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test_mesh_data.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 <pcl/test/gtest.h>
#include "test_mesh_common_functions.h"
#include <pcl/geometry/polygon_mesh.h>
////////////////////////////////////////////////////////////////////////////////
using NoData = pcl::geometry::NoData;
using TraitsV = pcl::geometry::DefaultMeshTraits <int , NoData , NoData, NoData>;
using TraitsHE = pcl::geometry::DefaultMeshTraits <NoData, int , NoData, NoData>;
using TraitsE = pcl::geometry::DefaultMeshTraits <NoData, NoData , int , NoData>;
using TraitsF = pcl::geometry::DefaultMeshTraits <NoData, NoData , NoData, int >;
using TraitsAD = pcl::geometry::DefaultMeshTraits <int , int , int , int >;
using MeshV = pcl::geometry::PolygonMesh<TraitsV>;
using MeshHE = pcl::geometry::PolygonMesh<TraitsHE>;
using MeshE = pcl::geometry::PolygonMesh<TraitsE>;
using MeshF = pcl::geometry::PolygonMesh<TraitsF>;
using MeshAD = pcl::geometry::PolygonMesh<TraitsAD>;
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>;
////////////////////////////////////////////////////////////////////////////////
/** \brief Check if the size of the mesh elements is correct. */
template <class MeshT> void
checkSizeElements (const MeshT& mesh, const std::size_t n_v, const std::size_t n_e, const std::size_t n_f)
{
ASSERT_EQ (n_v, mesh.sizeVertices ());
ASSERT_EQ (n_e, mesh.sizeEdges ());
ASSERT_EQ (n_f, mesh.sizeFaces ());
}
////////////////////////////////////////////////////////////////////////////////
/** \brief Check if the size of the mesh data is correct. */
template <class MeshT> void
checkSizeData (const MeshT& mesh, const std::size_t n_v, const std::size_t n_he, const std::size_t n_e, const std::size_t n_f)
{
ASSERT_EQ (n_v , mesh.getVertexDataCloud ().size ());
ASSERT_EQ (n_he, mesh.getHalfEdgeDataCloud ().size ());
ASSERT_EQ (n_e , mesh.getEdgeDataCloud ().size ());
ASSERT_EQ (n_f , mesh.getFaceDataCloud ().size ());
}
////////////////////////////////////////////////////////////////////////////////
TEST (TestMesh, MeshData)
{
EXPECT_TRUE (MeshV::HasVertexData::value);
EXPECT_FALSE (MeshV::HasHalfEdgeData::value);
EXPECT_FALSE (MeshV::HasEdgeData::value);
EXPECT_FALSE (MeshV::HasFaceData::value);
EXPECT_FALSE (MeshHE::HasVertexData::value);
EXPECT_TRUE (MeshHE::HasHalfEdgeData::value);
EXPECT_FALSE (MeshHE::HasEdgeData::value);
EXPECT_FALSE (MeshHE::HasFaceData::value);
EXPECT_FALSE (MeshE::HasVertexData::value);
EXPECT_FALSE (MeshE::HasHalfEdgeData::value);
EXPECT_TRUE (MeshE::HasEdgeData::value);
EXPECT_FALSE (MeshE::HasFaceData::value);
EXPECT_FALSE (MeshF::HasVertexData::value);
EXPECT_FALSE (MeshF::HasHalfEdgeData::value);
EXPECT_FALSE (MeshF::HasEdgeData::value);
EXPECT_TRUE (MeshF::HasFaceData::value);
EXPECT_TRUE (MeshAD::HasVertexData::value);
EXPECT_TRUE (MeshAD::HasHalfEdgeData::value);
EXPECT_TRUE (MeshAD::HasEdgeData::value);
EXPECT_TRUE (MeshAD::HasFaceData::value);
// 3 - 2 - 4 //
// \ / \ / //
// 0 - 1 //
VertexIndices vi_0, vi_1, vi_2;
vi_0.emplace_back(0); vi_0.emplace_back(1); vi_0.emplace_back(2);
vi_1.emplace_back(0); vi_1.emplace_back(2); vi_1.emplace_back(3);
vi_2.emplace_back(4); vi_2.emplace_back(2); vi_2.emplace_back(1);
// Mesh data.
