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 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2012, Willow Garage, Inc.
 * Copyright (c) 2012-, Open Perception, Inc.
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#include <gtest/gtest.h>

#include <pcl/geometry/triangle_mesh.h>
#include "test_mesh_common_functions.h"

////////////////////////////////////////////////////////////////////////////////

class TestMeshCirculators : public ::testing::Test
{
  protected:

    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;

    struct MeshTraits
    {
      typedef pcl::geometry::NoData VertexData;
      typedef pcl::geometry::NoData HalfEdgeData;
      typedef pcl::geometry::NoData EdgeData;
      typedef pcl::geometry::NoData FaceData;
      typedef boost::true_type      IsManifold;
    };

    typedef pcl::geometry::TriangleMesh <MeshTraits>     Mesh;
    typedef Mesh::VertexAroundVertexCirculator           VAVC;
    typedef Mesh::OutgoingHalfEdgeAroundVertexCirculator OHEAVC;
    typedef Mesh::IncomingHalfEdgeAroundVertexCirculator IHEAVC;
    typedef Mesh::FaceAroundVertexCirculator             FAVC;
    typedef Mesh::VertexAroundFaceCirculator             VAFC;
    typedef Mesh::InnerHalfEdgeAroundFaceCirculator      IHEAFC;
    typedef Mesh::OuterHalfEdgeAroundFaceCirculator      OHEAFC;
    typedef Mesh::FaceAroundFaceCirculator               FAFC;

    //   1 - 6   //
    //  / \ / \  //
    // 2 - 0 - 5 //
    //  \ / \ /  //
    //   3 - 4   //
    void
    SetUp ()
    {
      for (int i=0; i<7; ++i) mesh_.addVertex ();

      VertexIndices vi;
      typedef VertexIndex VI;
      vi.push_back (VI (0)); vi.push_back (VI (1)); vi.push_back (VI (2)); faces_.push_back (vi); vi.clear ();
      vi.push_back (VI (0)); vi.push_back (VI (2)); vi.push_back (VI (3)); faces_.push_back (vi); vi.clear ();
      vi.push_back (VI (0)); vi.push_back (VI (3)); vi.push_back (VI (4)); faces_.push_back (vi); vi.clear ();
      vi.push_back (VI (0)); vi.push_back (VI (4)); vi.push_back (VI (5)); faces_.push_back (vi); vi.clear ();
      vi.push_back (VI (0)); vi.push_back (VI (5)); vi.push_back (VI (6)); faces_.push_back (vi); vi.clear ();
      vi.push_back (VI (0)); vi.push_back (VI (6)); vi.push_back (VI (1)); faces_.push_back (vi); vi.clear ();
      for (size_t i=0; i<faces_.size (); ++i)
      {
        ASSERT_TRUE (mesh_.addFace (faces_ [i]).isValid ()) << "Face number " << i;
      }
      for (int i=1; i<=6; ++i)
      {
        expected_123456_.push_back (VertexIndex (i));
        expected_654321_.push_back (VertexIndex (7-i));
      }
    }

    Mesh mesh_;
    std::vector <VertexIndices> faces_;

