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Merge pull request #23805 from starga2er777:5.x
GSoC: Modified PLY reader to support color attribute read/write #23805 * Modified PLY reader to support color attribute read/write * Fix bugs & Modified OBJ reader for color IO * Replace with correct test file * Fix I/O of property [w] in OBJ files ### Pull Request Readiness Checklist **Merged with https://github.com/opencv/opencv_extra/pull/1075** [Issue for GSoC 2023](https://github.com/opencv/opencv/issues/23624) The ply loader in 3D module doesn't support color attribute reading. I modified that to support color attribute reading & writing for the color attribute compression as described in proposal. See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Zhangjie Chen
GitHub
parent
18f280b869
commit
4d695cd2f4
@ -2636,8 +2636,9 @@ protected:
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* @param filename Name of the file.
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* @param vertices (vector of Point3f) Point coordinates of a point cloud
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* @param normals (vector of Point3f) Point normals of a point cloud
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* @param rgb (vector of Point3_<uchar>) Point RGB color of a point cloud
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*/
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CV_EXPORTS_W void loadPointCloud(const String &filename, OutputArray vertices, OutputArray normals = noArray());
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CV_EXPORTS_W void loadPointCloud(const String &filename, OutputArray vertices, OutputArray normals = noArray(), OutputArray rgb = noArray());
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/** @brief Saves a point cloud to a specified file.
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*
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@ -2647,8 +2648,9 @@ CV_EXPORTS_W void loadPointCloud(const String &filename, OutputArray vertices, O
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* @param filename Name of the file.
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* @param vertices (vector of Point3f) Point coordinates of a point cloud
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* @param normals (vector of Point3f) Point normals of a point cloud
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* @param rgb (vector of Point3_<uchar>) Point RGB color of a point cloud
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*/
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CV_EXPORTS_W void savePointCloud(const String &filename, InputArray vertices, InputArray normals = noArray());
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CV_EXPORTS_W void savePointCloud(const String &filename, InputArray vertices, InputArray normals = noArray(), InputArray rgb = noArray());
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/** @brief Loads a mesh from a file.
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*
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@ -12,10 +12,10 @@ void BasePointCloudDecoder::setSource(const std::string &filename) noexcept
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m_filename = filename;
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}
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void BasePointCloudDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals)
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void BasePointCloudDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb)
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{
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std::vector<std::vector<int32_t>> indices;
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readData(points, normals, indices);
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readData(points, normals, rgb, indices);
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}
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void BasePointCloudEncoder::setDestination(const std::string &filename) noexcept
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@ -23,10 +23,10 @@ void BasePointCloudEncoder::setDestination(const std::string &filename) noexcept
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m_filename = filename;
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}
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void BasePointCloudEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals)
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void BasePointCloudEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb)
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{
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std::vector<std::vector<int32_t>> indices;
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writeData(points, normals, indices);
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writeData(points, normals, rgb, indices);
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}
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} /* namespace cv */
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@ -25,8 +25,8 @@ public:
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virtual ~BasePointCloudDecoder() = default;
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virtual void setSource(const String &filename) noexcept;
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virtual void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals);
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virtual void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<std::vector<int32_t>> &indices) = 0;
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virtual void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb);
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virtual void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb, std::vector<std::vector<int32_t>> &indices) = 0;
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protected:
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String m_filename;
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@ -39,8 +39,8 @@ public:
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virtual ~BasePointCloudEncoder() = default;
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virtual void setDestination(const String &filename) noexcept;
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virtual void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals);
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virtual void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<std::vector<int32_t>> &indices) = 0;
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virtual void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb);
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virtual void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb, const std::vector<std::vector<int32_t>> &indices) = 0;
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protected:
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String m_filename;
