Пример #1
0
    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)
Пример #2
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 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)
Пример #3
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 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)