    // expected sequences
    VertexIndices expected_123456_;
    VertexIndices expected_654321_;
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, IsValid)
{
  VAVC   circ_0; EXPECT_FALSE (circ_0.isValid ());
  OHEAVC circ_1; EXPECT_FALSE (circ_1.isValid ());
  IHEAVC circ_2; EXPECT_FALSE (circ_2.isValid ());
  FAVC   circ_3; EXPECT_FALSE (circ_3.isValid ());
  VAFC   circ_4; EXPECT_FALSE (circ_4.isValid ());
  IHEAFC circ_5; EXPECT_FALSE (circ_5.isValid ());
  OHEAFC circ_6; EXPECT_FALSE (circ_6.isValid ());
  FAFC   circ_7; EXPECT_FALSE (circ_7.isValid ());
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, VertexAroundVertexIncrement)
{
  VertexIndices actual;
  VAVC       circ     = mesh_.getVertexAroundVertexCirculator (VertexIndex (0));
  const VAVC circ_end = circ;
  ASSERT_TRUE (circ.isValid ());
  ASSERT_EQ   (circ, circ_end);
  int counter = 0;
  do
  {
    ASSERT_LE (++counter, 6); // Avoid infinite loop if connectivity is wrong
    actual.push_back (circ.getTargetIndex ());
  } while (++circ != circ_end);
  EXPECT_TRUE (isCircularPermutation (expected_654321_, actual));
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, VertexAroundVertexDecrement)
{
  VertexIndices actual;
  VAVC       circ     = mesh_.getVertexAroundVertexCirculator (VertexIndex (0));
  const VAVC circ_end = circ;
  ASSERT_TRUE (circ.isValid ());
  ASSERT_EQ   (circ, circ_end);
  int counter = 0;
  do
  {
    ASSERT_LE (++counter, 6); // Avoid infinite loop if connectivity is wrong
    actual.push_back (circ.getTargetIndex ());
  } while (--circ != circ_end);
  EXPECT_TRUE (isCircularPermutation (expected_123456_, actual));
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, OutgoingHalfEdgeAroundVertexIncrement)
{
  VertexIndices actual;
  OHEAVC       circ     = mesh_.getOutgoingHalfEdgeAroundVertexCirculator (VertexIndex (0));
  const OHEAVC circ_end = circ;
  ASSERT_TRUE (circ.isValid ());
  ASSERT_EQ   (circ, circ_end);
  int counter = 0;
  do
  {
    ASSERT_LE (++counter, 6); // Avoid infinite loop if connectivity is wrong
    const HalfEdgeIndex he = circ.getTargetIndex ();
    EXPECT_EQ (VertexIndex (0), mesh_.getOriginatingVertexIndex (he));
    actual.push_back (mesh_.getTerminatingVertexIndex (he));
  } while (++circ != circ_end);
  EXPECT_TRUE (isCircularPermutation (expected_654321_, actual));
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, OutgoingHalfEdgeAroundVertexDecrement)
{
  VertexIndices actual;
  OHEAVC       circ     = mesh_.getOutgoingHalfEdgeAroundVertexCirculator (VertexIndex (0));
  const OHEAVC circ_end = circ;
  ASSERT_TRUE (circ.isValid ());
  ASSERT_EQ   (circ, circ_end);
  int counter = 0;
  do
  {
    ASSERT_LE (++counter, 6); // Avoid infinite loop if connectivity is wrong
    const HalfEdgeIndex he = circ.getTargetIndex ();
    EXPECT_EQ (VertexIndex (0), mesh_.getOriginatingVertexIndex (he));
    actual.push_back (mesh_.getTerminatingVertexIndex (he));
  } while (--circ != circ_end);
  EXPECT_TRUE (isCircularPermutation (expected_123456_, actual));
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, IncomingHalfEdgeAroundVertexIncrement)
{
  VertexIndices actual;
  IHEAVC       circ     = mesh_.getIncomingHalfEdgeAroundVertexCirculator (VertexIndex (0));
  const IHEAVC circ_end = circ;
  ASSERT_TRUE (circ.isValid ());
  ASSERT_EQ   (circ, circ_end);
  int counter = 0;
  do
  {
    ASSERT_LE (++counter, 6); // Avoid infinite loop if connectivity is wrong
    const HalfEdgeIndex he = circ.getTargetIndex ();
    EXPECT_EQ (VertexIndex (0), mesh_.getTerminatingVertexIndex (he));
    actual.push_back (mesh_.getOriginatingVertexIndex (he));
  } while (++circ != circ_end);
  EXPECT_TRUE (isCircularPermutation (expected_654321_, actual));
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, IncomingHalfEdgeAroundVertexDecrement)
{
  VertexIndices actual;
  IHEAVC       circ     = mesh_.getIncomingHalfEdgeAroundVertexCirculator (VertexIndex (0));
  const IHEAVC circ_end = circ;
  ASSERT_TRUE (circ.isValid ());
  ASSERT_EQ   (circ, circ_end);
  int counter = 0;
  do
  {
    ASSERT_LE (++counter, 6); // Avoid infinite loop if connectivity is wrong
    const HalfEdgeIndex he = circ.getTargetIndex ();
    EXPECT_EQ (VertexIndex (0), mesh_.getTerminatingVertexIndex (he));
    actual.push_back (mesh_.getOriginatingVertexIndex (he));
  } while (--circ != circ_end);
  EXPECT_TRUE (isCircularPermutation (expected_123456_, actual));