int vd_0 (10), vd_1 (11), vd_2 (12), vd_3 (13), vd_4 (14);
int hed_0 (20), hed_1 (21), hed_2 (22);
int ed_0 (30), ed_1 (31), ed_2 (32);
int fd_0 (40), fd_1 (41), fd_2 (42);
NoData nd;
{
SCOPED_TRACE ("Mesh with vertex data");
MeshV mesh;
EXPECT_TRUE (mesh.addVertex (vd_0).isValid ());
EXPECT_TRUE (mesh.addVertex (vd_1).isValid ());
EXPECT_TRUE (mesh.addVertex (vd_2).isValid ());
EXPECT_TRUE (mesh.addVertex (vd_3).isValid ());
EXPECT_TRUE (mesh.addVertex (vd_4).isValid ());
EXPECT_TRUE (mesh.addFace (vi_0, nd, nd, nd).isValid ());
EXPECT_TRUE (mesh.addFace (vi_1, nd, nd, nd).isValid ());
EXPECT_TRUE (mesh.addFace (vi_2, nd, nd, nd).isValid ());
checkSizeElements (mesh, 5, 7, 3);
checkSizeData (mesh, 5, 0, 0, 0);
EXPECT_EQ (vd_0, mesh.getVertexDataCloud () [0]);
EXPECT_EQ (vd_1, mesh.getVertexDataCloud () [1]);
EXPECT_EQ (vd_2, mesh.getVertexDataCloud () [2]);
EXPECT_EQ (vd_3, mesh.getVertexDataCloud () [3]);
EXPECT_EQ (vd_4, mesh.getVertexDataCloud () [4]);
mesh.deleteFace (FaceIndex (1));
mesh.cleanUp ();
checkSizeElements (mesh, 4, 5, 2);
checkSizeData (mesh, 4, 0, 0, 0);
EXPECT_EQ (vd_0, mesh.getVertexDataCloud () [0]);
EXPECT_EQ (vd_1, mesh.getVertexDataCloud () [1]);
EXPECT_EQ (vd_2, mesh.getVertexDataCloud () [2]);
EXPECT_EQ (vd_4, mesh.getVertexDataCloud () [3]);
}
{
SCOPED_TRACE ("Mesh with edge data");
MeshE mesh;
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addFace (vi_0, nd, ed_0, nd).isValid ());
EXPECT_TRUE (mesh.addFace (vi_1, nd, ed_1, nd).isValid ());
EXPECT_TRUE (mesh.addFace (vi_2, nd, ed_2, nd).isValid ());
checkSizeElements (mesh, 5, 7, 3);
checkSizeData (mesh, 0, 0, 7, 0);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [0]);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [1]);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [2]);
EXPECT_EQ (ed_1, mesh.getEdgeDataCloud () [3]);
EXPECT_EQ (ed_1, mesh.getEdgeDataCloud () [4]);
EXPECT_EQ (ed_2, mesh.getEdgeDataCloud () [5]);
EXPECT_EQ (ed_2, mesh.getEdgeDataCloud () [6]);
mesh.deleteFace (FaceIndex (1));
mesh.cleanUp ();
checkSizeElements (mesh, 4, 5, 2);
checkSizeData (mesh, 0, 0, 5, 0);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [0]);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [1]);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [2]);
EXPECT_EQ (ed_2, mesh.getEdgeDataCloud () [3]);
EXPECT_EQ (ed_2, mesh.getEdgeDataCloud () [4]);
}
{
SCOPED_TRACE ("Mesh with half-edge data");
MeshHE mesh;
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addFace (vi_0, nd, nd, hed_0).isValid ());
EXPECT_TRUE (mesh.addFace (vi_1, nd, nd, hed_1).isValid ());
EXPECT_TRUE (mesh.addFace (vi_2, nd, nd, hed_2).isValid ());
checkSizeElements (mesh, 5, 7, 3);
checkSizeData (mesh, 0, 14, 0, 0);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 0]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 1]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 2]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 3]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 4]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 5]);
EXPECT_EQ (hed_1, mesh.getHalfEdgeDataCloud () [ 6]);
EXPECT_EQ (hed_1, mesh.getHalfEdgeDataCloud () [ 7]);
EXPECT_EQ (hed_1, mesh.getHalfEdgeDataCloud () [ 8]);
EXPECT_EQ (hed_1, mesh.getHalfEdgeDataCloud () [ 9]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [10]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [11]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [12]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [13]);
mesh.deleteFace (FaceIndex (1));
mesh.cleanUp ();
checkSizeElements (mesh, 4, 5, 2);
checkSizeData (mesh, 0, 10, 0, 0);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [0]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [1]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [2]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [3]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [4]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [5]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [6]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [7]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [8]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [9]);
