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 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * $Id: test_mesh_io.cpp 8543 2013-01-17 23:31:01Z sdmiller $
 *
 */

#include <pcl/test/gtest.h>
#include <pcl/type_traits.h>
#include <pcl/point_types.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/vtk_lib_io.h>

std::string mesh_file_vtk_;


TEST (PCL, PLYPolygonMeshIO)
{
  pcl::PolygonMesh mesh;
  pcl::io::loadPolygonFileVTK (mesh_file_vtk_, mesh);
  // Save ascii
  pcl::io::savePLYFile ("test_mesh_ascii.ply", mesh);
  // Save binary
  pcl::io::savePLYFileBinary ("test_mesh_binary.ply", mesh);
  // Load both with vtk ply parser
  pcl::PolygonMesh mesh_ascii_vtk;
  pcl::io::loadPolygonFilePLY ("test_mesh_ascii.ply", mesh_ascii_vtk);
  pcl::PolygonMesh mesh_binary_vtk;
  pcl::io::loadPolygonFilePLY ("test_mesh_binary.ply", mesh_binary_vtk);
  // Load both with pcl ply parser
  pcl::PolygonMesh mesh_ascii_pcl;
  pcl::io::loadPLYFile ("test_mesh_ascii.ply", mesh_ascii_pcl);
  pcl::PolygonMesh mesh_binary_pcl;
  pcl::io::loadPLYFile ("test_mesh_binary.ply", mesh_binary_pcl);
  // Compare the 3
  pcl::PointCloud<pcl::PointXYZ> verts, verts_ascii_vtk, verts_binary_vtk, verts_ascii_pcl, verts_binary_pcl;
  pcl::fromPCLPointCloud2 (mesh.cloud, verts);
  pcl::fromPCLPointCloud2 (mesh_ascii_vtk.cloud, verts_ascii_vtk);
  pcl::fromPCLPointCloud2 (mesh_binary_vtk.cloud, verts_binary_vtk);
  pcl::fromPCLPointCloud2 (mesh_ascii_pcl.cloud, verts_ascii_pcl);
  pcl::fromPCLPointCloud2 (mesh_binary_pcl.cloud, verts_binary_pcl);
  EXPECT_EQ (verts_ascii_vtk.size (), verts.size ());
  EXPECT_EQ (verts_binary_vtk.size (), verts.size ());
  EXPECT_EQ (verts_ascii_pcl.size (), verts.size ());
  EXPECT_EQ (verts_binary_pcl.size (), verts.size ());
  for (std::size_t i = 0; i < verts.size (); i++)
  {
    EXPECT_NEAR (verts_ascii_vtk.at (i).x, verts.at (i).x, 1E-2);
    EXPECT_NEAR (verts_ascii_vtk.at (i).y, verts.at (i).y, 1E-2);
    EXPECT_NEAR (verts_ascii_vtk.at (i).z, verts.at (i).z, 1E-2);
    EXPECT_NEAR (verts_binary_vtk.at (i).x, verts.at (i).x, 1E-4);
    EXPECT_NEAR (verts_binary_vtk.at (i).y, verts.at (i).y, 1E-4);
    EXPECT_NEAR (verts_binary_vtk.at (i).z, verts.at (i).z, 1E-4);
    EXPECT_NEAR (verts_ascii_pcl.at (i).x, verts.at (i).x, 1E-2);
    EXPECT_NEAR (verts_ascii_pcl.at (i).y, verts.at (i).y, 1E-2);
    EXPECT_NEAR (verts_ascii_pcl.at (i).z, verts.at (i).z, 1E-2);
    EXPECT_NEAR (verts_binary_pcl.at (i).x, verts.at (i).x, 1E-4);
    EXPECT_NEAR (verts_binary_pcl.at (i).y, verts.at (i).y, 1E-4);
    EXPECT_NEAR (verts_binary_pcl.at (i).z, verts.at (i).z, 1E-4);
  }
  ASSERT_EQ (mesh_ascii_vtk.polygons.size (), mesh.polygons.size ());
  ASSERT_EQ (mesh_binary_vtk.polygons.size (), mesh.polygons.size ());
  ASSERT_EQ (mesh_ascii_pcl.polygons.size (), mesh.polygons.size ());
  ASSERT_EQ (mesh_binary_pcl.polygons.size (), mesh.polygons.size ());
  for (std::size_t i = 0; i < mesh.polygons.size (); i++)
  {
    ASSERT_EQ (mesh_ascii_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    ASSERT_EQ (mesh_binary_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    ASSERT_EQ (mesh_ascii_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    ASSERT_EQ (mesh_binary_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    for (std::size_t j = 0; j < mesh.polygons[i].vertices.size (); j++)
    {
      EXPECT_EQ (mesh_ascii_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
      EXPECT_EQ (mesh_binary_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
      EXPECT_EQ (mesh_ascii_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
      EXPECT_EQ (mesh_binary_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
    }
  }