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, FaceAroundVertexIncrement)
{
  std::vector <VertexIndices> actual;
  FAVC       circ_fav     = mesh_.getFaceAroundVertexCirculator (VertexIndex (0));
  const FAVC circ_fav_end = circ_fav;
  ASSERT_TRUE (circ_fav.isValid ());
  ASSERT_EQ   (circ_fav, circ_fav_end);
  int counter_v = 0;
  do
  {
    ASSERT_LE (++counter_v, 6); // Avoid infinite loop if connectivity is wrong
    VAFC       circ_vaf     = mesh_.getVertexAroundFaceCirculator (circ_fav.getTargetIndex ());
    const VAFC circ_vaf_end = circ_vaf;
    ASSERT_TRUE (circ_vaf.isValid ());
    ASSERT_EQ   (circ_vaf, circ_vaf_end);
    VertexIndices vi;
    int counter_f = 0;
    do
    {
      ASSERT_LE (++counter_f, 3); // Avoid infinite loop if connectivity is wrong
      vi.push_back (circ_vaf.getTargetIndex ());
    } while (++circ_vaf != circ_vaf_end);
    actual.push_back (vi);
  } while (++circ_fav != circ_fav_end);
  EXPECT_TRUE (isCircularPermutationVec (std::vector <VertexIndices> (faces_.rbegin (), faces_.rend ()), actual));
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, FaceAroundVertexDecrement)
{
  std::vector <VertexIndices> actual;
  FAVC       circ_fav     = mesh_.getFaceAroundVertexCirculator (VertexIndex (0));
  const FAVC circ_fav_end = circ_fav;
  ASSERT_TRUE (circ_fav.isValid ());
  ASSERT_EQ   (circ_fav, circ_fav_end);
  int counter_v = 0;
  do
  {
    ASSERT_LE (++counter_v, 6); // Avoid infinite loop if connectivity is wrong
    VAFC       circ_vaf     = mesh_.getVertexAroundFaceCirculator (circ_fav.getTargetIndex ());
    const VAFC circ_vaf_end = circ_vaf;
    ASSERT_TRUE (circ_vaf.isValid ());
    ASSERT_EQ   (circ_vaf, circ_vaf_end);
     VertexIndices vi;
    int counter_f = 0;
    do
    {
      ASSERT_LE (++counter_f, 3); // Avoid infinite loop if connectivity is wrong
      vi.push_back (circ_vaf.getTargetIndex ());
    } while (++circ_vaf != circ_vaf_end);
    actual.push_back (vi);
  } while (--circ_fav != circ_fav_end);
  EXPECT_TRUE (isCircularPermutationVec (faces_, actual));
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, VertexAroundFaceIncrement)
{
  VertexIndices actual;
  for (unsigned int i=0; i<mesh_.sizeFaces (); ++i)
  {
    VAFC       circ     = mesh_.getVertexAroundFaceCirculator (FaceIndex (i));
    const VAFC circ_end = circ;
    ASSERT_TRUE (circ.isValid ());
    ASSERT_EQ   (circ, circ_end);
    actual.clear ();
    int counter = 0;
    do
    {
      ASSERT_LE (++counter, 3); // Avoid infinite loop if connectivity is wrong
      actual.push_back (circ.getTargetIndex ());
    } while (++circ != circ_end);
    EXPECT_TRUE (isCircularPermutation (faces_ [i], actual)) << "Face number " << i;
  }
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, VertexAroundFaceDecrement)
{
  VertexIndices actual;
  for (unsigned int i=0; i<mesh_.sizeFaces (); ++i)
  {
    VAFC       circ     = mesh_.getVertexAroundFaceCirculator (FaceIndex (i));
    const VAFC circ_end = circ;
    ASSERT_TRUE (circ.isValid ());
    ASSERT_EQ   (circ, circ_end);
    actual.clear ();
    int counter = 0;
    do
    {
      ASSERT_LE (++counter, 3); // Avoid infinite loop if connectivity is wrong
      actual.push_back (circ.getTargetIndex ());
    } while (--circ != circ_end);
    EXPECT_TRUE (isCircularPermutation (VertexIndices (faces_ [i].rbegin (), faces_ [i].rend ()), actual)) << "Face number " << i;
  }
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, InnerHalfEdgeAroundFaceForAllFacesIncrement)
{
  VertexIndices actual;
  for (unsigned int i=0; i<mesh_.sizeFaces (); ++i)
  {
    IHEAFC       circ     = mesh_.getInnerHalfEdgeAroundFaceCirculator (FaceIndex (i));
    const IHEAFC circ_end = circ;
    ASSERT_TRUE (circ.isValid ());
    ASSERT_EQ   (circ, circ_end);
    actual.clear ();
    int counter = 0;
    do
    {
      ASSERT_LE (++counter, 3); // Avoid infinite loop if connectivity is wrong
      EXPECT_FALSE (mesh_.isBoundary (circ.getTargetIndex ()));
      actual.push_back (mesh_.getTerminatingVertexIndex (circ.getTargetIndex ()));
    } while (++circ != circ_end);
    EXPECT_TRUE (isCircularPermutation (faces_ [i], actual)) << "Face number " << i;
  }
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, InnerHalfEdgeAroundFaceForAllFacesDecrement)
{
  VertexIndices actual;
  for (unsigned int i=0; i<mesh_.sizeFaces (); ++i)
  {
    IHEAFC       circ     = mesh_.getInnerHalfEdgeAroundFaceCirculator (FaceIndex (i));
    const IHEAFC circ_end = circ;