}
{
SCOPED_TRACE ("Mesh with face data");
MeshF mesh;
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addVertex ().isValid ());
EXPECT_TRUE (mesh.addFace (vi_0, fd_0, nd, nd).isValid ());
EXPECT_TRUE (mesh.addFace (vi_1, fd_1, nd, nd).isValid ());
EXPECT_TRUE (mesh.addFace (vi_2, fd_2, nd, nd).isValid ());
checkSizeElements (mesh, 5, 7, 3);
checkSizeData (mesh, 0, 0, 0, 3);
EXPECT_EQ (fd_0, mesh.getFaceDataCloud () [0]);
EXPECT_EQ (fd_1, mesh.getFaceDataCloud () [1]);
EXPECT_EQ (fd_2, mesh.getFaceDataCloud () [2]);
mesh.deleteFace (FaceIndex (1));
mesh.cleanUp ();
checkSizeElements (mesh, 4, 5, 2);
checkSizeData (mesh, 0, 0, 0, 2);
EXPECT_EQ (fd_0, mesh.getFaceDataCloud () [0]);
EXPECT_EQ (fd_2, mesh.getFaceDataCloud () [1]);
}
{
SCOPED_TRACE ("Mesh with all data");
MeshAD mesh;
EXPECT_TRUE (mesh.addVertex (vd_0).isValid ());
EXPECT_TRUE (mesh.addVertex (vd_1).isValid ());
EXPECT_TRUE (mesh.addVertex (vd_2).isValid ());
EXPECT_TRUE (mesh.addVertex (vd_3).isValid ());
EXPECT_TRUE (mesh.addVertex (vd_4).isValid ());
EXPECT_TRUE (mesh.addFace (vi_0, fd_0, ed_0, hed_0).isValid ());
EXPECT_TRUE (mesh.addFace (vi_1, fd_1, ed_1, hed_1).isValid ());
EXPECT_TRUE (mesh.addFace (vi_2, fd_2, ed_2, hed_2).isValid ());
checkSizeElements (mesh, 5, 7, 3);
checkSizeData (mesh, 5, 14, 7, 3);
EXPECT_EQ (vd_0, mesh.getVertexDataCloud () [0]);
EXPECT_EQ (vd_1, mesh.getVertexDataCloud () [1]);
EXPECT_EQ (vd_2, mesh.getVertexDataCloud () [2]);
EXPECT_EQ (vd_3, mesh.getVertexDataCloud () [3]);
EXPECT_EQ (vd_4, mesh.getVertexDataCloud () [4]);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [0]);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [1]);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [2]);
EXPECT_EQ (ed_1, mesh.getEdgeDataCloud () [3]);
EXPECT_EQ (ed_1, mesh.getEdgeDataCloud () [4]);
EXPECT_EQ (ed_2, mesh.getEdgeDataCloud () [5]);
EXPECT_EQ (ed_2, mesh.getEdgeDataCloud () [6]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 0]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 1]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 2]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 3]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 4]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [ 5]);
EXPECT_EQ (hed_1, mesh.getHalfEdgeDataCloud () [ 6]);
EXPECT_EQ (hed_1, mesh.getHalfEdgeDataCloud () [ 7]);
EXPECT_EQ (hed_1, mesh.getHalfEdgeDataCloud () [ 8]);
EXPECT_EQ (hed_1, mesh.getHalfEdgeDataCloud () [ 9]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [10]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [11]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [12]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [13]);
EXPECT_EQ (fd_0, mesh.getFaceDataCloud () [0]);
EXPECT_EQ (fd_1, mesh.getFaceDataCloud () [1]);
EXPECT_EQ (fd_2, mesh.getFaceDataCloud () [2]);
mesh.deleteFace (FaceIndex (1));
mesh.cleanUp ();
checkSizeElements (mesh, 4, 5, 2);
checkSizeData (mesh, 4, 10, 5, 2);
EXPECT_EQ (vd_0, mesh.getVertexDataCloud () [0]);
EXPECT_EQ (vd_1, mesh.getVertexDataCloud () [1]);
EXPECT_EQ (vd_2, mesh.getVertexDataCloud () [2]);
EXPECT_EQ (vd_4, mesh.getVertexDataCloud () [3]);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [0]);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [1]);
EXPECT_EQ (ed_0, mesh.getEdgeDataCloud () [2]);
EXPECT_EQ (ed_2, mesh.getEdgeDataCloud () [3]);
EXPECT_EQ (ed_2, mesh.getEdgeDataCloud () [4]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [0]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [1]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [2]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [3]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [4]);
EXPECT_EQ (hed_0, mesh.getHalfEdgeDataCloud () [5]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [6]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [7]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [8]);
EXPECT_EQ (hed_2, mesh.getHalfEdgeDataCloud () [9]);
EXPECT_EQ (fd_0, mesh.getFaceDataCloud () [0]);
EXPECT_EQ (fd_2, mesh.getFaceDataCloud () [1]);
// Change the stored data.