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@ -12,10 +12,11 @@ namespace cv {
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std::unordered_set<std::string> ObjDecoder::m_unsupportedKeys;
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void ObjDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<std::vector<int32_t>> &indices)
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void ObjDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb, std::vector<std::vector<int32_t>> &indices)
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{
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points.clear();
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normals.clear();
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rgb.clear();
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indices.clear();
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std::ifstream file(m_filename, std::ios::binary);
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@ -39,9 +40,34 @@ void ObjDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &no
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continue;
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else if (key == "v")
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{
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// (x, y, z, [w], [r, g, b])
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auto splitArr = split(s, ' ');
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if (splitArr.size() <= 3)
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{
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CV_LOG_ERROR(NULL, "Vertex should have at least 3 coordinate values.");
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return;
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}
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Point3f vertex;
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ss >> vertex.x >> vertex.y >> vertex.z;
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points.push_back(vertex);
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if (splitArr.size() == 5 || splitArr.size() == 8)
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{
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float w;
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ss >> w;
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CV_UNUSED(w);
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}
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if (splitArr.size() >= 7)
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{
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Point3f color;
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if (ss.rdbuf()->in_avail() != 0) {
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Point3_<uchar> uc_color;
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ss >> color.x >> color.y >> color.z;
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uc_color.x = static_cast<uchar>(std::round(255.f * color.x));
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uc_color.y = static_cast<uchar>(std::round(255.f * color.y));
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uc_color.z = static_cast<uchar>(std::round(255.f * color.z));
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rgb.push_back(uc_color);
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}
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}
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}
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else if (key == "vn")
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{
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@ -75,7 +101,7 @@ void ObjDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &no
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file.close();
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}
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void ObjEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<std::vector<int32_t>> &indices)
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void ObjEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb, const std::vector<std::vector<int32_t>> &indices)
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{
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std::ofstream file(m_filename, std::ios::binary);
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if (!file) {
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@ -83,12 +109,22 @@ void ObjEncoder::writeData(const std::vector<Point3f> &points, const std::vector
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return;
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}
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if (!rgb.empty() && rgb.size() != points.size()) {
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CV_LOG_ERROR(NULL, "Vertices and Colors have different size.");
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return;
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}
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file << "# OBJ file writer" << std::endl;
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file << "o Point_Cloud" << std::endl;
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for (const auto& point : points)
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for (size_t i = 0; i < points.size(); ++i)
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{
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file << "v " << point.x << " " << point.y << " " << point.z << std::endl;
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file << "v " << points[i].x << " " << points[i].y << " " << points[i].z;
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if (!rgb.empty()) {
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file << " " << static_cast<float>(rgb[i].x) / 255.f << " " <<
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static_cast<float>(rgb[i].y) / 255.f << " " << static_cast<float>(rgb[i].z) / 255.f;
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}
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file << std::endl;
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}
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for (const auto& normal : normals)
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@ -13,7 +13,7 @@ namespace cv {
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class ObjDecoder CV_FINAL : public BasePointCloudDecoder
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{
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public:
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void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
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void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb, std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
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protected:
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static std::unordered_set<std::string> m_unsupportedKeys;
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@ -22,7 +22,7 @@ protected:
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class ObjEncoder CV_FINAL : public BasePointCloudEncoder
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{
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public:
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void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
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void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb, const std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
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};
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@ -11,16 +11,17 @@
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namespace cv {
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void PlyDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<std::vector<int32_t>> &indices)
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void PlyDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb, std::vector<std::vector<int32_t>> &indices)
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{
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points.clear();
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normals.clear();
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rgb.clear();
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CV_UNUSED(indices);
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std::ifstream file(m_filename, std::ios::binary);
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if (parseHeader(file))
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{
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parseBody(file, points, normals);
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parseBody(file, points, normals, rgb);
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}
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}
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@ -81,19 +82,30 @@ bool PlyDecoder::parseHeader(std::ifstream &file)
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if (onVertexRead)
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{
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auto splitArrElem = split(s, ' ');
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if (splitArrElem[2] == "x" || splitArrElem[2] == "red" || splitArrElem[2] == "nx")
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if (splitArrElem[2] == "x" || splitArrElem[2] == "y" || splitArrElem[2] == "z")
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{
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if (splitArrElem[1] != "float") {
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CV_LOG_ERROR(NULL, "Provided PLY file format '" << splitArrElem[1] << "' is not supported");
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CV_LOG_ERROR(NULL, "Provided property '" << splitArrElem[2] << "' with format '" << splitArrElem[1]
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<< "' is not supported");
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return false;
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}
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}
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if (splitArrElem[2] == "red")
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if (splitArrElem[2] == "red" || splitArrElem[2] == "green" || splitArrElem[2] == "blue")
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{
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if (splitArrElem[1] != "uchar") {
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CV_LOG_ERROR(NULL, "Provided property '" << splitArrElem[2] << "' with format '" << splitArrElem[1]
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<< "' is not supported");
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return false;
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}
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m_hasColour = true;
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}
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if (splitArrElem[2] == "nx")
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{
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if (splitArrElem[1] != "float") {
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CV_LOG_ERROR(NULL, "Provided property '" << splitArrElem[2] << "' with format '" << splitArrElem[1]
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<< "' is not supported");
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return false;
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}
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m_hasNormal = true;
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}
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}
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@ -130,7 +142,7 @@ T readNext(std::ifstream &file, DataFormat format)
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return val;
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}
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void PlyDecoder::parseBody(std::ifstream &file, std::vector<Point3f> &points, std::vector<Point3f> &normals)
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void PlyDecoder::parseBody(std::ifstream &file, std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb)
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{
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points.reserve(m_vertexCount);
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if (m_hasNormal)
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@ -146,9 +158,11 @@ void PlyDecoder::parseBody(std::ifstream &file, std::vector<Point3f> &points, st
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points.push_back(vertex);
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if (m_hasColour)
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{
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readNext<float>(file, m_inputDataFormat);
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readNext<float>(file, m_inputDataFormat);
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readNext<float>(file, m_inputDataFormat);
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Point3_<uchar> colour;
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colour.x = readNext<int>(file, m_inputDataFormat) & 0xff;
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colour.y = readNext<int>(file, m_inputDataFormat) & 0xff;
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colour.z = readNext<int>(file, m_inputDataFormat) & 0xff;
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rgb.push_back(colour);
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}
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if (m_hasNormal)
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{
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@ -161,7 +175,7 @@ void PlyDecoder::parseBody(std::ifstream &file, std::vector<Point3f> &points, st
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}
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}