    ASSERT_TRUE (circ.isValid ());
    ASSERT_EQ   (circ, circ_end);
    actual.clear ();
    int counter = 0;
    do
    {
      ASSERT_LE (++counter, 3); // Avoid infinite loop if connectivity is wrong
      EXPECT_FALSE (mesh_.isBoundary (circ.getTargetIndex ()));
      actual.push_back (mesh_.getTerminatingVertexIndex (circ.getTargetIndex ()));
    } while (--circ != circ_end);
    EXPECT_TRUE (isCircularPermutation (VertexIndices (faces_ [i].rbegin (), faces_ [i].rend ()), actual)) << "Face number " << i;
  }
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, InnerHalfEdgeAroundFaceForBoundaryIncrement)
{
  VertexIndices actual;
  IHEAFC       circ     = mesh_.getInnerHalfEdgeAroundFaceCirculator (mesh_.getOutgoingHalfEdgeIndex (VertexIndex (1)));
  const IHEAFC circ_end = circ;
  ASSERT_TRUE (circ.isValid ());
  ASSERT_EQ   (circ, circ_end);
  int counter = 0;
  do
  {
    ASSERT_LE (++counter, 6); // Avoid infinite loop if connectivity is wrong
    EXPECT_TRUE (mesh_.isBoundary (circ.getTargetIndex ()));
    actual.push_back (mesh_.getTerminatingVertexIndex (circ.getTargetIndex ()));
  } while (++circ != circ_end);
  EXPECT_TRUE (isCircularPermutation (expected_654321_, actual));
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, InnerHalfEdgeAroundFaceForBoundaryDecrement)
{
  VertexIndices actual;
  IHEAFC       circ     = mesh_.getInnerHalfEdgeAroundFaceCirculator (mesh_.getOutgoingHalfEdgeIndex (VertexIndex (1)));
  const IHEAFC circ_end = circ;
  ASSERT_TRUE (circ.isValid ());
  ASSERT_EQ   (circ, circ_end);
  int counter = 0;
  do
  {
    ASSERT_LE (++counter, 6); // Avoid infinite loop if connectivity is wrong
    EXPECT_TRUE (mesh_.isBoundary (circ.getTargetIndex ()));
    actual.push_back (mesh_.getTerminatingVertexIndex (circ.getTargetIndex ()));
  } while (--circ != circ_end);
  EXPECT_TRUE (isCircularPermutation (expected_123456_, actual));
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, OuterHalfEdgeAroundFaceIncrement)
{
  VertexIndices actual;
  for (unsigned int i=0; i<mesh_.sizeFaces (); ++i)
  {
    OHEAFC       circ     = mesh_.getOuterHalfEdgeAroundFaceCirculator (FaceIndex (i));
    const OHEAFC circ_end = circ;
    ASSERT_TRUE (circ.isValid ());
    ASSERT_EQ   (circ, circ_end);
    int num_boundary (0), num_not_boundary (0);
    actual.clear ();
    int counter = 0;
    do
    {
      ASSERT_LE (++counter, 3); // Avoid infinite loop if connectivity is wrong
      if (mesh_.isBoundary (circ.getTargetIndex ())) num_boundary     += 1;
      else                                          num_not_boundary += 1;
      actual.push_back (mesh_.getTerminatingVertexIndex (circ.getTargetIndex ()));
    } while (++circ != circ_end);
    EXPECT_EQ   (1, num_boundary)                                  << "Face number " << i;
    EXPECT_EQ   (2, num_not_boundary)                              << "Face number " << i;
    EXPECT_TRUE (isCircularPermutation (faces_ [i], actual)) << "Face number " << i;
  }
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, OuterHalfEdgeAroundFaceDecrement)
{
  VertexIndices actual;
  for (unsigned int i=0; i<mesh_.sizeFaces (); ++i)
  {
    OHEAFC       circ     = mesh_.getOuterHalfEdgeAroundFaceCirculator (FaceIndex (i));
    const OHEAFC circ_end = circ;
    ASSERT_TRUE (circ.isValid ());
    ASSERT_EQ   (circ, circ_end);
    int num_boundary (0), num_not_boundary (0);
    actual.clear ();
    int counter = 0;
    do
    {
      ASSERT_LE (++counter, 3); // Avoid infinite loop if connectivity is wrong
      if (mesh_.isBoundary (circ.getTargetIndex ())) num_boundary     += 1;
      else                                          num_not_boundary += 1;
      actual.push_back (mesh_.getTerminatingVertexIndex (circ.getTargetIndex ()));
    } while (--circ != circ_end);
    EXPECT_EQ   (1, num_boundary)     << "Face number " << i;
    EXPECT_EQ   (2, num_not_boundary) << "Face number " << i;
    EXPECT_TRUE (isCircularPermutation (VertexIndices (faces_ [i].rbegin (), faces_ [i].rend ()), actual)) << "Face number " << i;
  }
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, FaceAroundFaceIncrement)
{
  FaceIndices expected, actual;
  const int n = static_cast<int> (mesh_.sizeFaces ());
  for (int i = 0; i < static_cast<int> (mesh_.sizeFaces ()); ++i)
  {
    expected.clear ();
    expected.push_back (FaceIndex (i==(n-1) ?  0    : (i+1)));
    expected.push_back (FaceIndex (i== 0    ? (n-1) : (i-1)));
    expected.push_back (FaceIndex ());

