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test_mesh.cpp
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#include <vector>
#include <pcl/test/gtest.h>
// Needed for one test. Must be defined before including the mesh.
#define PCL_GEOMETRY_MESH_BASE_TEST_DELETE_FACE_MANIFOLD_2
#include <pcl/geometry/triangle_mesh.h>
#include "test_mesh_common_functions.h"
////////////////////////////////////////////////////////////////////////////////
using VertexIndex = pcl::geometry::VertexIndex;
using HalfEdgeIndex = pcl::geometry::HalfEdgeIndex;
using EdgeIndex = pcl::geometry::EdgeIndex;
using FaceIndex = pcl::geometry::FaceIndex;
using VertexIndices = std::vector<VertexIndex>;
using HalfEdgeIndices = std::vector<HalfEdgeIndex>;
using FaceIndices = std::vector<FaceIndex>;
template <bool IsManifoldT>
struct MeshTraits
{
using VertexData = int;
using HalfEdgeData = pcl::geometry::NoData;
using EdgeData = pcl::geometry::NoData;
using FaceData = pcl::geometry::NoData;
using IsManifold = std::integral_constant <bool, IsManifoldT>;
};
using ManifoldTriangleMesh = pcl::geometry::TriangleMesh<MeshTraits<true> >;
using NonManifoldTriangleMesh = pcl::geometry::TriangleMesh<MeshTraits<false> >;
////////////////////////////////////////////////////////////////////////////////
TEST (TestAddDeleteFace, NonManifold1)
{
// The triangle 0-1-2 is added last //
// 5 //
// / \ //
// 0 - 2 //
// / \ / \ //
// 3 - 1 - 4 //
NonManifoldTriangleMesh mesh;
for (unsigned int i=0; i<6; ++i) mesh.addVertex (i);
using VI = VertexIndex;
VertexIndices vi;
std::vector <VertexIndices> faces;
vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(1); faces.push_back (vi); vi.clear (); // 0
vi.emplace_back(2); vi.emplace_back(1); vi.emplace_back(4); faces.push_back (vi); vi.clear (); // 1
vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(5); faces.push_back (vi); vi.clear (); // 2
for (const auto &face : faces)
{
ASSERT_TRUE (mesh.addFace (face).isValid ());
}
EXPECT_TRUE (hasFaces (mesh, faces));
// Check if the whole boundary is reached.
VertexIndices boundary_expected;
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(5);
boundary_expected.emplace_back(2);
boundary_expected.emplace_back(4);
boundary_expected.emplace_back(1);
boundary_expected.emplace_back(3);
VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (3));
EXPECT_EQ (boundary_expected, boundary_vertices);
// Close the gaps.
vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear (); // 3
ASSERT_TRUE (mesh.addFace (faces [3]).isValid ());
EXPECT_TRUE (hasFaces (mesh, faces));
// Delete faces
mesh.deleteFace (FaceIndex (3));
mesh.deleteFace (FaceIndex (1));
mesh.cleanUp ();
std::vector <std::vector <int> > expected_data;
std::vector <int> data;
data.push_back (0); data.push_back (3); data.push_back (1); expected_data.push_back (data); data.clear ();
data.push_back (0); data.push_back (2); data.push_back (5); expected_data.push_back (data); data.clear ();
std::vector <int> boundary_data_expected;
boundary_data_expected.push_back (3);
boundary_data_expected.push_back (0);
boundary_data_expected.push_back (5);
boundary_data_expected.push_back (2);
boundary_data_expected.push_back (0);
boundary_data_expected.push_back (1);
ASSERT_TRUE (hasFaces (mesh, expected_data));
ASSERT_EQ (boundary_data_expected, getBoundaryVertices (mesh, 1));
}
////////////////////////////////////////////////////////////////////////////////
TEST (TestAddDeleteFace, NonManifold2)
{
NonManifoldTriangleMesh mesh;
for (unsigned int i=0; i<9; ++i) mesh.addVertex (i);
using VI = VertexIndex;
VertexIndices vi;
std::vector <VertexIndices> faces;
// 2 - 1 //
// \ / //
// 0 //
// / \ //
// 3 - 4 //
vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(4); faces.push_back (vi); vi.clear ();
for (const auto &face : faces)
{
ASSERT_TRUE (mesh.addFace (face).isValid ());
}
EXPECT_TRUE (hasFaces (mesh, faces));
// (*) Adding the next two faces would destroy the connectivity around vertex 0. E.g. a VertexAroundVertexCirculator would not be able to access all the vertices (1, 2, 3, 4) anymore.
