diff --git a/io/src/ply_io.cpp b/io/src/ply_io.cpp index aa09b14f3e6..9962710821a 100644 --- a/io/src/ply_io.cpp +++ b/io/src/ply_io.cpp @@ -1499,7 +1499,7 @@ pcl::io::savePLYFile (const std::string &file_name, const pcl::PolygonMesh &mesh } // Faces fs << "\nelement face "<< nr_faces; - fs << "\nproperty list uchar int vertex_index"; + fs << "\nproperty list uchar int vertex_indices"; fs << "\nend_header\n"; // Write down vertices @@ -1618,7 +1618,7 @@ pcl::io::savePLYFileBinary (const std::string &file_name, const pcl::PolygonMesh } // Faces fs << "\nelement face "<< nr_faces; - fs << "\nproperty list uchar int vertex_index"; + fs << "\nproperty list uchar int vertex_indices"; fs << "\nend_header\n"; // Close the file diff --git a/test/io/test_ply_mesh_io.cpp b/test/io/test_ply_mesh_io.cpp index ec3254d5d82..f16da63ae5a 100644 --- a/test/io/test_ply_mesh_io.cpp +++ b/test/io/test_ply_mesh_io.cpp @@ -62,37 +62,58 @@ TEST (PCL, PLYPolygonMeshIO) pcl::io::savePLYFile ("test_mesh_ascii.ply", mesh); // Save binary pcl::io::savePLYFileBinary ("test_mesh_binary.ply", mesh); - // Load both - pcl::PolygonMesh mesh_ascii; - pcl::io::loadPolygonFilePLY ("test_mesh_ascii.ply", mesh_ascii); - pcl::PolygonMesh mesh_binary; - pcl::io::loadPolygonFilePLY ("test_mesh_binary.ply", mesh_binary); + // 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 verts, verts_ascii, verts_binary; + pcl::PointCloud verts, verts_ascii_vtk, verts_binary_vtk, verts_ascii_pcl, verts_binary_pcl; pcl::fromPCLPointCloud2 (mesh.cloud, verts); - pcl::fromPCLPointCloud2 (mesh_ascii.cloud, verts_ascii); - pcl::fromPCLPointCloud2 (mesh_binary.cloud, verts_binary); - EXPECT_EQ (verts_ascii.size (), verts.size ()); - EXPECT_EQ (verts_binary.size (), verts.size ()); + 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 (size_t i = 0; i < verts.size (); i++) { - EXPECT_NEAR (verts_ascii.at (i).x, verts.at (i).x, 1E-2); - EXPECT_NEAR (verts_ascii.at (i).y, verts.at (i).y, 1E-2); - EXPECT_NEAR (verts_ascii.at (i).z, verts.at (i).z, 1E-2); - EXPECT_NEAR (verts_binary.at (i).x, verts.at (i).x, 1E-4); - EXPECT_NEAR (verts_binary.at (i).y, verts.at (i).y, 1E-4); - EXPECT_NEAR (verts_binary.at (i).z, verts.at (i).z, 1E-4); + 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.polygons.size (), mesh.polygons.size ()); - ASSERT_EQ (mesh_binary.polygons.size (), mesh.polygons.size ()); + 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 (size_t i = 0; i < mesh.polygons.size (); i++) { - ASSERT_EQ (mesh_ascii.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ()); - ASSERT_EQ (mesh_binary.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ()); + 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 (size_t j = 0; j < mesh.polygons[i].vertices.size (); j++) { - EXPECT_EQ (mesh_ascii.polygons[i].vertices[j], mesh.polygons[i].vertices[j]); - EXPECT_EQ (mesh_binary.polygons[i].vertices[j], mesh.polygons[i].vertices[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]); } } } @@ -127,69 +148,132 @@ TEST (PCL, PLYPolygonMeshColoredIO) // Save binary pcl::io::savePLYFileBinary ("test_mesh_rgb_binary.ply", mesh_rgb); pcl::io::savePLYFileBinary ("test_mesh_rgba_binary.ply", mesh_rgba); - // Load both - pcl::PolygonMesh mesh_rgb_ascii; - pcl::PolygonMesh mesh_rgba_ascii; - pcl::io::loadPolygonFilePLY ("test_mesh_rgb_ascii.ply", mesh_rgb_ascii); - pcl::io::loadPolygonFilePLY ("test_mesh_rgba_ascii.ply", mesh_rgba_ascii); - pcl::PolygonMesh mesh_rgb_binary; - pcl::PolygonMesh mesh_rgba_binary; - pcl::io::loadPolygonFilePLY ("test_mesh_rgb_binary.ply", mesh_rgb_binary); - pcl::io::loadPolygonFilePLY ("test_mesh_rgba_binary.ply", mesh_rgba_binary); + // 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 verts_rgba_ascii, verts_rgba_binary; - pcl::PointCloud verts_rgb_ascii, verts_rgb_binary; - pcl::fromPCLPointCloud2 (mesh_rgb_ascii.cloud, verts_rgb_ascii); - pcl::fromPCLPointCloud2 (mesh_rgba_ascii.cloud, verts_rgba_ascii); - pcl::fromPCLPointCloud2 (mesh_rgb_binary.cloud, verts_rgb_binary); - pcl::fromPCLPointCloud2 (mesh_rgba_binary.cloud, verts_rgba_binary); - ASSERT_EQ (verts_rgb_ascii.size (), vertices_rgba.size ()); - ASSERT_EQ (verts_rgba_ascii.size (), vertices_rgba.size ()); - ASSERT_EQ (verts_rgb_binary.size (), vertices_rgba.size ()); - ASSERT_EQ (verts_rgba_binary.size (), vertices_rgba.size ()); + pcl::PointCloud verts_rgba_ascii_vtk, verts_rgba_binary_vtk; + pcl::PointCloud 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 verts_rgba_ascii_pcl, verts_rgba_binary_pcl; + pcl::PointCloud 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 (size_t i = 0; i < vertices_rgba.size (); i++) { - EXPECT_NEAR (verts_rgba_ascii.at (i).x, vertices_rgba.at (i).x, 1E-2); - EXPECT_NEAR (verts_rgba_ascii.at (i).y, vertices_rgba.at (i).y, 1E-2); - EXPECT_NEAR (verts_rgba_ascii.at (i).z, vertices_rgba.at (i).z, 1E-2); - EXPECT_EQ (verts_rgba_ascii.at (i).r, vertices_rgba.at (i).r); - EXPECT_EQ (verts_rgba_ascii.at (i).g, vertices_rgba.at (i).g); - EXPECT_EQ (verts_rgba_ascii.at (i).b, vertices_rgba.at (i).b); - EXPECT_NEAR (verts_rgba_binary.at (i).x, vertices_rgba.at (i).x, 1E-4); - EXPECT_NEAR (verts_rgba_binary.at (i).y, vertices_rgba.at (i).y, 1E-4); - EXPECT_NEAR (verts_rgba_binary.at (i).z, vertices_rgba.at (i).z, 1E-4); - EXPECT_EQ (verts_rgba_binary.at (i).r, vertices_rgba.at (i).r); - EXPECT_EQ (verts_rgba_binary.at (i).g, vertices_rgba.at (i).g); - EXPECT_EQ (verts_rgba_binary.at (i).b, vertices_rgba.at (i).b); - EXPECT_NEAR (verts_rgb_ascii.at (i).x, vertices_rgba.at (i).x, 1E-2); - EXPECT_NEAR (verts_rgb_ascii.at (i).y, vertices_rgba.at (i).y, 1E-2); - EXPECT_NEAR (verts_rgb_ascii.at (i).z, vertices_rgba.at (i).z, 1E-2); - EXPECT_EQ (verts_rgb_ascii.at (i).r, vertices_rgba.at (i).r); - EXPECT_EQ (verts_rgb_ascii.at (i).g, vertices_rgba.at (i).g); - EXPECT_EQ (verts_rgb_ascii.at (i).b, vertices_rgba.at (i).b); - EXPECT_NEAR (verts_rgb_binary.at (i).x, vertices_rgba.at (i).x, 1E-4); - EXPECT_NEAR (verts_rgb_binary.at (i).y, vertices_rgba.at (i).y, 1E-4); - EXPECT_NEAR (verts_rgb_binary.at (i).z, vertices_rgba.at (i).z, 1E-4); - EXPECT_EQ (verts_rgb_binary.at (i).r, vertices_rgba.at (i).r); - EXPECT_EQ (verts_rgb_binary.at (i).g, vertices_rgba.at (i).g); - EXPECT_EQ (verts_rgb_binary.at (i).b, vertices_rgba.at (i).b); + 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 (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 (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.polygons.size (), mesh.polygons.size ()); - ASSERT_EQ (mesh_rgba_ascii.polygons.size (), mesh.polygons.size ()); - ASSERT_EQ (mesh_rgb_binary.polygons.size (), mesh.polygons.size ()); - ASSERT_EQ (mesh_rgba_binary.polygons.size (), mesh.polygons.size ()); + + 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 (size_t i = 0; i < mesh.polygons.size (); i++) { - ASSERT_EQ (mesh_rgb_ascii.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ()); - ASSERT_EQ (mesh_rgba_ascii.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ()); - ASSERT_EQ (mesh_rgb_binary.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ()); - ASSERT_EQ (mesh_rgba_binary.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ()); + 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 (size_t j = 0; j < mesh.polygons[i].vertices.size (); j++) { - EXPECT_EQ (mesh_rgb_ascii.polygons[i].vertices[j], mesh.polygons[i].vertices[j]); - EXPECT_EQ (mesh_rgba_ascii.polygons[i].vertices[j], mesh.polygons[i].vertices[j]); - EXPECT_EQ (mesh_rgb_binary.polygons[i].vertices[j], mesh.polygons[i].vertices[j]); - EXPECT_EQ (mesh_rgba_binary.polygons[i].vertices[j], mesh.polygons[i].vertices[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]); } } }