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void PlyEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<std::vector<int32_t>> &indices)
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void PlyEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb, const std::vector<std::vector<int32_t>> &indices)
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{
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CV_UNUSED(indices);
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std::ofstream file(m_filename, std::ios::binary);
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@ -169,6 +183,7 @@ void PlyEncoder::writeData(const std::vector<Point3f> &points, const std::vector
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CV_LOG_ERROR(NULL, "Impossible to open the file: " << m_filename);
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return;
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}
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bool hasNormals = !normals.empty(), hasColor = !rgb.empty();
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file << "ply" << std::endl;
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file << "format ascii 1.0" << std::endl;
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@ -179,23 +194,30 @@ void PlyEncoder::writeData(const std::vector<Point3f> &points, const std::vector
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file << "property float y" << std::endl;
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file << "property float z" << std::endl;
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file << "end_header" << std::endl;
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if(hasColor) {
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file << "property uchar red" << std::endl;
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file << "property uchar green" << std::endl;
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file << "property uchar blue" << std::endl;
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}
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if (normals.size() != 0)
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if (hasNormals)
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{
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file << "property float nx" << std::endl;
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file << "property float ny" << std::endl;
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file << "property float nz" << std::endl;
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}
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bool isNormals = (normals.size() != 0);
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file << "end_header" << std::endl;
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for (size_t i = 0; i < points.size(); i++)
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{
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file << points[i].x << " " << points[i].y << " " << points[i].z;
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if (isNormals)
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{
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file << normals[i].x << " " << normals[i].y << " " << normals[i].z;
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if (hasColor) {
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file << " " << static_cast<int>(rgb[i].x) << " " << static_cast<int>(rgb[i].y) << " " << static_cast<int>(rgb[i].z);
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}
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if (hasNormals) {
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file << " " << normals[i].x << " " << normals[i].y << " " << normals[i].z;
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}
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file << std::endl;
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}
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@ -21,11 +21,11 @@ enum class DataFormat
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class PlyDecoder CV_FINAL : public BasePointCloudDecoder
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{
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public:
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void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
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void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb, std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
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protected:
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bool parseHeader(std::ifstream &file);
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void parseBody(std::ifstream &file, std::vector<Point3f> &points, std::vector<Point3f> &normals);
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void parseBody(std::ifstream &file, std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb);
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DataFormat m_inputDataFormat;
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size_t m_vertexCount{0};
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@ -36,7 +36,7 @@ protected:
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class PlyEncoder CV_FINAL : public BasePointCloudEncoder
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{
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public:
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void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
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void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb, const std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
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};
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@ -49,7 +49,7 @@ static PointCloudEncoder findEncoder(const String &filename)
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#endif
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void loadPointCloud(const String &filename, OutputArray vertices, OutputArray normals)
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void loadPointCloud(const String &filename, OutputArray vertices, OutputArray normals, OutputArray rgb)
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{
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#if OPENCV_HAVE_FILESYSTEM_SUPPORT
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auto decoder = findDecoder(filename);
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@ -63,14 +63,19 @@ void loadPointCloud(const String &filename, OutputArray vertices, OutputArray no
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std::vector<Point3f> vec_vertices;
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std::vector<Point3f> vec_normals;
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std::vector<Point3_<uchar>> vec_rgb;
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decoder->readData(vec_vertices, vec_normals);
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decoder->readData(vec_vertices, vec_normals, vec_rgb);
