/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 * $Id: test_io.cpp 4968 2012-03-08 06:39:52Z rusu $
 *
 */

#include <gtest/gtest.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_traits.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
#include <pcl/console/print.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <fstream>
#include <locale>
#include <stdexcept>

using namespace pcl;
using namespace pcl::io;

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, ComplexPCDFileASCII)
{
  std::ofstream fs;
  fs.open ("complex_ascii.pcd");
  fs << "# .PCD v0.7 - Point Cloud Data file format\n"
        "VERSION 0.7\n"
        "FIELDS fpfh _ x y z\n"
        "SIZE 4 1 4 4 4\n"
        "TYPE F F F F F\n"
        "COUNT 33 10 1 1 1\n"
        "WIDTH 1\n"
        "HEIGHT 1\n"
        "VIEWPOINT 0 0 0 1 0 0 0\n"
        "POINTS 1\n"
        "DATA ascii\n"
        "0 0 0 0 0 100 0 0 0 0 0 0 0 0 0 0 100 0 0 0 0 0 0 0 0 0 0 100 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 -69.234001 -65.460999 19.173";
  fs.close ();

  sensor_msgs::PointCloud2 blob;
  int res = loadPCDFile ("complex_ascii.pcd", blob);
  EXPECT_NE (int (res), -1);
  EXPECT_EQ (blob.width, 1);
  EXPECT_EQ (blob.height, 1);
  EXPECT_EQ (blob.is_dense, true);
  EXPECT_EQ (blob.data.size (), 4 * 33 + 10 * 1 + 4 * 3);

  // Check fields
  EXPECT_EQ (blob.fields[0].name, "fpfh");
  EXPECT_EQ (blob.fields[0].offset, 0);
  EXPECT_EQ (blob.fields[0].count, 33);
  EXPECT_EQ (blob.fields[0].datatype, sensor_msgs::PointField::FLOAT32);

  EXPECT_EQ (blob.fields[1].name, "_");
  EXPECT_EQ (blob.fields[1].offset, 4 * 33);
  EXPECT_EQ (blob.fields[1].count, 10);
  EXPECT_EQ (blob.fields[1].datatype, sensor_msgs::PointField::FLOAT32);
  
  EXPECT_EQ (blob.fields[2].name, "x");
  EXPECT_EQ (blob.fields[2].offset, 4 * 33 + 10 * 1);
  EXPECT_EQ (blob.fields[2].count, 1);
  EXPECT_EQ (blob.fields[2].datatype, sensor_msgs::PointField::FLOAT32);
  
  EXPECT_EQ (blob.fields[3].name, "y");
  EXPECT_EQ (blob.fields[3].offset, 4 * 33 + 10 * 1 + 4);
  EXPECT_EQ (blob.fields[3].count, 1);
  EXPECT_EQ (blob.fields[3].datatype, sensor_msgs::PointField::FLOAT32);
  
  EXPECT_EQ (blob.fields[4].name, "z");
  EXPECT_EQ (blob.fields[4].offset, 4 * 33 + 10 * 1 + 4 + 4);
  EXPECT_EQ (blob.fields[4].count, 1);
  EXPECT_EQ (blob.fields[4].datatype, sensor_msgs::PointField::FLOAT32);

  int x_idx = pcl::getFieldIndex (blob, "x");
  EXPECT_EQ (x_idx, 2);
  float x, y, z;
  memcpy (&x, &blob.data[0 * blob.point_step + blob.fields[x_idx + 0].offset], sizeof (float));
  memcpy (&y, &blob.data[0 * blob.point_step + blob.fields[x_idx + 1].offset], sizeof (float));
  memcpy (&z, &blob.data[0 * blob.point_step + blob.fields[x_idx + 2].offset], sizeof (float));
  EXPECT_FLOAT_EQ (x, -69.234001f);
  EXPECT_FLOAT_EQ (y, -65.460999f);
  EXPECT_FLOAT_EQ (z, 19.173f);

  int fpfh_idx = pcl::getFieldIndex (blob, "fpfh");
  EXPECT_EQ (fpfh_idx, 0);
  float val[33];
  for (size_t i = 0; i < blob.fields[fpfh_idx].count; ++i)
    memcpy (&val[i], &blob.data[0 * blob.point_step + blob.fields[fpfh_idx + 0].offset + i * sizeof (float)], sizeof (float));

