private static void TestPointCloud()
{
System.IO.Directory.CreateDirectory(@"..\..\testData\Output");
// TEST DotNet3d.ply from DotNet3d.Pointcloud
{
var ply = new DotNet3d.Ply(@"..\..\testData\Frame_00600.ply"); // ~200ms
var pc = ply.ToPointCloud(); // ~1ms
var moveToOrigin = DotNet3d.Matrix.Translation(-722.58, 123.87, -2805.85); // ~1ms
var rotateX90 = DotNet3d.Matrix.RotationX(90); // ~1ms
var rotateY180 = DotNet3d.Matrix.RotationY(180); // ~1ms
var rotateZ30 = DotNet3d.Matrix.RotationZ(30); // ~1ms
var superMatrix = rotateZ30 * rotateY180 * rotateX90 * moveToOrigin; // ~1ms
pc.Multiply(superMatrix); // ~1400ms
var ply2 = new DotNet3d.Ply(pc); // ~1ms
ply2.SaveBinary(@"..\..\testData\Output\Frame_00600-ONFLOOR-FACINGZ.ply"); // ~1100ms
}
// Test writing matrix as ply
{
var mat = new DotNet3d.Matrix();
var ply = new DotNet3d.Ply(mat);
ply.SaveAscii(@"..\..\testData\Output\IdentityMatrix.ply");
}
// Test writing array of matrices as ply
{
var mat1 = DotNet3d.Matrix.Identity();
var mat2 = DotNet3d.Matrix.Identity();
mat2.Translate(1000, 1000, 1000);
var matArr = new DotNet3d.Matrix[2];
matArr[0] = mat1;
matArr[1] = mat2;
var ply = new DotNet3d.Ply(matArr);
ply.SaveBinary(@"..\..\testData\Output\2Matices.ply");
}
// Test seting, getting
{
float x = 1;
float y = 2;
float z = 3;
var mat = DotNet3d.Matrix.Translation(x, y, z);
var ply = new DotNet3d.Ply(mat);
var pc = ply.ToPointCloud();
Trace.Assert((float)pc.Get("x", 0) == x);
Trace.Assert((float)pc.Get("y", 0) == y);
Trace.Assert((float)pc.Get("z", 0) == z);
Trace.Assert((float)pc.Get("x", 1) == (x + 500));
Trace.Assert((float)pc.Get("y", 1) == y);
Trace.Assert((float)pc.Get("z", 1) == z);
Trace.Assert((float)pc.Get("x", 2) == x);
Trace.Assert((float)pc.Get("y", 2) == (y + 500));
Trace.Assert((float)pc.Get("z", 2) == z);
Trace.Assert((float)pc.Get("x", 3) == x);
Trace.Assert((float)pc.Get("y", 3) == y);
Trace.Assert((float)pc.Get("z", 3) == (z + 1000));
float dummy = 9;
pc.Set("x", 0, dummy);
Trace.Assert((float)pc.Get("x", 0) == dummy);
byte dummy2 = 32;
pc.Set("red", 1, dummy2);
Trace.Assert((byte)pc.Get("red", 1) == dummy2);
}
// Test dividing by z
{
float x = 2;
float y = 4;
float z = 8;
var mat = DotNet3d.Matrix.Translation(x, y, z);
var ply = new DotNet3d.Ply(mat);
var pc = ply.ToPointCloud();
Trace.Assert((float)pc.Get("x", 0) == x);
Trace.Assert((float)pc.Get("y", 0) == y);
Trace.Assert((float)pc.Get("z", 0) == z);
pc.DividePositionByZ();
Trace.Assert((float)pc.Get("x", 0) == x / z);
Trace.Assert((float)pc.Get("y", 0) == y / z);
Trace.Assert((float)pc.Get("z", 0) == z / z);
}
// Test drawing on image
{
int size = 256;
var pointArr = new DotNet3d.Point[size];
for (int i = 0; i < size; i++)
{
pointArr[i] = new DotNet3d.Point();
pointArr[i].X = i;
pointArr[i].Y = i;
pointArr[i].Z = i;
}
var pc = new DotNet3d.PointCloud(pointArr);
var newImg = new System.Drawing.Bitmap(size, size);
var src = System.IO.Path.GetFullPath(@"..\..\testData\Output\TestDrawOnImage-EMPTY.png");