vi.emplace_back(3); vi.emplace_back(0); vi.emplace_back(4);
EXPECT_FALSE (mesh.addFace (vi).isValid ());
vi.clear ();
vi.emplace_back(1); vi.emplace_back(0); vi.emplace_back(2);
EXPECT_FALSE (mesh.addFace (vi).isValid ());
vi.clear ();
{
// Check if the whole boundary is reached.
VertexIndices boundary_expected;
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(1);
boundary_expected.emplace_back(2);
boundary_expected.emplace_back(3);
boundary_expected.emplace_back(4);
VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (2));
std::sort (boundary_vertices.begin (), boundary_vertices.end ());
EXPECT_EQ (boundary_expected, boundary_vertices);
}
// New config //
// 2 - 1 //
// \ / //
// 3 - 0 - 6 //
// \ / \ / //
// 4 5 //
vi.emplace_back(0); vi.emplace_back(5); vi.emplace_back(6); faces.push_back (vi); vi.clear ();
EXPECT_TRUE (mesh.addFace (faces [2]).isValid ());
EXPECT_TRUE (hasFaces (mesh, faces));
// Same as (*)
vi.emplace_back(1); vi.emplace_back(0); vi.emplace_back(2);
EXPECT_FALSE (mesh.addFace (vi).isValid ());
vi.clear ();
vi.emplace_back(3); vi.emplace_back(0); vi.emplace_back(4);
EXPECT_FALSE (mesh.addFace (vi).isValid ());
vi.clear ();
vi.emplace_back(5); vi.emplace_back(0); vi.emplace_back(6);
EXPECT_FALSE (mesh.addFace (vi).isValid ());
vi.clear ();
{
// Check if the whole boundary is reached.
VertexIndices boundary_expected;
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(1);
boundary_expected.emplace_back(2);
boundary_expected.emplace_back(3);
boundary_expected.emplace_back(4);
boundary_expected.emplace_back(5);
boundary_expected.emplace_back(6);
VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (2));
std::sort (boundary_vertices.begin (), boundary_vertices.end ());
EXPECT_EQ (boundary_expected, boundary_vertices);
}
// New config //
// 2---1 8 //
// \ | /| //
// \ | / | //
// \|/ | //
// 3---0---7 //
// | /|\ //
// | / | \ //
// |/ | \ //
// 4 5---6 //
vi.emplace_back(0); vi.emplace_back(7); vi.emplace_back(8); faces.push_back (vi); vi.clear ();
EXPECT_TRUE (mesh.addFace (faces [3]).isValid ());
EXPECT_TRUE (hasFaces (mesh, faces));
// Same as (*)
vi.emplace_back(1); vi.emplace_back(0); vi.emplace_back(2);
EXPECT_FALSE (mesh.addFace (vi).isValid ());
vi.clear ();
vi.emplace_back(3); vi.emplace_back(0); vi.emplace_back(4);
EXPECT_FALSE (mesh.addFace (vi).isValid ());
vi.clear ();
vi.emplace_back(5); vi.emplace_back(0); vi.emplace_back(6);
EXPECT_FALSE (mesh.addFace (vi).isValid ());
vi.clear ();
vi.emplace_back(7); vi.emplace_back(0); vi.emplace_back(8);
EXPECT_FALSE (mesh.addFace (vi).isValid ());
vi.clear ();
// Check if the whole boundary is reached.
