {13, 14, 9}, {14, 10, 9}, {14, 15, 10}, {15, 11, 10}, {15, 16, 11}, {16, 7, 11}, {16, 12, 7}, {17, 13, 12}, {17, 18, 13}, {18, 14, 13}, {18, 19, 14}, {19, 15, 14}, {19, 20, 15}, {20, 16, 15}, {20, 21, 16}, {21, 12, 16}, {21, 17, 12}, {22, 18, 17}, {22, 23, 18}, {23, 19, 18}, {23, 24, 19}, {24, 20, 19}, {24, 25, 20}, {25, 21, 20}, {25, 26, 21}, {26, 17, 21}, {26, 22, 17}, {27, 30, 29}, {28, 29, 30}, {27, 31, 30}, {28, 30, 31}, {27, 32, 31}, {28, 31, 32}, {27, 33, 32}, {28, 32, 33}, {27, 29, 33}, {28, 33, 29}}; auto output_tm = geometry::TriangleMesh::CreateArrow(1.0, 1.5, 2.0, 1.0, 5); ExpectEQ(ref_vertices, output_tm->vertices_); ExpectEQ(ref_triangles, output_tm->triangles_); } TEST(TriangleMesh, CreateMeshCoordinateFrame) { std::vector ref_vertices = { {0, 0, 0.006}, {0.000938607, 0, 0.00592613}, {0.000927051, 0.00014683, 0.00592613}, {-5.0038e-19, -0.00272394, 0.00534604}, {0.000426119, -0.00269041, 0.00534604}, {-6.47846e-19, -0.00352671, 0.0048541}, {-0.00534604, 6.54701e-19, 0.00272394}, {-0.00528022, -0.000836305, 0.00272394}, {-0.00570634, 6.98825e-19, 0.0018541}, {3.62871e-19, 0.00592613, -0.000938607}, {-0.000927051, 0.00585317, -0.000938607}, {3.49412e-19, 0.00570634, -0.0018541}, {0.00424264, 0, -0.00424264}, {0.00419041, 0.000663695, -0.00424264}, {0.00352671, 0, -0.0048541}, {-3.40593e-19, -0.0018541, -0.00570634}, {0.000290045, -0.00183127, -0.00570634}, {-1.72419e-19, -0.000938607, -0.00592613}, {0, 0.08, 0.0035}, {0.00108156, 0.08, 0.0033287}, {0, 0.06, 0.0035}, {-0.0035, 4.28626e-19, 0.06}, {-0.0033287, -0.00108156, 0.06}, {-0.0035, 4.28626e-19, 0.04}}; std::vector ref_vertex_normals = { {0.000000, 0.000000, 1.000000}, {0.182067, -0.006090, 0.983267}, {0.180778, 0.022466, 0.983267}, {-0.005496, -0.461174, 0.887292}, {0.066715, -0.456356, 0.887292}, {-0.004990, -0.592357, 0.805660}, {-0.891954, 0.002800, 0.452117}, {-0.881411, -0.136766, 0.452117}, {-0.951468, 0.001906, 0.307743}, {-0.000965, 0.987790, -0.155790}, {-0.155477, 0.975477, -0.155790}, {-0.001906, 0.951468, -0.307743}, {0.710008, 0.004362, -0.704180}, {0.700584, 0.115378, -0.704180}, {0.592357, 0.004990, -0.805660}, {0.005866, -0.321047, -0.947045}, {0.056017, -0.316177, -0.947045}, {0.006090, -0.182067, -0.983267}, {-0.052367, 0.115722, 0.991900}, {0.256710, 0.115722, 0.959536}, {0.000000, 0.000000, 1.000000}, {-1.000000, 0.000000, 0.000000}, {-0.951057, -0.309017, 0.000000}, {-1.000000, 0.000000, 0.000000}}; std::vector ref_vertex_colors = { {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.500000, 0.500000, 0.500000}, {0.000000, 1.000000, 0.000000}, {0.000000, 1.000000, 0.000000}, {0.000000, 1.000000, 0.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}, {0.000000, 0.000000, 1.000000}}; std::vector ref_triangles = { {0, 1, 2}, {5, 4, 3}, {8, 7, 6}, {11, 10, 9}, {14, 13, 12}, {17, 16, 15}, {20, 19, 18}, {23, 22, 21}}; std::vector ref_triangle_normals = { {0.078458, 0.006175, 0.996898}, {0.041087, -0.522057, 0.851920}, {-0.921447, -0.072519, 0.381676}, {-0.076304, 0.969535, -0.232765}, {0.648601, 0.051046, -0.759415}, {0.018369, -0.233406, -0.972206}, {0.156434, 0.000000, 0.987688}, {-0.987688, -0.156434, 0.000000}}; auto output_tm = geometry::TriangleMesh::CreateCoordinateFrame(0.1); EXPECT_EQ(1134u, output_tm->vertices_.size()); EXPECT_EQ(1134u, output_tm->vertex_normals_.size()); EXPECT_EQ(1134u, output_tm->vertex_colors_.size()); EXPECT_EQ(2240u, output_tm->triangles_.size()); EXPECT_EQ(2240u, output_tm->triangle_normals_.size()); // CreateMeshCoordinateFrame generates too many values // down sample to a more manageable size before comparing int stride = 300; std::vector indices; for (size_t i = 0; i < output_tm->triangles_.size(); i += stride) { indices.push_back(output_tm->triangles_[i](0, 0)); indices.push_back(output_tm->triangles_[i](1, 0)); indices.push_back(output_tm->triangles_[i](2, 0)); } auto last = unique(indices.begin(), indices.end()); indices.erase(last, indices.end()); sort(indices.begin(), indices.end()); auto output = output_tm->SelectByIndex(indices); ExpectEQ(ref_vertices, output->vertices_); ExpectEQ(ref_vertex_normals, output->vertex_normals_); ExpectEQ(ref_vertex_colors, output->vertex_colors_); ExpectEQ(ref_triangles, output->triangles_); ExpectEQ(ref_triangle_normals, output->triangle_normals_); // Test with different origin double size = 1; auto center_frame = geometry::TriangleMesh::CreateCoordinateFrame(size); Eigen::Vector3d x(1, 0, 0); auto x_frame = geometry::TriangleMesh::CreateCoordinateFrame(size, x); Eigen::Vector3d x_center = x_frame->GetCenter() - x; ExpectEQ(center_frame->GetCenter(), x_center); Eigen::Vector3d y(0, 1, 0); auto y_frame = geometry::TriangleMesh::CreateCoordinateFrame(size, y); Eigen::Vector3d y_center = y_frame->GetCenter() - y; ExpectEQ(center_frame->GetCenter(), y_center); Eigen::Vector3d z(0, 0, 1); auto z_frame = geometry::TriangleMesh::CreateCoordinateFrame(size, z); Eigen::Vector3d z_center = z_frame->GetCenter() - z; ExpectEQ(center_frame->GetCenter(), z_center); } } // namespace tests } // namespace open3d