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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 <typeinfo>
#include <gtest/gtest.h>
#include <pcl/geometry/polygon_mesh.h>
#include "test_mesh_common_functions.h"
////////////////////////////////////////////////////////////////////////////////
typedef pcl::geometry::VertexIndex VertexIndex;
typedef pcl::geometry::HalfEdgeIndex HalfEdgeIndex;
typedef pcl::geometry::EdgeIndex EdgeIndex;
typedef pcl::geometry::FaceIndex FaceIndex;
typedef std::vector <VertexIndex> VertexIndices;
typedef std::vector <HalfEdgeIndex> HalfEdgeIndices;
typedef std::vector <FaceIndex> FaceIndices;
template <bool IsManifoldT>
struct MeshTraits
{
typedef int VertexData;
typedef pcl::geometry::NoData HalfEdgeData;
typedef pcl::geometry::NoData EdgeData;
typedef pcl::geometry::NoData FaceData;
typedef boost::integral_constant <bool, IsManifoldT> IsManifold;
};
typedef pcl::geometry::PolygonMesh <MeshTraits <true > > ManifoldPolygonMesh;
typedef pcl::geometry::PolygonMesh <MeshTraits <false> > NonManifoldPolygonMesh;
typedef testing::Types <ManifoldPolygonMesh, NonManifoldPolygonMesh> PolygonMeshTypes;
template <class MeshT>
class TestPolygonMesh : public testing::Test
{
protected:
typedef MeshT Mesh;
};
TYPED_TEST_CASE (TestPolygonMesh, PolygonMeshTypes);
////////////////////////////////////////////////////////////////////////////////
TYPED_TEST (TestPolygonMesh, CorrectMeshTag)
{
typedef typename TestFixture::Mesh Mesh;
typedef typename Mesh::MeshTag MeshTag;
ASSERT_EQ (typeid (pcl::geometry::PolygonMeshTag), typeid (MeshTag));
}
////////////////////////////////////////////////////////////////////////////////
// NOTE: It is the responsibility of the user to ensure that all vertex indices are valid.
//TYPED_TEST (TestPolygonMesh, OutOfRange)
//{
// typedef typename TestFixture::Mesh Mesh;
// Mesh mesh;
// VertexIndices vi;
// for (unsigned int i=0; i<3; ++i)
// {
// vi.push_back (VertexIndex (i));
// }
// EXPECT_FALSE (mesh.addFace (vi).isValid ());
// mesh.addVertex (0);
// EXPECT_FALSE (mesh.addFace (vi).isValid ());
// mesh.addVertex (1);
// EXPECT_FALSE (mesh.addFace (vi).isValid ());
// mesh.addVertex (2);
// EXPECT_TRUE (mesh.addFace (vi).isValid ());
//}
////////////////////////////////////////////////////////////////////////////////
TYPED_TEST (TestPolygonMesh, CorrectNumberOfVertices)
{
// Make sure that only quads can be added
typedef typename TestFixture::Mesh Mesh;
for (unsigned int n=1; n<=5; ++n)
{
Mesh mesh;
VertexIndices vi;
for (unsigned int i=0; i<n; ++i)
{
vi.push_back (VertexIndex (i));
mesh.addVertex (i);
}
const FaceIndex index = mesh.addFace (vi);
if (n>=3) EXPECT_TRUE (index.isValid ()) << "Number of vertices in the face: " << n;
else EXPECT_FALSE (index.isValid ()) << "Number of vertices in the face: " << n;
}
}
////////////////////////////////////////////////////////////////////////////////
TYPED_TEST (TestPolygonMesh, ThreePolygons)
{
typedef typename TestFixture::Mesh Mesh;
// 1 - 6 //
// / \ \ //
// 2 - 0 5 //
// \ \ / //
// 3 - 4 //
Mesh mesh;
for (unsigned int i=0; i<7; ++i) mesh.addVertex (i);
std::vector <VertexIndices> faces;
VertexIndices vi;
vi.push_back (VertexIndex (0));
vi.push_back (VertexIndex (1));
vi.push_back (VertexIndex (2));
faces.push_back (vi);
vi.clear ();
vi.push_back (VertexIndex (0));
vi.push_back (VertexIndex (2));
vi.push_back (VertexIndex (3));
vi.push_back (VertexIndex (4));
faces.push_back (vi);
vi.clear ();
vi.push_back (VertexIndex (0));
vi.push_back (VertexIndex (4));
vi.push_back (VertexIndex (5));
vi.push_back (VertexIndex (6));
vi.push_back (VertexIndex (1));
faces.push_back (vi);
vi.clear ();
for (unsigned int i=0; i<faces.size (); ++i)
{
ASSERT_TRUE (mesh.addFace (faces [i]).isValid ());
}
ASSERT_TRUE (hasFaces (mesh, faces));
mesh.deleteFace (FaceIndex (1));
mesh.cleanUp ();
std::vector <std::vector <int> > expected;
std::vector <int> tmp;
tmp.push_back (0);
tmp.push_back (1);
tmp.push_back (2);
expected.push_back (tmp);
tmp.clear ();
tmp.push_back (0);
tmp.push_back (4);
tmp.push_back (5);
tmp.push_back (6);
tmp.push_back (1);
expected.push_back (tmp);
tmp.clear ();
ASSERT_TRUE (hasFaces (mesh, expected));
std::vector <int> expected_boundary;
expected_boundary.push_back (2);
expected_boundary.push_back (1);
expected_boundary.push_back (6);
expected_boundary.push_back (5);
expected_boundary.push_back (4);
expected_boundary.push_back (0);
ASSERT_EQ (expected_boundary, getBoundaryVertices (mesh, 0));
}
////////////////////////////////////////////////////////////////////////////////
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
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