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Fix PolygonMesh::concatenate and its unit test #4745

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merged 7 commits into from
May 13, 2021
Merged

Fix PolygonMesh::concatenate and its unit test #4745

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729f988
Update PolygonMesh.h
duhuanxianzi Jan 13, 2021
6ede568
Update test_polygon_mesh.cpp
May 6, 2021
ffbfc1b
Update test_polygon_mesh.cpp
May 11, 2021
7c638a5
Update test_polygon_mesh.cpp
May 11, 2021
530b453
Update test_polygon_mesh.cpp
May 12, 2021
cf71751
Update test_polygon_mesh.cpp
May 12, 2021
0b71ef1
Update test_polygon_mesh.cpp
May 13, 2021
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3 changes: 2 additions & 1 deletion common/include/pcl/PolygonMesh.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,14 +30,15 @@ namespace pcl
static bool
concatenate (pcl::PolygonMesh &mesh1, const pcl::PolygonMesh &mesh2)
{
const auto point_offset = mesh1.cloud.width * mesh1.cloud.height;

bool success = pcl::PCLPointCloud2::concatenate(mesh1.cloud, mesh2.cloud);
if (success == false) {
return false;
}
// Make the resultant polygon mesh take the newest stamp
mesh1.header.stamp = std::max(mesh1.header.stamp, mesh2.header.stamp);

const auto point_offset = mesh1.cloud.width * mesh1.cloud.height;
std::transform(mesh2.polygons.begin (),
mesh2.polygons.end (),
std::back_inserter (mesh1.polygons),
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30 changes: 15 additions & 15 deletions test/common/test_polygon_mesh.cpp
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Expand Up @@ -91,11 +91,13 @@ TEST(PolygonMesh, concatenate_cloud)

TEST(PolygonMesh, concatenate_vertices)
{
const std::size_t size = 15;

PolygonMesh test, dummy;
test.cloud.width = 10;
test.cloud.height = 5;
// The algorithm works regardless of the organization.
test.cloud.width = dummy.cloud.width = size;
test.cloud.height = dummy.cloud.height = 1;
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const std::size_t size = 15;
for (std::size_t i = 0; i < size; ++i)
{
dummy.polygons.emplace_back();
Expand All @@ -111,18 +113,16 @@ TEST(PolygonMesh, concatenate_vertices)
EXPECT_EQ(2 * dummy.polygons.size(), test.polygons.size());

const auto cloud_size = test.cloud.width * test.cloud.height;
for (std::size_t i = 0; i < dummy.polygons.size(); ++i)
{
EXPECT_EQ(dummy.polygons[i].vertices.size(), test.polygons[i].vertices.size());
EXPECT_EQ(dummy.polygons[i].vertices.size(),
test.polygons[i + dummy.polygons.size()].vertices.size());
for (std::size_t j = 0; j < size; ++j)
{
EXPECT_EQ(dummy.polygons[i].vertices[j],
test.polygons[i].vertices[j]);
EXPECT_EQ(dummy.polygons[i].vertices[j] + cloud_size,
test.polygons[i + dummy.polygons.size()].vertices[j]);
}
for (const auto& polygon : test.polygons)
for (const auto& vertex : polygon.vertices)
EXPECT_LT(vertex, cloud_size);

pcl::Indices vertices(size);
for (std::size_t i = 0; i < size; ++i) {
vertices = dummy.polygons[i].vertices;
EXPECT_EQ_VECTORS(vertices, test.polygons[i].vertices);
for (auto& vertex : vertices) { vertex += size; }
EXPECT_EQ_VECTORS(vertices, test.polygons[i + size].vertices);
}
}

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