var dst = System.IO.Path.GetFullPath(@"..\..\testData\Output\TestDrawOnImage-LINE.png");
newImg.Save(src); // src: black 256x256 image
pc.DrawOnImage(src, dst); // dst: black 256x256 with red line from upper left to lower right
}
// Test drawing on image, 8-bit index
{
int size = 3840;
var pointArr = new DotNet3d.Point[size];
for (int i = 0; i < size; i++)
{
pointArr[i] = new DotNet3d.Point();
pointArr[i].X = i;
pointArr[i].Y = i;
pointArr[i].Z = i;
}
var pc = new DotNet3d.PointCloud(pointArr);
var src = System.IO.Path.GetFullPath(@"..\..\testData\Mask-Cam0000-F00001-8bitIndexed.png");
var dst = System.IO.Path.GetFullPath(@"..\..\testData\Output\Mask-Cam0000-F00001-8bitIndexed-LINE.png");
pc.DrawOnImage(src, dst); // dst: 5120x3840 mask with white image of person, with red line that starts at upper left and ends at bottom right (if bottom right were square)
}
// Test adding point clouds
{
float x1 = 2;
float y1 = 4;
float z1 = 8;
var mat1 = DotNet3d.Matrix.Translation(x1, y1, z1);
var ply1 = new DotNet3d.Ply(mat1);
var one = ply1.ToPointCloud();
float x2 = 3;
float y2 = 6;
float z2 = 9;
var mat2 = DotNet3d.Matrix.Translation(x2, y2, z2);
var ply2 = new DotNet3d.Ply(mat2);
var two = ply2.ToPointCloud();
DotNet3d.PointCloud three = one + two;
Trace.Assert(three.ToString() == (one.ToString() + two.ToString()));
Trace.Assert(three.Data.Length == (one.Data.Length + two.Data.Length));
for (int i = 0; i < one.Data.Length; i++)
{
Trace.Assert(three.Data[i] == one.Data[i]);
int j = i + one.Data.Length; // second half of data
Trace.Assert(three.Data[j] == two.Data[i]);
}
var ply3 = new DotNet3d.Ply(three);
ply3.SaveAscii(@"..\..\testData\Output\AddingPointClouds-Ascii.ply");
}
// Test multiply point cloud by a matrix
{
DotNet3d.Ply ply = new DotNet3d.Ply(DotNet3d.Matrix.Identity());
DotNet3d.PointCloud pc = ply.ToPointCloud();
Trace.Assert(pc.ToString() == "0 0 0 0 0 0 255\n500 0 0 255 0 0 255\n0 500 0 0 255 0 255\n0 0 1000 0 0 255 255\n");
pc.Multiply(DotNet3d.Matrix.Scaling(2, 2, 2));
Trace.Assert(pc.ToString() == "0 0 0 0 0 0 255\n1000 0 0 255 0 0 255\n0 1000 0 0 255 0 255\n0 0 2000 0 0 255 255\n");
// test point cloud with normals
int numPoints = 1;
var dotNetTypes = new List <string> {
"System.Single", "System.Single", "System.Single", "System.Single", "System.Single", "System.Single"
};
var names = new List <string> {
"x", "y", "z", "nx", "ny", "nz"
};
int numBytes = DotNet3d.Utilities.TotalBytes(dotNetTypes);
var data = new byte[numBytes];
int index = 0;
index += DotNet3d.Utilities.NumToBytes((float)1, data, index);
index += DotNet3d.Utilities.NumToBytes((float)2, data, index);
index += DotNet3d.Utilities.NumToBytes((float)3, data, index);
index += DotNet3d.Utilities.NumToBytes((float)4, data, index);
index += DotNet3d.Utilities.NumToBytes((float)5, data, index);
index += DotNet3d.Utilities.NumToBytes((float)6, data, index);
var pcWithNormals = new DotNet3d.PointCloud(numPoints, dotNetTypes, names, data);