{
VertexIndices boundary_expected;
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(1);
boundary_expected.emplace_back(2);
boundary_expected.emplace_back(3);
boundary_expected.emplace_back(4);
boundary_expected.emplace_back(5);
boundary_expected.emplace_back(6);
boundary_expected.emplace_back(7);
boundary_expected.emplace_back(8);
VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (2));
std::sort (boundary_vertices.begin (), boundary_vertices.end ());
EXPECT_EQ (boundary_expected, boundary_vertices);
}
// Close the gaps //
// 2---1---8 //
// |\ | /| //
// | \0|5/ | //
// | 6\|/3 | //
// 3---0---7 //
// | 1/|\7 | //
// | /4|2\ | //
// |/ | \| //
// 4---5---6 //
vi.emplace_back(0); vi.emplace_back(4); vi.emplace_back(5); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(8); vi.emplace_back(1); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(3); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(6); vi.emplace_back(7); faces.push_back (vi); vi.clear ();
for (std::size_t i = 4; i < faces.size (); ++i)
{
EXPECT_TRUE (mesh.addFace (faces [i]).isValid ());
}
EXPECT_TRUE (hasFaces (mesh, faces));
VertexIndices boundary_expected;
for (unsigned int i=8; i>0; --i)
{
boundary_expected.emplace_back(i);
}
VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (1));
EXPECT_EQ (boundary_expected, boundary_vertices);
// Copy vertex indices to data
std::vector <std::vector <int> > expected (faces.size ());
for (std::size_t i = 0; i < faces.size (); ++i)
{
std::vector <int> tmp (faces [i].size ());
for (std::size_t j = 0; j < faces [i].size (); ++j)
{
tmp [j] = faces [i][j].get ();
}
expected [i] = tmp;
}
// Delete all faces
while (!expected.empty ())
{
mesh.deleteFace (FaceIndex (0));
mesh.cleanUp ();
expected.erase (expected.begin ());
ASSERT_TRUE (hasFaces (mesh, expected));
}
ASSERT_TRUE (mesh.empty ());
}
////////////////////////////////////////////////////////////////////////////////
TEST (TestAddDeleteFace, Manifold1)
{
using Mesh = ManifoldTriangleMesh;
Mesh mesh;
for (unsigned int i=0; i<7; ++i) mesh.addVertex (i);
// 2 - 1 //
// / \ / \ //
// 3 - 0 - 6 //
// \ / \ / //
// 4 - 5 //
std::vector <VertexIndices> faces;
std::vector <std::vector <int> > expected;
VertexIndices vi;
vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(3); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(4); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(4); vi.emplace_back(5); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(5); vi.emplace_back(6); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(6); vi.emplace_back(1); faces.push_back (vi); vi.clear ();
for (std::size_t i = 0; i < faces.size (); ++i)
{
std::vector <int> tmp (faces [i].size ());
for (std::size_t j = 0; j < faces [i].size (); ++j)
{
tmp [j] = faces [i][j].get ();
}
expected.push_back (tmp);
ASSERT_TRUE (mesh.addFace (faces [i]).isValid ()) << "Face " << i;
}
ASSERT_TRUE (hasFaces (mesh, faces));
ASSERT_TRUE (hasFaces (mesh, expected));
mesh.deleteFace (FaceIndex (0)); // 012
mesh.deleteFace (FaceIndex (3)); // 045 -> makes mesh non-manifold -> delete additional faces.
mesh.cleanUp ();
EXPECT_TRUE (mesh.isManifold ());
// Only the faces 0-5-6 and 0-6-1 remain after deletion.
// NOTE: It would be also valid if the faces 0-2-3 and 0-3-4 remain.