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if (!vec_vertices.empty())
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Mat(static_cast<int>(vec_vertices.size()), 1, CV_32FC3, &vec_vertices[0]).copyTo(vertices);
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if (!vec_normals.empty() && normals.needed())
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Mat(static_cast<int>(vec_normals.size()), 1, CV_32FC3, &vec_normals[0]).copyTo(normals);
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if (!vec_rgb.empty() && rgb.needed())
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Mat(static_cast<int>(vec_rgb.size()), 1, CV_8UC3, &vec_rgb[0]).copyTo(rgb);
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||||
|
||||
#else // OPENCV_HAVE_FILESYSTEM_SUPPORT
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CV_UNUSED(filename);
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CV_UNUSED(vertices);
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@ -79,7 +84,7 @@ void loadPointCloud(const String &filename, OutputArray vertices, OutputArray no
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||||
#endif
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}
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||||
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void savePointCloud(const String &filename, InputArray vertices, InputArray normals)
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void savePointCloud(const String &filename, InputArray vertices, InputArray normals, InputArray rgb)
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{
|
||||
#if OPENCV_HAVE_FILESYSTEM_SUPPORT
|
||||
if (vertices.empty()) {
|
||||
@ -98,11 +103,16 @@ void savePointCloud(const String &filename, InputArray vertices, InputArray norm
|
||||
|
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std::vector<Point3f> vec_vertices(vertices.getMat());
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std::vector<Point3f> vec_normals;
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||||
std::vector<Point3_<uchar>> vec_rgb;
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||||
|
||||
if (!normals.empty()){
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||||
vec_normals = normals.getMat();
|
||||
}
|
||||
|
||||
encoder->writeData(vec_vertices, vec_normals);
|
||||
if (!rgb.empty()){
|
||||
vec_rgb = rgb.getMat();
|
||||
}
|
||||
encoder->writeData(vec_vertices, vec_normals, vec_rgb);
|
||||
|
||||
#else // OPENCV_HAVE_FILESYSTEM_SUPPORT
|
||||
CV_UNUSED(filename);
|
||||
@ -126,9 +136,10 @@ void loadMesh(const String &filename, OutputArray vertices, OutputArray normals,
|
||||
|
||||
std::vector<Point3f> vec_vertices;
|
||||
std::vector<Point3f> vec_normals;
|
||||
std::vector<Point3_<uchar>> vec_rgb;
|
||||
std::vector<std::vector<int32_t>> vec_indices;
|
||||
|
||||
decoder->readData(vec_vertices, vec_normals, vec_indices);
|
||||
decoder->readData(vec_vertices, vec_normals, vec_rgb, vec_indices);
|
||||
|
||||
if (!vec_vertices.empty()) {
|
||||
Mat(1, static_cast<int>(vec_vertices.size()), CV_32FC3, vec_vertices.data()).copyTo(vertices);
|
||||
@ -173,6 +184,7 @@ void saveMesh(const String &filename, InputArray vertices, InputArray normals, I
|
||||
|
||||
std::vector<Point3f> vec_vertices(vertices.getMat());
|
||||
std::vector<Point3f> vec_normals;
|
||||
std::vector<Point3_<uchar>> vec_rgb;
|
||||
if (!normals.empty()){
|
||||
vec_normals = normals.getMat();
|
||||
}
|
||||
@ -185,7 +197,7 @@ void saveMesh(const String &filename, InputArray vertices, InputArray normals, I
|
||||
mat_indices[i].copyTo(vec_indices[i]);
|
||||
}
|
||||
|
||||
encoder->writeData(vec_vertices, vec_normals, vec_indices);
|
||||
encoder->writeData(vec_vertices, vec_normals, vec_rgb, vec_indices);
|
||||
|
||||
#else // OPENCV_HAVE_FILESYSTEM_SUPPORT
|
||||
CV_UNUSED(filename);
|
||||
|
||||
@ -22,6 +22,7 @@ TEST(PointCloud, LoadObj)
|
||||
{0.399941f, 1.86743f, 2.55837f},
|
||||
{0.399941f, -0.13257f, -1.16339f},
|
||||
{0.399941f, 1.86743f, -1.16339f}};
|
||||
|
||||
std::vector<cv::Point3f> normals_gold = {
|
||||
{-1.0000f, 0.0000f, 0.0000f},
|
||||
{0.0000f, 0.0000f, -1.0000f},
|
||||
@ -30,13 +31,25 @@ TEST(PointCloud, LoadObj)
|
||||
{0.0000f, -1.0000f, 0.0000f},
|
||||
{0.0000f, 1.0000f, 0.0000f}};
|
||||
|
||||
std::vector<cv::Point3_<uchar>> rgb_gold = {
|
||||
{19, 144, 149},
|
||||
{219, 28, 216},
|
||||
{218, 157, 101},
|
||||
{11, 161, 78},
|
||||
{248, 183, 214},
|
||||
{63, 196, 6},
|
||||
{165, 190, 153},
|
||||
{89, 203, 11}};
|
||||
|
||||
std::vector<cv::Point3f> points;
|
||||
std::vector<cv::Point3f> normals;
|
||||
std::vector<cv::Point3_<uchar>> rgb;
|
||||
|
||||
auto folder = cvtest::TS::ptr()->get_data_path();
|
||||
cv::loadPointCloud(folder + "pointcloudio/orig.obj", points, normals);
|
||||
cv::loadPointCloud(folder + "pointcloudio/orig.obj", points, normals, rgb);
|
||||
|
||||
EXPECT_EQ(points_gold, points);
|
||||
EXPECT_EQ(rgb_gold, rgb);
|
||||
EXPECT_EQ(normals_gold, normals);
|
||||
}
|
||||
|
||||
@ -66,20 +79,23 @@ TEST(PointCloud, SaveObj)
|
||||
{
|
||||
std::vector<cv::Point3f> points_gold;
|
||||
std::vector<cv::Point3f> normals_gold;
|
||||
std::vector<cv::Point3_<uchar>> rgb_gold;
|
||||
|
||||
auto folder = cvtest::TS::ptr()->get_data_path();
|
||||
auto new_path = tempfile("new.obj");
|
||||
|
||||
cv::loadPointCloud(folder + "pointcloudio/orig.obj", points_gold, normals_gold);
|
||||
cv::savePointCloud(new_path, points_gold, normals_gold);
|
||||
cv::loadPointCloud(folder + "pointcloudio/orig.obj", points_gold, normals_gold, rgb_gold);
|
||||
cv::savePointCloud(new_path, points_gold, normals_gold, rgb_gold);
|
||||
|
||||
std::vector<cv::Point3f> points;
|
||||
std::vector<cv::Point3f> normals;
|
||||
std::vector<cv::Point3_<uchar>> rgb;
|
||||
|
||||
cv::loadPointCloud(new_path, points, normals);
|
||||
cv::loadPointCloud(new_path, points, normals, rgb);
|
||||
|
||||
EXPECT_EQ(normals, normals_gold);
|
||||
EXPECT_EQ(points, points_gold);
|
||||
EXPECT_EQ(rgb, rgb_gold);
|
||||
std::remove(new_path.c_str());
|
||||
}
|
||||
|
||||
@ -87,20 +103,23 @@ TEST(PointCloud, LoadSavePly)
|
||||
{
|
||||
std::vector<cv::Point3f> points;
|
||||
std::vector<cv::Point3f> normals;
|
||||
std::vector<cv::Point3_<uchar>> rgb;
|
||||
|
||||
auto folder = cvtest::TS::ptr()->get_data_path();
|
||||
std::string new_path = tempfile("new.ply");
|
||||
|
||||
cv::loadPointCloud(folder + "pointcloudio/orig.ply", points, normals);
|
||||
cv::savePointCloud(new_path, points, normals);
|
||||
cv::loadPointCloud(folder + "pointcloudio/orig.ply", points, normals, rgb);
|
||||
cv::savePointCloud(new_path, points, normals, rgb);
|
||||
|
||||
std::vector<cv::Point3f> points_gold;
|
||||
std::vector<cv::Point3f> normals_gold;
|
||||
std::vector<cv::Point3_<uchar>> rgb_gold;
|
||||
|
||||
cv::loadPointCloud(new_path, points_gold, normals_gold);
|
||||
cv::loadPointCloud(new_path, points_gold, normals_gold, rgb_gold);
|
||||
|
||||
EXPECT_EQ(normals_gold, normals);
|
||||
EXPECT_EQ(points_gold, points);
|
||||
EXPECT_EQ(rgb_gold, rgb);
|
||||
std::remove(new_path.c_str());
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user