  remove ("test_mesh_ascii.ply");
  remove ("test_mesh_binary.ply");
}

TEST (PCL, PLYPolygonMeshColoredIO)
{
  pcl::PolygonMesh mesh;
  pcl::io::loadPolygonFileVTK (mesh_file_vtk_, mesh);
  // Artificially color
  pcl::PolygonMesh mesh_rgb;
  pcl::PolygonMesh mesh_rgba;
  pcl::PointCloud<pcl::PointXYZRGB> vertices_rgb;
  pcl::PointCloud<pcl::PointXYZRGBA> vertices_rgba;
  pcl::fromPCLPointCloud2 (mesh.cloud, vertices_rgb);
  pcl::fromPCLPointCloud2 (mesh.cloud, vertices_rgba);
  mesh_rgb.polygons = mesh.polygons;
  mesh_rgba.polygons = mesh.polygons;
  for (std::size_t i = 0; i < vertices_rgb.size (); ++i)
  {
    pcl::PointXYZRGB &pt_rgb = vertices_rgb.at (i);
    pcl::PointXYZRGBA &pt_rgba = vertices_rgba.at (i);
    pt_rgb.r = pt_rgba.r = static_cast<std::uint8_t> (rand () % 256);
    pt_rgb.g = pt_rgba.g = static_cast<std::uint8_t> (rand () % 256);
    pt_rgb.b = pt_rgba.b = static_cast<std::uint8_t> (rand () % 256);
    pt_rgba.a = static_cast<std::uint8_t> (rand () % 256);
  }
  pcl::toPCLPointCloud2 (vertices_rgb, mesh_rgb.cloud);
  pcl::toPCLPointCloud2 (vertices_rgba, mesh_rgba.cloud);
  // Save ascii
  pcl::io::savePLYFile ("test_mesh_rgb_ascii.ply", mesh_rgb);
  pcl::io::savePLYFile ("test_mesh_rgba_ascii.ply", mesh_rgba);
  // Save binary
  pcl::io::savePLYFileBinary ("test_mesh_rgb_binary.ply", mesh_rgb);
  pcl::io::savePLYFileBinary ("test_mesh_rgba_binary.ply", mesh_rgba);
  // Load both with vtk ply parser
  pcl::PolygonMesh mesh_rgb_ascii_vtk;
  pcl::PolygonMesh mesh_rgba_ascii_vtk;
  pcl::io::loadPolygonFilePLY ("test_mesh_rgb_ascii.ply", mesh_rgb_ascii_vtk);
  pcl::io::loadPolygonFilePLY ("test_mesh_rgba_ascii.ply", mesh_rgba_ascii_vtk);
  pcl::PolygonMesh mesh_rgb_binary_vtk;
  pcl::PolygonMesh mesh_rgba_binary_vtk;
  pcl::io::loadPolygonFilePLY ("test_mesh_rgb_binary.ply", mesh_rgb_binary_vtk);
  pcl::io::loadPolygonFilePLY ("test_mesh_rgba_binary.ply", mesh_rgba_binary_vtk);
  // Load both with pcl ply parser
  pcl::PolygonMesh mesh_rgb_ascii_pcl;
  pcl::PolygonMesh mesh_rgba_ascii_pcl;
  pcl::io::loadPolygonFilePLY ("test_mesh_rgb_ascii.ply", mesh_rgb_ascii_pcl);
  pcl::io::loadPolygonFilePLY ("test_mesh_rgba_ascii.ply", mesh_rgba_ascii_pcl);
  pcl::PolygonMesh mesh_rgb_binary_pcl;
  pcl::PolygonMesh mesh_rgba_binary_pcl;
  pcl::io::loadPolygonFilePLY ("test_mesh_rgb_binary.ply", mesh_rgb_binary_pcl);
  pcl::io::loadPolygonFilePLY ("test_mesh_rgba_binary.ply", mesh_rgba_binary_pcl);
  // Compare the 5
  pcl::PointCloud<pcl::PointXYZRGBA> verts_rgba_ascii_vtk, verts_rgba_binary_vtk;
  pcl::PointCloud<pcl::PointXYZRGB> verts_rgb_ascii_vtk, verts_rgb_binary_vtk;
  pcl::fromPCLPointCloud2 (mesh_rgb_ascii_vtk.cloud,  verts_rgb_ascii_vtk);
  pcl::fromPCLPointCloud2 (mesh_rgba_ascii_vtk.cloud,  verts_rgba_ascii_vtk);
  pcl::fromPCLPointCloud2 (mesh_rgb_binary_vtk.cloud, verts_rgb_binary_vtk);
  pcl::fromPCLPointCloud2 (mesh_rgba_binary_vtk.cloud, verts_rgba_binary_vtk);