  EXPECT_EQ (val[0], 0); 
  EXPECT_EQ (val[1], 0); 
  EXPECT_EQ (val[2], 0); 
  EXPECT_EQ (val[3], 0); 
  EXPECT_EQ (val[4], 0); 
  EXPECT_EQ (val[5], 100); 
  EXPECT_EQ (val[6], 0); 
  EXPECT_EQ (val[7], 0); 
  EXPECT_EQ (val[8], 0); 
  EXPECT_EQ (val[9], 0); 
  EXPECT_EQ (val[10], 0); 
  EXPECT_EQ (val[11], 0); 
  EXPECT_EQ (val[12], 0); 
  EXPECT_EQ (val[13], 0); 
  EXPECT_EQ (val[14], 0); 
  EXPECT_EQ (val[15], 0); 
  EXPECT_EQ (val[16], 100); 
  EXPECT_EQ (val[17], 0); 
  EXPECT_EQ (val[18], 0); 
  EXPECT_EQ (val[19], 0); 
  EXPECT_EQ (val[20], 0); 
  EXPECT_EQ (val[21], 0); 
  EXPECT_EQ (val[22], 0); 
  EXPECT_EQ (val[23], 0); 
  EXPECT_EQ (val[24], 0); 
  EXPECT_EQ (val[25], 0); 
  EXPECT_EQ (val[26], 0); 
  EXPECT_EQ (val[27], 100); 
  EXPECT_EQ (val[28], 0); 
  EXPECT_EQ (val[29], 0); 
  EXPECT_EQ (val[30], 0); 
  EXPECT_EQ (val[31], 0); 
  EXPECT_EQ (val[32], 0); 
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, AllTypesPCDFile)
{
  std::ofstream fs;
  fs.open ("all_types.pcd");
  fs << "# .PCD v0.7 - Point Cloud Data file format\n"
        "VERSION 0.7\n"
        "FIELDS a1 a2 a3 a4 a5 a6 a7 a8\n"
        "SIZE    1  1  2  2  4  4  4  8\n"
        "TYPE    I  U  I  U  I  U  F  F\n"
        "COUNT   1  2  1  2  1  2  1  2\n"
        "WIDTH 1\n"
        "HEIGHT 1\n"
        "VIEWPOINT 0 0 0 1 0 0 0\n"
        "POINTS 1\n"
        "DATA ascii\n"
        "-50 250 251 -250 2500 2501 -250000 250000 250001 250.05 -250.05 -251.05";
  fs.close ();

  sensor_msgs::PointCloud2 blob;
  int res = loadPCDFile ("all_types.pcd", blob);
  EXPECT_NE (int (res), -1);
  EXPECT_EQ (blob.width, 1);
  EXPECT_EQ (blob.height, 1);
  EXPECT_EQ (blob.data.size (), 1 + 1 * 2 + 2 * 1 + 2 * 2 + 4 * 1 + 4 * 2 + 4 * 1 + 8 * 2);
  EXPECT_EQ (blob.is_dense, true);

  EXPECT_EQ (blob.fields.size (), 8);
  // Check fields
  EXPECT_EQ (blob.fields[0].name, "a1");
  EXPECT_EQ (blob.fields[1].name, "a2");
  EXPECT_EQ (blob.fields[2].name, "a3");
  EXPECT_EQ (blob.fields[3].name, "a4");
  EXPECT_EQ (blob.fields[4].name, "a5");
  EXPECT_EQ (blob.fields[5].name, "a6");
  EXPECT_EQ (blob.fields[6].name, "a7");
  EXPECT_EQ (blob.fields[7].name, "a8");

