def test_min_corner_offset(self):
"""
Test with a non-zero min_corner.
"""
points = np.array([[0.1, 0.1, 0.1], [1.1, 2.1, 3.1], [1.3, 2.2, 3.4]])
vg = VoxelGrid(1, min_corner=Vector3f(-1, -2, -3), points=points)
centers = vg.voxel_centers()
expected_centers = np.array([[0.5, 0.5, 0.5], [1.5, 2.5, 3.5]])
np.testing.assert_array_almost_equal(centers, expected_centers)
def test_constructor_with_points(self):
"""
Tests voxel_centers. Verifies that multiple points in the same voxel
are deduplicated.
"""
points = np.array([[0.1, 0.1, 0.1], [1.1, 1.1, 1.1], [1.3, 1.2, 1.4]])
vg = VoxelGrid(0.5, min_corner=Vector3f(0, 0, 0), points=points)
centers = vg.voxel_centers()
expected_centers = np.array([[0.25, 0.25, 0.25], [1.25, 1.25, 1.25]])
np.testing.assert_array_almost_equal(centers, expected_centers)
def test_add_points(self):
"""
Add additional points to an initial set. Checks that redundant
voxels are counted only once.
"""
points = np.array([[0.1, 0.1, 0.1], [1.1, 2.1, 3.1], [1.3, 2.2, 3.4]])
vg = VoxelGrid(1, min_corner=Vector3f(-1, -2, -3), points=points)
points2 = np.array([[0.2, 0.2, 0.3], [2, 2, 2], [4, 4, 4]])
vg.add_points(points2)
centers = vg.voxel_centers()
expected_centers = np.array([[0.5, 0.5, 0.5], [2.5, 2.5, 2.5],
[1.5, 2.5, 3.5], [4.5, 4.5, 4.5]])
np.testing.assert_array_almost_equal(centers, expected_centers)
