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Fix PLY save bug: vertex_index -> vertex_indices. #579

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merged 2 commits into from
Mar 20, 2014
Merged

Fix PLY save bug: vertex_index -> vertex_indices. #579

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5307669
Fix PLY save bug: vertex_index -> vertex_indices.
yangyanli Mar 19, 2014
82489d8
Add test for pcl ply parser.
yangyanli Mar 20, 2014
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4 changes: 2 additions & 2 deletions io/src/ply_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down
238 changes: 161 additions & 77 deletions test/io/test_ply_mesh_io.cpp
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Expand Up @@ -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<pcl::PointXYZ> verts, verts_ascii, verts_binary;
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.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]);
}
}
}
Expand Down Expand Up @@ -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<pcl::PointXYZRGBA> verts_rgba_ascii, verts_rgba_binary;
pcl::PointCloud<pcl::PointXYZRGB> 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<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 (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]);
}
}
}
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