    FAFC       circ     = mesh_.getFaceAroundFaceCirculator (FaceIndex (i));
    const FAFC circ_end = circ;
    ASSERT_TRUE (circ.isValid ());
    ASSERT_EQ   (circ, circ_end);
    actual.clear ();
    int counter = 0;
    do
    {
      ASSERT_LE (++counter, 3); // Avoid infinite loop if connectivity is wrong
      actual.push_back (circ.getTargetIndex ());
    } while (++circ != circ_end);
    EXPECT_TRUE (isCircularPermutation (expected, actual)) << "Face number " << i;
  }
}

////////////////////////////////////////////////////////////////////////////////

TEST_F (TestMeshCirculators, FaceAroundFaceDecrement)
{
  FaceIndices expected, actual;
  const int n = static_cast<int> (mesh_.sizeFaces ());
  for (int i = 0; i < static_cast<int> (mesh_.sizeFaces ()); ++i)
  {
    expected.clear ();
    expected.push_back (FaceIndex (i== 0    ? (n-1) : (i-1)));
    expected.push_back (FaceIndex (i==(n-1) ?  0    : (i+1)));
    expected.push_back (FaceIndex ());

    FAFC       circ     = mesh_.getFaceAroundFaceCirculator (FaceIndex (i));
    const FAFC circ_end = circ;
    ASSERT_TRUE (circ.isValid ());
    ASSERT_EQ   (circ, circ_end);
    actual.clear ();
    int counter = 0;
    do
    {
      ASSERT_LE (++counter, 3); // Avoid infinite loop if connectivity is wrong
      actual.push_back (circ.getTargetIndex ());
    } while (--circ != circ_end);
    EXPECT_TRUE (isCircularPermutation (expected, actual)) << "Face number " << i;
  }
}

////////////////////////////////////////////////////////////////////////////////

int
main (int argc, char** argv)
{  
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
