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import os
import torch
import kornia
from kornia.testing import assert_close
class TestSaveLoadPointCloud:
def test_save_pointcloud(self):
height, width = 10, 8
xyz_save = torch.rand(height, width, 3)
# save to file
filename = "pointcloud.ply"
kornia.utils.save_pointcloud_ply(filename, xyz_save)
# load file
xyz_load = kornia.utils.load_pointcloud_ply(filename)
assert_close(xyz_save.reshape(-1, 3), xyz_load)
# remove the temporal file
if os.path.exists(filename):
os.remove(filename)
@staticmethod
def test_inf_coordinates_save_pointcloud():
# create the tensor to save
height, width = 10, 8
xyz_save = torch.rand(height, width, 3)
# add nans or infinite values
# point data (inf, inf, inf) skipped
xyz_save[0, 0, :] = float('inf')
# point data (inf, number, number) counted
xyz_save[0, 1, 0] = float('inf')
# point data (inf, inf, number) counted
xyz_save[1, 0, :-1] = float('inf')
# save to file
filename = "pointcloud.ply"
kornia.utils.save_pointcloud_ply(filename, xyz_save)
# same as xyz_save but with dropping the first point
xyz_correct = xyz_save.reshape(-1, 3)[1:, :]
# load file
xyz_load = kornia.utils.load_pointcloud_ply(filename)
assert_close(xyz_correct, xyz_load)
if os.path.exists(filename):
os.remove(filename)
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