def test_voxelgrid_to_pointcloud_with_scaling_and_translation(self):
vg_orig = load_test_files()[0]
for scale in [0.01, 1.0, 10., 10000.]:
pt_cloud = voxelgrid_to_pointcloud(vg_orig, scale=scale)
pt_cloud += scale / 4
vg_new = pointcloud_to_voxelgrid(pt_cloud,
scale=scale,
add_leading_dim=True,
add_trailing_dim=True,
shape=(64, 64, 64))
self.assertTrue((vg_orig == vg_new).all(),
"Failed on scaling {}".format(scale))
def test_combine_sparse_voxelgrids(self):
vg_1 = np.zeros([3, 3, 3])
vg_2 = np.zeros([3, 3, 3])
vg_1[(1, 2), (0, 2), (1, 0)] = 1.0
vg_2[(1, 2), (0, 2), (1, 2)] = 1.0
origin = [10, 2, -10]
scaling = 3.40
sparse_coords_with_1 = [(2, 2, 0), (2, 2, 2)]
sparse_coords_with_2 = [(1, 0, 1)]
sparse_vg_1 = pointcloud_to_sparse_voxelgrid(
voxelgrid_to_pointcloud(vg_1))
sparse_vg_2 = pointcloud_to_sparse_voxelgrid(
voxelgrid_to_pointcloud(vg_2))
sparse_vg = combine_sparse_voxelgrids(sparse_vg_1, sparse_vg_2)
for coord in sparse_coords_with_1:
self.assertTrue(coord in sparse_vg)
self.assertEqual(sparse_vg[coord], 1)
for coord in sparse_coords_with_2:
self.assertTrue(coord in sparse_vg)
self.assertEqual(sparse_vg[coord], 2)
def get_bounding_box_for_elem(voxelgrid,
th_x,
th_y,
th_z,
scale=0.01,
degrees=False):
# if tf.is_tensor(elem["angle"]):
# elem = {k: v.numpy() for k, v in elem.items()}
# th = np.pi * int(elem["angle"]) / 180
pts = conversions.voxelgrid_to_pointcloud(voxelgrid, scale=scale)
pts = np.dot(
rotxyz(-th_x, -th_y, -th_z, degrees)[0:3, 0:3],
pts.transpose()).transpose()
bounds = get_aabb_from_pts(pts)
bounds = np.dot(
rotzyx(th_x, th_y, th_z, degrees)[0:3, 0:3],
bounds.transpose()).transpose()
# vg_oriented = conversions.transform_voxelgrid(elem["gt_occ"], T(-th), scale=0.01)
return bounds
def test_pointcloud_to_sparse_voxelgrid_on_simple(self):
vg_orig = np.zeros([3, 3, 3])
vg_orig[(1, 2), (0, 2), (1, 0)] = 1.0
sparse_coords = [(1, 0, 1), (2, 2, 0)]
origin = [132, -10, -5]
for scale in [0.02, 1.0, 10., 10000.]:
pt_cloud = voxelgrid_to_pointcloud(vg_orig,
scale=scale,
origin=origin)
sparse_vg = pointcloud_to_sparse_voxelgrid(pt_cloud,
scale=scale,
shape=[3, 3, 3],
origin=origin)
for coord in sparse_coords:
self.assertTrue(coord in sparse_vg)
self.assertEqual(sparse_vg[coord], 1)
pt_cloud_2 = sparse_voxelgrid_to_pointcloud(sparse_vg,
scale=scale,
origin=origin)
self.assertTrue((pt_cloud == pt_cloud_2).all())