ASSERT_TRUE (hasFaces (mesh, std::vector <std::vector <int> > (expected.begin ()+4, expected.end ())));
// 9 - 10 //
// / \ / \ //
// 8 - 2 - 1 //
// \ / \ / \ //
// 3 - 0 - 6 //
// / \ / \ / //
// 7 - 4 - 5 //
mesh.clear ();
expected.clear ();
for (unsigned int i=0; i<11; ++i) mesh.addVertex (i);
vi.emplace_back( 3); vi.emplace_back(7); vi.emplace_back(4); faces.push_back (vi); vi.clear ();
vi.emplace_back( 3); vi.emplace_back(2); vi.emplace_back(8); faces.push_back (vi); vi.clear ();
vi.emplace_back( 8); vi.emplace_back(2); vi.emplace_back(9); faces.push_back (vi); vi.clear ();
vi.emplace_back(10); vi.emplace_back(9); vi.emplace_back(2); faces.push_back (vi); vi.clear ();
vi.emplace_back(10); vi.emplace_back(2); vi.emplace_back(1); faces.push_back (vi); vi.clear ();
for (std::size_t i = 0; i < faces.size (); ++i)
{
ASSERT_TRUE (mesh.addFace (faces [i]).isValid ()) << "Face " << i;
}
ASSERT_TRUE (hasFaces (mesh, faces));
mesh.deleteFace (FaceIndex (0)); // 0-1-2 -> deletes 10-2-1
mesh.deleteFace (FaceIndex (3)); // 0-4-5 -> deletes 0-3-4, 3-7-4 and 0-2-3
mesh.cleanUp ();
std::vector <int> tmp;
tmp.push_back ( 0); tmp.push_back (5); tmp.push_back (6); expected.push_back (tmp); tmp.clear ();
tmp.push_back ( 0); tmp.push_back (6); tmp.push_back (1); expected.push_back (tmp); tmp.clear ();
tmp.push_back ( 3); tmp.push_back (2); tmp.push_back (8); expected.push_back (tmp); tmp.clear ();
tmp.push_back ( 8); tmp.push_back (2); tmp.push_back (9); expected.push_back (tmp); tmp.clear ();
tmp.push_back (10); tmp.push_back (9); tmp.push_back (2); expected.push_back (tmp); tmp.clear ();
EXPECT_TRUE (mesh.isManifold ());
ASSERT_TRUE (hasFaces (mesh, expected));
std::vector <int> expected_boundary;
expected_boundary.push_back (6);
expected_boundary.push_back (5);
expected_boundary.push_back (0);
expected_boundary.push_back (1);
EXPECT_EQ (expected_boundary, getBoundaryVertices (mesh, 1));
expected_boundary.clear ();
expected_boundary.push_back ( 2);
expected_boundary.push_back ( 3);
expected_boundary.push_back ( 8);
expected_boundary.push_back ( 9);
expected_boundary.push_back (10);
EXPECT_EQ (expected_boundary, getBoundaryVertices (mesh, 8));
}
////////////////////////////////////////////////////////////////////////////////
#ifdef PCL_GEOMETRY_MESH_BASE_TEST_DELETE_FACE_MANIFOLD_2
TEST (TestAddDeleteFace, Manifold2)
{
using Mesh = ManifoldTriangleMesh;
using VI = VertexIndex;
// 1 ----- 3 //
// \ \ / / //
// \ 0 / //
// \ | / //
// 2 //
std::vector <VertexIndices> faces;
VertexIndices vi;
vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(3); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(1); faces.push_back (vi); vi.clear ();
// Try all possible combinations of adding the faces and deleting a vertex.
// NOTE: Some cases are redundant.
