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 * $Id: test_surface.cpp 6579 2012-07-27 18:57:32Z rusu $
 *
 */

#include <pcl/test/gtest.h>

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/surface/mls.h>
#include <pcl/common/common.h> // getMinMax3D

using namespace pcl;
using namespace pcl::io;

PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
PointCloud<PointNormal>::Ptr cloud_with_normals (new PointCloud<PointNormal>);
search::KdTree<PointXYZ>::Ptr tree;
search::KdTree<PointNormal>::Ptr tree2;

// add by ktran to test update functions
PointCloud<PointXYZ>::Ptr cloud1 (new PointCloud<PointXYZ>);
PointCloud<PointNormal>::Ptr cloud_with_normals1 (new PointCloud<PointNormal>);
search::KdTree<PointXYZ>::Ptr tree3;
search::KdTree<PointNormal>::Ptr tree4;

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, MovingLeastSquares)
{
  // Init objects
  PointCloud<PointXYZ> mls_points;
  PointCloud<PointNormal>::Ptr mls_normals (new PointCloud<PointNormal> ());
  MovingLeastSquares<PointXYZ, PointNormal> mls;

  // Set parameters
  mls.setInputCloud (cloud);
  mls.setComputeNormals (true);
  mls.setPolynomialOrder (2);
  mls.setSearchMethod (tree);
  mls.setSearchRadius (0.03);

  // Reconstruct
  mls.process (*mls_normals);

  EXPECT_NEAR ((*mls_normals)[0].x, 0.005417, 1e-3);
  EXPECT_NEAR ((*mls_normals)[0].y, 0.113463, 1e-3);
  EXPECT_NEAR ((*mls_normals)[0].z, 0.040715, 1e-3);
  EXPECT_NEAR (std::abs ((*mls_normals)[0].normal[0]), 0.111894, 1e-3);
  EXPECT_NEAR (std::abs ((*mls_normals)[0].normal[1]), 0.594906, 1e-3);
  EXPECT_NEAR (std::abs ((*mls_normals)[0].normal[2]), 0.795969, 1e-3);
  EXPECT_NEAR ((*mls_normals)[0].curvature, 0.012019, 1e-3);

  // Testing upsampling
  MovingLeastSquares<PointXYZ, PointNormal> mls_upsampling;
  // Set parameters
  mls_upsampling.setInputCloud (cloud);
  mls_upsampling.setComputeNormals (true);
  mls_upsampling.setPolynomialOrder (2);
  mls_upsampling.setSearchMethod (tree);
  mls_upsampling.setSearchRadius (0.03);
  mls_upsampling.setUpsamplingMethod (MovingLeastSquares<PointXYZ, PointNormal>::SAMPLE_LOCAL_PLANE);
  mls_upsampling.setUpsamplingRadius (0.025);
  mls_upsampling.setUpsamplingStepSize (0.01);

  mls_normals->clear ();
  mls_upsampling.process (*mls_normals);

  EXPECT_NEAR ((*mls_normals)[10].x, -0.000538, 1e-3);
  EXPECT_NEAR ((*mls_normals)[10].y, 0.110080, 1e-3);
  EXPECT_NEAR ((*mls_normals)[10].z, 0.043602, 1e-3);
  EXPECT_NEAR (std::abs ((*mls_normals)[10].normal[0]), 0.022678, 1e-3);
  EXPECT_NEAR (std::abs ((*mls_normals)[10].normal[1]), 0.554978, 1e-3);
  EXPECT_NEAR (std::abs ((*mls_normals)[10].normal[2]), 0.831556, 1e-3);
  EXPECT_NEAR ((*mls_normals)[10].curvature, 0.012019, 1e-3);
  EXPECT_EQ (mls_normals->size (), 6352);


  /// TODO Would need to set a seed point here for the random number generator
  /// But as long as the other 2 upsampling methods work fine, this should have no issues.
  /// The RANDOM_UNIFORM_DENSITY upsampling will be changed soon anyway, hopefully in PCL 1.6.1
//  mls_upsampling.setUpsamplingMethod (MovingLeastSquares<PointXYZ, PointNormal>::RANDOM_UNIFORM_DENSITY);
//  mls_upsampling.setPointDensity (100);
//  mls_normals->clear ();
//  mls_upsampling.process (*mls_normals);
//
//  EXPECT_NEAR ((*mls_normals)[10].x, 0.018806, 1e-3);
//  EXPECT_NEAR ((*mls_normals)[10].y, 0.114685, 1e-3);
//  EXPECT_NEAR ((*mls_normals)[10].z, 0.037500, 1e-3);
//  EXPECT_NEAR (std::abs ((*mls_normals)[10].normal[0]), 0.351352, 1e-3);
//  EXPECT_NEAR (std::abs ((*mls_normals)[10].normal[1]), 0.537741, 1e-3);
//  EXPECT_NEAR (std::abs ((*mls_normals)[10].normal[2]), 0.766411, 1e-3);
//  EXPECT_NEAR ((*mls_normals)[10].curvature, 0.019003, 1e-3);
//  EXPECT_EQ (mls_normals->size (), 457);