var trans = DotNet3d.Matrix.Translation(10, 10, 10);
var scale = DotNet3d.Matrix.Scaling(2, 2, 2);
var super = scale * trans;
pcWithNormals.Multiply(super);
Trace.Assert(pcWithNormals.ToString() == "22 24 26 8 10 12\n");
}
}
private static void TestPly()
{
System.IO.Directory.CreateDirectory(@"..\..\testData\Output");
var plyAscii = new DotNet3d.Ply(@"..\..\testData\CalibrationXml-Ascii-UnixLineEndings.ply");
var PointCloudAscii = plyAscii.ToPointCloud();
var asciiTxt = PointCloudAscii.ToString();
var plyBinary = new DotNet3d.Ply(@"..\..\testData\CalibrationXml-Binary.ply");
var PointCloudBinary = plyBinary.ToPointCloud();
var binaryTxt = PointCloudBinary.ToString();
Trace.Assert(asciiTxt == binaryTxt);
var plyAsciiWinLineEndings = new DotNet3d.Ply(@"..\..\testData\CalibrationXml-Ascii-WinLineEndings.ply");
var PointCloudAsciiWinLineEndings = plyAsciiWinLineEndings.ToPointCloud();
var asciiWinLineEndingsTxt = PointCloudAsciiWinLineEndings.ToString();
Trace.Assert(asciiTxt == asciiWinLineEndingsTxt);
plyAscii.SaveAscii(@"..\..\testData\Output\CalibrationXml-Ascii-ToAscii.ply");
plyAscii.SaveBinary(@"..\..\testData\Output\CalibrationXml-Ascii-ToBinary.ply");
plyBinary.SaveAscii(@"..\..\testData\Output\CalibrationXml-Binary-ToAscii.ply");
plyBinary.SaveBinary(@"..\..\testData\Output\CalibrationXml-Binary-ToBinary.ply");
// array of points
{
var ptArr = new DotNet3d.Point[3];
ptArr[0] = new DotNet3d.Point(0, 0, 0);
ptArr[1] = new DotNet3d.Point(1, 1, 1);
ptArr[2] = new DotNet3d.Point(-1, -1, -1);
var ply = new DotNet3d.Ply(ptArr);
var txt =
"ply\n" +
"format ascii 1.0\n" +
"comment Created by DotNet3d\n" +
"element vertex 3\n" +
"property float x\n" +
"property float y\n" +
"property float z\n" +
"end_header\n" +
"0 0 0\n" +
"1 1 1\n" +
"-1 -1 -1\n";
Trace.Assert(ply.ToString() == txt);
}
// point from strings
{
var pt = new DotNet3d.Point("1 2 3");
Trace.Assert(pt.ToString() == "(1 2 3)\n");
pt = new DotNet3d.Point("2, 4, 6");
Trace.Assert(pt.ToString() == "(2 4 6)\n");
pt = new DotNet3d.Point("3\t6\t9");
Trace.Assert(pt.ToString() == "(3 6 9)\n");
pt = new DotNet3d.Point("(4, 8, 12)");
Trace.Assert(pt.ToString() == "(4 8 12)\n");
}
// Test loading binary (if this takes longer than a second to load, this consider this test a failure)
{
Stopwatch sw = new Stopwatch();
sw.Start();
var ply = new DotNet3d.Ply(@"..\..\testData\BIN-color_to_depth_Frame1.ply");
sw.Stop();
long oneSec = 1000;
// NOTE: This takes about 2 ms on my home pc
Trace.Assert(sw.ElapsedMilliseconds < oneSec);
}
// Test loading ascii (if this takes longer than a second to load, this consider this test a failure)
{
Stopwatch sw = new Stopwatch();
sw.Start();
var ply = new DotNet3d.Ply(@"..\..\testData\color_to_depth_Frame1.ply");
sw.Stop();
long tenSeconds = 10 * 1000;
// NOTE: This once took 853414 ms (14 min), now it takes about 5 seconds on my home pc in debug mode
Trace.Assert(sw.ElapsedMilliseconds < tenSeconds);
}
}