std::vector <int> p;
std::vector <std::vector <int> > permutations;
p.push_back (0); p.push_back (1); p.push_back (2); permutations.push_back (p); p.clear ();
p.push_back (1); p.push_back (2); p.push_back (0); permutations.push_back (p); p.clear ();
p.push_back (2); p.push_back (0); p.push_back (1); permutations.push_back (p); p.clear ();
Mesh mesh_tmp;
vi.clear ();
for (int i=0; i<4; ++i)
{
vi.push_back (mesh_tmp.addVertex ());
}
for (std::size_t i=0; i<permutations.size (); ++i) // first face
{
for (std::size_t j=0; j<permutations.size (); ++j) // second face
{
for (std::size_t k=0; k<permutations.size (); ++k) // third face
{
for (VI l (0); l < VI (3); ++l) // deleted vertex
{
pcl::geometry::g_pcl_geometry_mesh_base_test_delete_face_manifold_2_success = true;
std::stringstream errormsg;
errormsg << "\n";
errormsg << faces [0] [permutations [i][0]] << faces [0] [permutations [i][1]] << faces [0] [permutations [i][2]] << " ";
errormsg << faces [1] [permutations [j][0]] << faces [1] [permutations [j][1]] << faces [1] [permutations [j][2]] << " ";
errormsg << faces [2] [permutations [k][0]] << faces [2] [permutations [k][1]] << faces [2] [permutations [k][2]] << " ";
errormsg << "v: " << l << "\n";
Mesh mesh = mesh_tmp;
mesh.addFace (faces [0] [permutations [i][0]], faces [0] [permutations [i][1]], faces [0] [permutations [i][2]]);
mesh.addFace (faces [1] [permutations [j][0]], faces [1] [permutations [j][1]], faces [1] [permutations [j][2]]);
mesh.addFace (faces [2] [permutations [k][0]], faces [2] [permutations [k][1]], faces [2] [permutations [k][2]]);
mesh.deleteVertex (VI (l));
ASSERT_TRUE (pcl::geometry::g_pcl_geometry_mesh_base_test_delete_face_manifold_2_success) << errormsg.str ();
}
}
}
}
}
#endif // PCL_GEOMETRY_MESH_BASE_TEST_DELETE_FACE_MANIFOLD_2
////////////////////////////////////////////////////////////////////////////////
TEST (TestDelete, VertexAndEdge)
{
using Mesh = NonManifoldTriangleMesh;
using VI = VertexIndex;
Mesh mesh;
for (unsigned int i=0; i<7; ++i) mesh.addVertex (i);
// 2 - 1 2 - 1 //
// / \ / \ / \ / //
// 3 - 0 - 6 -> 3 - 0 //
// \ / \ / \ / \ //
// 4 - 5 4 - 5 //
std::vector <VertexIndices> faces;
std::vector <std::vector <int> > expected;
VertexIndices vi;
vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(3); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(4); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(4); vi.emplace_back(5); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(5); vi.emplace_back(6); faces.push_back (vi); vi.clear ();
vi.emplace_back(0); vi.emplace_back(6); vi.emplace_back(1); faces.push_back (vi); vi.clear ();
for (std::size_t i = 0; i < faces.size (); ++i)
{
std::vector <int> tmp (faces [i].size ());
for (std::size_t j = 0; j < faces [i].size (); ++j)
{
tmp [j] = faces [i][j].get ();
}
expected.push_back (tmp);
ASSERT_TRUE (mesh.addFace (faces [i]).isValid ()) << "Face " << i;
}
ASSERT_TRUE (hasFaces (mesh, faces));
ASSERT_TRUE (hasFaces (mesh, expected));
// Search edge 0-6
Mesh::VertexAroundVertexCirculator circ = mesh.getVertexAroundVertexCirculator (VI (0));
const Mesh::VertexAroundVertexCirculator circ_end = circ;
HalfEdgeIndex idx_he_06;
do
{
if (circ.getTargetIndex () == VI (6))
{
idx_he_06 = circ.getCurrentHalfEdgeIndex ();
break;
}
} while (++circ != circ_end);
// Delete
