def test_quaternion(self):
q = np.array([0.9997472337219893, 0.0, 0.0, 0.022482630300529462])
assert np.array_equal(self.box.q, q)
# alternative attribute for the quaternion
assert np.array_equal(self.box.quaternion, q)
box = BoundingBox3D(self.box.cx,
self.box.cy,
self.box.cz,
q=self.box.q)
assert np.array_equal(self.box.q, box.q)
def test_init_non_center(self):
cx, cy, cz = self.box.cx, self.box.cy, self.box.cz
box = BoundingBox3D(
cx - self.box.length / 2,
cy - self.box.width / 2,
cz - self.box.height / 2,
self.box.length,
self.box.width,
self.box.height,
is_center=False,
)
assert np.array_equal(box.center, self.box.center)
def test_euler_angles(self):
box = BoundingBox3D(
3.163,
z=2.468,
y=34.677,
height=1.529,
width=1.587,
length=3.948,
euler_angles=[0, 0, -1.59],
)
q = np.array([0.7002847660410397, 0.0, 0.0, -0.713863604935036])
assert np.allclose(box.q, q)
def test_from_xyz_xyz():
xyz1 = [10, 0, 0]
xyz2 = [50, 60, 70]
# Test with smallest, largest
bbox = BoundingBox3D.from_xyzxyz(xyz1, xyz2)
assert np.allclose(bbox.center, np.array([30, 30, 35]))
# Test with largest, smallest point
# The order of the points should not matter
bbox = BoundingBox3D.from_xyzxyz(xyz2, xyz1)
assert np.allclose(bbox.center, np.array([30, 30, 35]))
# Make sure the dimensions are correct
assert bbox.length == 40
assert bbox.width == 60
assert bbox.height == 70
# Test with a different set of opposite points
# No longer absolute min and absolute max
xyz1 = [10, 0, 70]
xyz2 = [50, 60, 0]
bbox = BoundingBox3D.from_xyzxyz(xyz2, xyz1)
assert np.allclose(bbox.center, np.array([30, 30, 35]))
def create_bounding_box():
values = {
"position": {
"x": 6.536307742091793,
"y": -2.1117338632172125,
"z": 1.1549238563313258,
},
"rotation": {
"x": -0.08282295820270243,
"y": -0.10018696688968483,
"z": -0.6927483959297558,
},
"dimensions": {
"x": 2.3551822605229615,
"y": 2.075954356460532,
"z": 0.7333401523302493,
},
}
center = np.array([
values["position"]["x"], values["position"]["y"],
values["position"]["z"]
])
dimensions = np.array([
values["dimensions"]["x"],
values["dimensions"]["y"],
values["dimensions"]["z"],
])
rotation = np.array([
values["rotation"]["x"], values["rotation"]["y"],
values["rotation"]["z"]
])
bbox = BoundingBox3D.from_center_dimension_euler(center=center,
dimension=dimensions,
euler_angles=rotation)
return bbox
def setup_class(cls):
# sample cuboid
cuboid = {
"center": {
"x": -49.19743041908411,
"y": 12.38666074615689,
"z": 0.782056864653507,
},
"dimensions": {
"length": 5.340892485711914,
"width": 2.457703972075464,
"height": 1.9422248281533563,
},
"rotation": {
"w": 0.9997472337219893,
"x": 0.0,
"y": 0.0,
"z": 0.022482630300529462,
},
}
center = cuboid["center"]
dim = cuboid["dimensions"]
rotation = cuboid["rotation"]
cls.box = BoundingBox3D(
center["x"],
center["y"],
center["z"],
length=dim["length"],
width=dim["width"],
height=dim["height"],
rw=rotation["w"],
rx=rotation["x"],
ry=rotation["y"],
rz=rotation["z"],
)
cls.cuboid = cuboid
def test_init_center(self):
box = BoundingBox3D(*[self.box.cx, self.box.cy, self.box.cz],
is_center=True)
assert np.array_equal(box.center, self.box.center)