  EXPECT_EQ (blob.fields[0].offset, 0);
  EXPECT_EQ (blob.fields[1].offset, 1);
  EXPECT_EQ (blob.fields[2].offset, 1 + 1 * 2);
  EXPECT_EQ (blob.fields[3].offset, 1 + 1 * 2 + 2 * 1);
  EXPECT_EQ (blob.fields[4].offset, 1 + 1 * 2 + 2 * 1 + 2 * 2);
  EXPECT_EQ (blob.fields[5].offset, 1 + 1 * 2 + 2 * 1 + 2 * 2 + 4 * 1);
  EXPECT_EQ (blob.fields[6].offset, 1 + 1 * 2 + 2 * 1 + 2 * 2 + 4 * 1 + 4 * 2);
  EXPECT_EQ (blob.fields[7].offset, 1 + 1 * 2 + 2 * 1 + 2 * 2 + 4 * 1 + 4 * 2 + 4 * 1);

  EXPECT_EQ (blob.fields[0].count, 1);
  EXPECT_EQ (blob.fields[1].count, 2);
  EXPECT_EQ (blob.fields[2].count, 1);
  EXPECT_EQ (blob.fields[3].count, 2);
  EXPECT_EQ (blob.fields[4].count, 1);
  EXPECT_EQ (blob.fields[5].count, 2);
  EXPECT_EQ (blob.fields[6].count, 1);
  EXPECT_EQ (blob.fields[7].count, 2);

  EXPECT_EQ (blob.fields[0].datatype, sensor_msgs::PointField::INT8);
  EXPECT_EQ (blob.fields[1].datatype, sensor_msgs::PointField::UINT8);
  EXPECT_EQ (blob.fields[2].datatype, sensor_msgs::PointField::INT16);
  EXPECT_EQ (blob.fields[3].datatype, sensor_msgs::PointField::UINT16);
  EXPECT_EQ (blob.fields[4].datatype, sensor_msgs::PointField::INT32);
  EXPECT_EQ (blob.fields[5].datatype, sensor_msgs::PointField::UINT32);
  EXPECT_EQ (blob.fields[6].datatype, sensor_msgs::PointField::FLOAT32);
  EXPECT_EQ (blob.fields[7].datatype, sensor_msgs::PointField::FLOAT64);

  int8_t b1;
  uint8_t b2;
  int16_t b3;
  uint16_t b4;
  int32_t b5;
  uint32_t b6;
  float b7;
  double b8;
  memcpy (&b1, &blob.data[blob.fields[0].offset], sizeof (int8_t));
  EXPECT_FLOAT_EQ (b1, -50);
  memcpy (&b2, &blob.data[blob.fields[1].offset], sizeof (uint8_t));
  EXPECT_FLOAT_EQ (b2, 250);
  memcpy (&b2, &blob.data[blob.fields[1].offset + sizeof (uint8_t)], sizeof (uint8_t));
  EXPECT_FLOAT_EQ (b2, 251);
  memcpy (&b3, &blob.data[blob.fields[2].offset], sizeof (int16_t));
  EXPECT_FLOAT_EQ (b3, -250);
  memcpy (&b4, &blob.data[blob.fields[3].offset], sizeof (uint16_t));
  EXPECT_FLOAT_EQ (b4, 2500);
  memcpy (&b4, &blob.data[blob.fields[3].offset + sizeof (uint16_t)], sizeof (uint16_t));
  EXPECT_FLOAT_EQ (b4, 2501);
  memcpy (&b5, &blob.data[blob.fields[4].offset], sizeof (int32_t));
  EXPECT_FLOAT_EQ (float (b5), float (-250000));
  memcpy (&b6, &blob.data[blob.fields[5].offset], sizeof (uint32_t));
  EXPECT_FLOAT_EQ (float (b6), float (250000));
  memcpy (&b6, &blob.data[blob.fields[5].offset + sizeof (uint32_t)], sizeof (uint32_t));
  EXPECT_FLOAT_EQ (float (b6), float (250001));
  memcpy (&b7, &blob.data[blob.fields[6].offset], sizeof (float));
  EXPECT_FLOAT_EQ (b7, 250.05f);
  memcpy (&b8, &blob.data[blob.fields[7].offset], sizeof (double));
  EXPECT_FLOAT_EQ (float (b8), -250.05f);
  memcpy (&b8, &blob.data[blob.fields[7].offset + sizeof (double)], sizeof (double));
  EXPECT_FLOAT_EQ (float (b8), -251.05f);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, ConcatenatePoints)
{
  pcl::PointCloud<pcl::PointXYZ> cloud_a, cloud_b, cloud_c;