Mesh mesh_deleted_vertex = mesh;
Mesh mesh_deleted_half_edge = mesh;
Mesh mesh_deleted_edge = mesh;
expected.pop_back ();
expected.pop_back ();
mesh_deleted_vertex.deleteVertex (VI (6));
mesh_deleted_vertex.cleanUp ();
mesh_deleted_half_edge.deleteEdge (idx_he_06);
mesh_deleted_half_edge.cleanUp ();
mesh_deleted_edge.deleteEdge (pcl::geometry::toEdgeIndex (idx_he_06));
mesh_deleted_edge.cleanUp ();
EXPECT_TRUE (hasFaces (mesh_deleted_vertex, expected));
EXPECT_TRUE (hasFaces (mesh_deleted_half_edge, expected));
EXPECT_TRUE (hasFaces (mesh_deleted_edge, expected));
}
////////////////////////////////////////////////////////////////////////////////
TEST (TestMesh, IsBoundaryIsManifold)
{
// The triangle 0-1-2 is added last //
// 5 //
// / \ //
// 0 - 2 //
// / \ / \ //
// 3 - 1 - 4 //
NonManifoldTriangleMesh mesh;
for (unsigned int i=0; i<6; ++i) mesh.addVertex (i);
using VI = VertexIndex;
VertexIndices vi;
std::vector <VertexIndices> faces;
vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(1); faces.push_back (vi); vi.clear (); // 0
vi.emplace_back(2); vi.emplace_back(1); vi.emplace_back(4); faces.push_back (vi); vi.clear (); // 1
vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(5); faces.push_back (vi); vi.clear (); // 2
for (const auto &face : faces)
{
ASSERT_TRUE (mesh.addFace (face).isValid ());
}
EXPECT_TRUE (hasFaces (mesh, faces));
// Check if the whole boundary is reached.
VertexIndices boundary_expected;
boundary_expected.emplace_back(0);
boundary_expected.emplace_back(5);
boundary_expected.emplace_back(2);
boundary_expected.emplace_back(4);
boundary_expected.emplace_back(1);
boundary_expected.emplace_back(3);
VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (3));
EXPECT_EQ (boundary_expected, boundary_vertices);
EXPECT_FALSE (mesh.isManifold (VI (0)));
EXPECT_FALSE (mesh.isManifold (VI (1)));
EXPECT_FALSE (mesh.isManifold (VI (2)));
EXPECT_TRUE (mesh.isManifold (VI (3)));
EXPECT_TRUE (mesh.isManifold (VI (4)));
EXPECT_TRUE (mesh.isManifold (VI (5)));
ASSERT_FALSE (mesh.isManifold ());
for (std::size_t i = 0; i < mesh.sizeEdges (); ++i)
{
ASSERT_TRUE (mesh.isBoundary (EdgeIndex (i)));
}
// Make manifold
vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear (); // 3
ASSERT_TRUE (mesh.addFace (faces [3]).isValid ());
EXPECT_TRUE (hasFaces (mesh, faces));
EXPECT_TRUE (mesh.isManifold ());
EXPECT_TRUE (mesh.isBoundary (FaceIndex (3))); // This version checks the vertices
EXPECT_FALSE (mesh.isBoundary <false> (FaceIndex (3))); // This version checks the edges
const HalfEdgeIndex idx_he_01 = findHalfEdge (mesh, VI (0), VI (1));
const HalfEdgeIndex idx_he_12 = findHalfEdge (mesh, VI (1), VI (2));
const HalfEdgeIndex idx_he_20 = findHalfEdge (mesh, VI (2), VI (0));
ASSERT_TRUE (idx_he_01.isValid ());
ASSERT_TRUE (idx_he_12.isValid ());
ASSERT_TRUE (idx_he_20.isValid ());
EXPECT_FALSE (mesh.isBoundary (pcl::geometry::toEdgeIndex (idx_he_01)));
EXPECT_FALSE (mesh.isBoundary (pcl::geometry::toEdgeIndex (idx_he_12)));
EXPECT_FALSE (mesh.isBoundary (pcl::geometry::toEdgeIndex (idx_he_20)));
// Isolated vertex
mesh.addVertex (6);
ASSERT_TRUE (mesh.isManifold (VI (6)));
ASSERT_TRUE (mesh.isBoundary (VI (6)));
}
////////////////////////////////////////////////////////////////////////////////
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}