  constexpr float voxel_size = 0.005f;
  constexpr int num_dilations = 5;
  mls_upsampling.setUpsamplingMethod (MovingLeastSquares<PointXYZ, PointNormal>::VOXEL_GRID_DILATION);
  mls_upsampling.setDilationIterations (num_dilations);
  mls_upsampling.setDilationVoxelSize (voxel_size);
  mls_normals->clear ();
  mls_upsampling.process (*mls_normals);
  EXPECT_NEAR ((*mls_normals)[10].x, -0.086348414421081543, 2e-3);
  EXPECT_NEAR ((*mls_normals)[10].y, 0.080920584499835968, 2e-3);
  EXPECT_NEAR ((*mls_normals)[10].z, 0.01788550429046154, 2e-3);
  EXPECT_NEAR ((*mls_normals)[10].curvature, 0.107273, 1e-1);
  EXPECT_NEAR (double (mls_normals->size ()), 25483, 2);
  
  // Check the boundary
  Eigen::Vector4f original_min_pt, original_max_pt, min_pt, max_pt;
  pcl::getMinMax3D(*cloud, original_min_pt, original_max_pt);
  pcl::getMinMax3D(*mls_normals, min_pt, max_pt);
  EXPECT_TRUE(
      (original_min_pt.array() - (num_dilations + 3) * voxel_size <= min_pt.array())
          .all());
  EXPECT_TRUE(
      (max_pt.array() <= original_max_pt.array() + (num_dilations + 4) * voxel_size)
          .all());
}

#ifdef _OPENMP
TEST (PCL, MovingLeastSquaresOMP)
{
  // Init objects
  PointCloud<PointXYZ> mls_points;
  PointCloud<PointNormal>::Ptr mls_normals (new PointCloud<PointNormal> ());
  MovingLeastSquares<PointXYZ, PointNormal> mls_omp;

  // Set parameters
  mls_omp.setInputCloud (cloud);
  mls_omp.setComputeNormals (true);
  mls_omp.setPolynomialOrder (2);
  mls_omp.setSearchMethod (tree);
  mls_omp.setSearchRadius (0.03);
  mls_omp.setNumberOfThreads (4);

  // Reconstruct
  mls_omp.process (*mls_normals);

  EXPECT_NEAR ((*mls_normals)[0].x, 0.005417, 1e-3);
  EXPECT_NEAR ((*mls_normals)[0].y, 0.113463, 1e-3);
  EXPECT_NEAR ((*mls_normals)[0].z, 0.040715, 1e-3);
  EXPECT_NEAR (std::abs ((*mls_normals)[0].normal[0]), 0.111894, 1e-3);
  EXPECT_NEAR (std::abs ((*mls_normals)[0].normal[1]), 0.594906, 1e-3);
  EXPECT_NEAR (std::abs ((*mls_normals)[0].normal[2]), 0.795969, 1e-3);
  EXPECT_NEAR ((*mls_normals)[0].curvature, 0.012019, 1e-3);
}
#endif

/* ---[ */
int
main (int argc, char** argv)
{
  if (argc < 2)
  {
    std::cerr << "No test file given. Please download `bun0.pcd` and pass its path to the test." << std::endl;
    return (-1);
  }

  // Load file
  pcl::PCLPointCloud2 cloud_blob;
  loadPCDFile (argv[1], cloud_blob);
  fromPCLPointCloud2 (cloud_blob, *cloud);

  // Create search tree
  tree.reset (new search::KdTree<PointXYZ> (false));
  tree->setInputCloud (cloud);

  // Normal estimation
  NormalEstimation<PointXYZ, Normal> n;
  PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
  n.setInputCloud (cloud);
  //n.setIndices (indices[B);
  n.setSearchMethod (tree);
  n.setKSearch (20);
  n.compute (*normals);

  // Concatenate XYZ and normal information
  pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
      
  // Create search tree
  tree2.reset (new search::KdTree<PointNormal>);
  tree2->setInputCloud (cloud_with_normals);

  // Process for update cloud
  if(argc == 3){
    pcl::PCLPointCloud2 cloud_blob1;
    loadPCDFile (argv[2], cloud_blob1);
    fromPCLPointCloud2 (cloud_blob1, *cloud1);
        // Create search tree
    tree3.reset (new search::KdTree<PointXYZ> (false));
    tree3->setInputCloud (cloud1);

    // Normal estimation
    NormalEstimation<PointXYZ, Normal> n1;
    PointCloud<Normal>::Ptr normals1 (new PointCloud<Normal> ());
    n1.setInputCloud (cloud1);

    n1.setSearchMethod (tree3);
    n1.setKSearch (20);
    n1.compute (*normals1);

    // Concatenate XYZ and normal information
    pcl::concatenateFields (*cloud1, *normals1, *cloud_with_normals1);
    // Create search tree
    tree4.reset (new search::KdTree<PointNormal>);
    tree4->setInputCloud (cloud_with_normals1);
  }

  // Testing
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
/* ]--- */