MeshAD::VertexDataCloud vdc;
MeshAD::HalfEdgeDataCloud hedc;
MeshAD::EdgeDataCloud edc;
MeshAD::FaceDataCloud fdc;
vdc.push_back (100);
hedc.push_back (200);
edc.push_back (300);
fdc.push_back (400);
// Wrong size
EXPECT_FALSE (mesh.setVertexDataCloud (vdc));
EXPECT_FALSE (mesh.setHalfEdgeDataCloud (hedc));
EXPECT_FALSE (mesh.setEdgeDataCloud (edc));
EXPECT_FALSE (mesh.setFaceDataCloud (fdc));
// Correct size
for (unsigned int i=1; i< 4; ++i) vdc.push_back (100+i);
for (unsigned int i=1; i<10; ++i) hedc.push_back (200+i);
for (unsigned int i=1; i< 5; ++i) edc.push_back (300+i);
for (unsigned int i=1; i< 2; ++i) fdc.push_back (400+i);
EXPECT_TRUE (mesh.setVertexDataCloud (vdc));
EXPECT_TRUE (mesh.setHalfEdgeDataCloud (hedc));
EXPECT_TRUE (mesh.setEdgeDataCloud (edc));
EXPECT_TRUE (mesh.setFaceDataCloud (fdc));
MeshAD::VertexDataCloud& vdc_new = mesh.getVertexDataCloud ();
MeshAD::HalfEdgeDataCloud& hedc_new = mesh.getHalfEdgeDataCloud ();
MeshAD::EdgeDataCloud& edc_new = mesh.getEdgeDataCloud ();
MeshAD::FaceDataCloud& fdc_new = mesh.getFaceDataCloud ();
EXPECT_EQ (vdc.size () , vdc_new.size ());
EXPECT_EQ (hedc.size (), hedc_new.size ());
EXPECT_EQ (edc.size () , edc_new.size ());
EXPECT_EQ (fdc.size () , fdc_new.size ());
for (std::size_t i = 0; i < vdc_new.size (); ++i) EXPECT_EQ (vdc [i], vdc_new [i]) << "Index " << i;
for (std::size_t i = 0; i < hedc_new.size (); ++i) EXPECT_EQ (hedc [i], hedc_new [i]) << "Index " << i;
for (std::size_t i = 0; i < edc_new.size (); ++i) EXPECT_EQ (edc [i], edc_new [i]) << "Index " << i;
for (std::size_t i = 0; i < fdc_new.size (); ++i) EXPECT_EQ (fdc [i], fdc_new [i]) << "Index " << i;
vdc_new [0] = 0;
hedc_new [0] = 1;
edc_new [0] = 2;
fdc_new [0] = 3;
EXPECT_EQ (0, mesh.getVertexDataCloud () [0]);
EXPECT_EQ (1, mesh.getHalfEdgeDataCloud () [0]);
EXPECT_EQ (2, mesh.getEdgeDataCloud () [0]);
EXPECT_EQ (3, mesh.getFaceDataCloud () [0]);
}
}
////////////////////////////////////////////////////////////////////////////////
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}