  pcl::PointCloud<pcl::PointXYZRGBA> verts_rgba_ascii_pcl, verts_rgba_binary_pcl;
  pcl::PointCloud<pcl::PointXYZRGB> verts_rgb_ascii_pcl, verts_rgb_binary_pcl;
  pcl::fromPCLPointCloud2 (mesh_rgb_ascii_pcl.cloud,  verts_rgb_ascii_pcl);
  pcl::fromPCLPointCloud2 (mesh_rgba_ascii_pcl.cloud,  verts_rgba_ascii_pcl);
  pcl::fromPCLPointCloud2 (mesh_rgb_binary_pcl.cloud, verts_rgb_binary_pcl);
  pcl::fromPCLPointCloud2 (mesh_rgba_binary_pcl.cloud, verts_rgba_binary_pcl);
  ASSERT_EQ (verts_rgb_ascii_vtk.size (), vertices_rgba.size ());
  ASSERT_EQ (verts_rgba_ascii_vtk.size (), vertices_rgba.size ());
  ASSERT_EQ (verts_rgb_binary_vtk.size (), vertices_rgba.size ());
  ASSERT_EQ (verts_rgba_binary_vtk.size (), vertices_rgba.size ());
  ASSERT_EQ (verts_rgb_ascii_pcl.size (), vertices_rgba.size ());
  ASSERT_EQ (verts_rgba_ascii_pcl.size (), vertices_rgba.size ());
  ASSERT_EQ (verts_rgb_binary_pcl.size (), vertices_rgba.size ());
  ASSERT_EQ (verts_rgba_binary_pcl.size (), vertices_rgba.size ());
  for (std::size_t i = 0; i < vertices_rgba.size (); i++)
  {
    EXPECT_NEAR (verts_rgba_ascii_vtk.at (i).x, vertices_rgba.at (i).x, 1E-2);
    EXPECT_NEAR (verts_rgba_ascii_vtk.at (i).y, vertices_rgba.at (i).y, 1E-2);
    EXPECT_NEAR (verts_rgba_ascii_vtk.at (i).z, vertices_rgba.at (i).z, 1E-2);
    EXPECT_EQ   (verts_rgba_ascii_vtk.at (i).r, vertices_rgba.at (i).r);
    EXPECT_EQ   (verts_rgba_ascii_vtk.at (i).g, vertices_rgba.at (i).g);
    EXPECT_EQ   (verts_rgba_ascii_vtk.at (i).b, vertices_rgba.at (i).b);
    EXPECT_NEAR (verts_rgba_binary_vtk.at (i).x, vertices_rgba.at (i).x, 1E-4);
    EXPECT_NEAR (verts_rgba_binary_vtk.at (i).y, vertices_rgba.at (i).y, 1E-4);
    EXPECT_NEAR (verts_rgba_binary_vtk.at (i).z, vertices_rgba.at (i).z, 1E-4);
    EXPECT_EQ   (verts_rgba_binary_vtk.at (i).r, vertices_rgba.at (i).r);
    EXPECT_EQ   (verts_rgba_binary_vtk.at (i).g, vertices_rgba.at (i).g);
    EXPECT_EQ   (verts_rgba_binary_vtk.at (i).b, vertices_rgba.at (i).b);
    EXPECT_NEAR (verts_rgb_ascii_vtk.at (i).x, vertices_rgba.at (i).x, 1E-2);
    EXPECT_NEAR (verts_rgb_ascii_vtk.at (i).y, vertices_rgba.at (i).y, 1E-2);
    EXPECT_NEAR (verts_rgb_ascii_vtk.at (i).z, vertices_rgba.at (i).z, 1E-2);
    EXPECT_EQ   (verts_rgb_ascii_vtk.at (i).r, vertices_rgba.at (i).r);
    EXPECT_EQ   (verts_rgb_ascii_vtk.at (i).g, vertices_rgba.at (i).g);
    EXPECT_EQ   (verts_rgb_ascii_vtk.at (i).b, vertices_rgba.at (i).b);
    EXPECT_NEAR (verts_rgb_binary_vtk.at (i).x, vertices_rgba.at (i).x, 1E-4);
    EXPECT_NEAR (verts_rgb_binary_vtk.at (i).y, vertices_rgba.at (i).y, 1E-4);
    EXPECT_NEAR (verts_rgb_binary_vtk.at (i).z, vertices_rgba.at (i).z, 1E-4);
    EXPECT_EQ   (verts_rgb_binary_vtk.at (i).r, vertices_rgba.at (i).r);
    EXPECT_EQ   (verts_rgb_binary_vtk.at (i).g, vertices_rgba.at (i).g);
    EXPECT_EQ   (verts_rgb_binary_vtk.at (i).b, vertices_rgba.at (i).b);

