def test_from_mesh(self):
"""Make a mesh and verify the bounding box's corners are correct."""
indices = np.array([0, 1, 2, 1, 3, 2, 2, 3, 4], dtype=np.uint32)
vertices = np.column_stack(
[
Vector3f(0, 0, 0),
Vector3f(1, 0, 0),
Vector3f(0, 1, 0),
Vector3f(1, 1, 0),
Vector3f(1, 1, 1),
]
)
normals = np.column_stack([Vector3f(0, 0, 1)] * 5)
self.assertEqual(vertices.shape, normals.shape)
self.assertEqual(indices.shape, (9,))
mesh = Mesh(indices, vertices, normals)
box = ComputeBbox().from_mesh(mesh)
corners = box.corners()
corners_target = np.column_stack(
[
[0.0, 0.0, 1.0],
[1.0, 0.0, 1.0],
[1.0, 1.0, 1.0],
[0.0, 1.0, 1.0],
[0.0, 0.0, 0.0],
[1.0, 0.0, 0.0],
[1.0, 1.0, 0.0],
[0.0, 1.0, 0.0],
]
)
np.testing.assert_array_equal(corners, corners_target)
def test_random_points(self):
""" Make three random points and verify the bounding box's corners are
correct
"""
point1 = Vector3f(-1, -2, -3)
point2 = Vector3f(0, 2, 1)
point3 = Vector3f(1, 2, 3)
points = np.column_stack([point1, point2, point3])
box = ComputeBbox().from_point_cloud(points)
corners = box.corners()
corners_target = np.column_stack([
[-1.0, -2.0, 3.0],
[1.0, -2.0, 3.0],
[1.0, 2.0, 3.0],
[-1.0, 2.0, 3.0],
[-1.0, -2.0, -3.0],
[1.0, -2.0, -3.0],
[1.0, 2.0, -3.0],
[-1.0, 2.0, -3.0],
])
np.testing.assert_array_equal(corners, corners_target)
def test_unit_cube(self):
""" Make three points inside a unit cube and verify the bounding box's
corners are correct
"""
point1 = Vector3(1, 0, 0)
point2 = Vector3(0, 1, 0)
point3 = Vector3(0, 0, 1)
points = np.column_stack([point1, point2, point3])
box = ComputeBbox().from_point_cloud(points)
corners = box.corners()
corners_target = np.column_stack([
[0.0, 0.0, 1.0],
[1.0, 0.0, 1.0],
[1.0, 1.0, 1.0],
[0.0, 1.0, 1.0],
[0.0, 0.0, 0.0],
[1.0, 0.0, 0.0],
[1.0, 1.0, 0.0],
[0.0, 1.0, 0.0],
])
np.testing.assert_array_equal(corners, corners_target)