    EXPECT_NEAR (verts_rgba_ascii_pcl.at (i).x, vertices_rgba.at (i).x, 1E-2);
    EXPECT_NEAR (verts_rgba_ascii_pcl.at (i).y, vertices_rgba.at (i).y, 1E-2);
    EXPECT_NEAR (verts_rgba_ascii_pcl.at (i).z, vertices_rgba.at (i).z, 1E-2);
    EXPECT_EQ   (verts_rgba_ascii_pcl.at (i).r, vertices_rgba.at (i).r);
    EXPECT_EQ   (verts_rgba_ascii_pcl.at (i).g, vertices_rgba.at (i).g);
    EXPECT_EQ   (verts_rgba_ascii_pcl.at (i).b, vertices_rgba.at (i).b);
    EXPECT_NEAR (verts_rgba_binary_pcl.at (i).x, vertices_rgba.at (i).x, 1E-4);
    EXPECT_NEAR (verts_rgba_binary_pcl.at (i).y, vertices_rgba.at (i).y, 1E-4);
    EXPECT_NEAR (verts_rgba_binary_pcl.at (i).z, vertices_rgba.at (i).z, 1E-4);
    EXPECT_EQ   (verts_rgba_binary_pcl.at (i).r, vertices_rgba.at (i).r);
    EXPECT_EQ   (verts_rgba_binary_pcl.at (i).g, vertices_rgba.at (i).g);
    EXPECT_EQ   (verts_rgba_binary_pcl.at (i).b, vertices_rgba.at (i).b);
    EXPECT_NEAR (verts_rgb_ascii_pcl.at (i).x, vertices_rgba.at (i).x, 1E-2);
    EXPECT_NEAR (verts_rgb_ascii_pcl.at (i).y, vertices_rgba.at (i).y, 1E-2);
    EXPECT_NEAR (verts_rgb_ascii_pcl.at (i).z, vertices_rgba.at (i).z, 1E-2);
    EXPECT_EQ   (verts_rgb_ascii_pcl.at (i).r, vertices_rgba.at (i).r);
    EXPECT_EQ   (verts_rgb_ascii_pcl.at (i).g, vertices_rgba.at (i).g);
    EXPECT_EQ   (verts_rgb_ascii_pcl.at (i).b, vertices_rgba.at (i).b);
    EXPECT_NEAR (verts_rgb_binary_pcl.at (i).x, vertices_rgba.at (i).x, 1E-4);
    EXPECT_NEAR (verts_rgb_binary_pcl.at (i).y, vertices_rgba.at (i).y, 1E-4);
    EXPECT_NEAR (verts_rgb_binary_pcl.at (i).z, vertices_rgba.at (i).z, 1E-4);
    EXPECT_EQ   (verts_rgb_binary_pcl.at (i).r, vertices_rgba.at (i).r);
    EXPECT_EQ   (verts_rgb_binary_pcl.at (i).g, vertices_rgba.at (i).g);
    EXPECT_EQ   (verts_rgb_binary_pcl.at (i).b, vertices_rgba.at (i).b);
  }
  ASSERT_EQ (mesh_rgb_ascii_vtk.polygons.size (), mesh.polygons.size ());
  ASSERT_EQ (mesh_rgba_ascii_vtk.polygons.size (), mesh.polygons.size ());
  ASSERT_EQ (mesh_rgb_binary_vtk.polygons.size (), mesh.polygons.size ());
  ASSERT_EQ (mesh_rgba_binary_vtk.polygons.size (), mesh.polygons.size ());
  for (std::size_t i = 0; i < mesh.polygons.size (); i++)
  {
    ASSERT_EQ (mesh_rgb_ascii_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    ASSERT_EQ (mesh_rgba_ascii_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    ASSERT_EQ (mesh_rgb_binary_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    ASSERT_EQ (mesh_rgba_binary_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    for (std::size_t j = 0; j < mesh.polygons[i].vertices.size (); j++)
    {
      EXPECT_EQ (mesh_rgb_ascii_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
      EXPECT_EQ (mesh_rgba_ascii_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
      EXPECT_EQ (mesh_rgb_binary_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
      EXPECT_EQ (mesh_rgba_binary_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
    }
  }

  ASSERT_EQ (mesh_rgb_ascii_pcl.polygons.size (), mesh.polygons.size ());
  ASSERT_EQ (mesh_rgba_ascii_pcl.polygons.size (), mesh.polygons.size ());
  ASSERT_EQ (mesh_rgb_binary_pcl.polygons.size (), mesh.polygons.size ());
  ASSERT_EQ (mesh_rgba_binary_pcl.polygons.size (), mesh.polygons.size ());
  for (std::size_t i = 0; i < mesh.polygons.size (); i++)
  {
    ASSERT_EQ (mesh_rgb_ascii_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    ASSERT_EQ (mesh_rgba_ascii_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    ASSERT_EQ (mesh_rgb_binary_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    ASSERT_EQ (mesh_rgba_binary_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
    for (std::size_t j = 0; j < mesh.polygons[i].vertices.size (); j++)
    {
      EXPECT_EQ (mesh_rgb_ascii_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
      EXPECT_EQ (mesh_rgba_ascii_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
      EXPECT_EQ (mesh_rgb_binary_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
      EXPECT_EQ (mesh_rgba_binary_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
    }
  }

  remove ("test_mesh_rgb_ascii.ply");
  remove ("test_mesh_rgba_ascii.ply");
  remove ("test_mesh_rgb_binary.ply");
  remove ("test_mesh_rgba_binary.ply");
}


TEST (PCL, PLYPolygonMeshUintIndices)
{
  std::ofstream fs;
  fs.open ("mesh_uint_indices.ply");
  fs <<
    "ply\n"
    "format ascii 1.0\n"
    "element vertex 3\n"
    "property float x\n"
    "property float y\n"
    "property float z\n"
    "element face 1\n"
    "property list uchar uint vertex_indices\n"
    "end_header\n"
    "0.0 0.0 0.0\n"
    "1.0 0.0 0.0\n"
    "1.0 1.1 0.0\n"
    "3 2 0 1\n";
  fs.close();
  pcl::PolygonMesh mesh;
  int const res = pcl::io::loadPLYFile("mesh_uint_indices.ply", mesh);
  EXPECT_NE (res, -1);
  EXPECT_EQ (mesh.cloud.width, 3);
  EXPECT_EQ (mesh.cloud.height, 1);
  EXPECT_EQ (mesh.polygons.size(), 1);
  EXPECT_EQ (mesh.polygons.front().vertices.size(), 3);

  remove("mesh_uint_indices.ply");
}


/* ---[ */
int
  main (int argc, char** argv)
{
  testing::InitGoogleTest (&argc, argv);
  if (argc < 2)
  {
    std::cerr << "No test files were given. Please add the path to TUM_Rabbit.vtk to this test." << std::endl;
    return (-1);
  }
  mesh_file_vtk_ = argv[1]; //TODO
  return (RUN_ALL_TESTS ());
}