  // Fill in the cloud data
  cloud_a.width  = 5;
  cloud_b.width  = 3;
  cloud_a.height = cloud_b.height = 1;
  cloud_a.points.resize (cloud_a.width * cloud_a.height);
  cloud_b.points.resize (cloud_b.width * cloud_b.height);

  for (size_t i = 0; i < cloud_a.points.size (); ++i)
  {
    cloud_a.points[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_a.points[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_a.points[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
  }

  for (size_t i = 0; i < cloud_b.points.size (); ++i)
  {
    cloud_b.points[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_b.points[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_b.points[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
  }

  // Copy the point cloud data
  cloud_c  = cloud_a;
  cloud_c += cloud_b;
  EXPECT_EQ (cloud_c.points.size (), cloud_a.points.size () + cloud_b.points.size ());
  EXPECT_EQ (cloud_c.width, cloud_a.width + cloud_b.width);
  EXPECT_EQ (int (cloud_c.height), 1);

  for (size_t i = 0; i < cloud_a.points.size (); ++i)
  {
    EXPECT_FLOAT_EQ (cloud_c.points[i].x, cloud_a.points[i].x);
    EXPECT_FLOAT_EQ (cloud_c.points[i].y, cloud_a.points[i].y);
    EXPECT_FLOAT_EQ (cloud_c.points[i].z, cloud_a.points[i].z);
  }
  for (size_t i = cloud_a.points.size (); i < cloud_c.points.size (); ++i)
  {
    EXPECT_FLOAT_EQ (cloud_c.points[i].x, cloud_b.points[i - cloud_a.points.size ()].x);
    EXPECT_FLOAT_EQ (cloud_c.points[i].y, cloud_b.points[i - cloud_a.points.size ()].y);
    EXPECT_FLOAT_EQ (cloud_c.points[i].z, cloud_b.points[i - cloud_a.points.size ()].z);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, ConcatenateFields)
{
  pcl::PointCloud<pcl::PointXYZ> cloud_a;
  pcl::PointCloud<pcl::Normal> cloud_b;
  pcl::PointCloud<pcl::PointNormal> cloud_c;

  // Fill in the cloud data
  cloud_a.width  = cloud_b.width  = 5;
  cloud_a.height = cloud_b.height = 1;
  cloud_a.points.resize (cloud_a.width * cloud_a.height);
  cloud_b.points.resize (cloud_b.width * cloud_b.height);

  for (size_t i = 0; i < cloud_a.points.size (); ++i)
  {
    cloud_a[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_a[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_a[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
  }

  for (size_t i = 0; i < cloud_b.points.size (); ++i)
  {
    cloud_b[i].normal_x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_b[i].normal_y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_b[i].normal_z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
  }

  pcl::concatenateFields (cloud_a, cloud_b, cloud_c);
  EXPECT_EQ (cloud_c.points.size (), cloud_a.points.size ());
  EXPECT_EQ (cloud_c.width, cloud_a.width);
  EXPECT_EQ (cloud_c.height, cloud_a.height);

  for (size_t i = 0; i < cloud_a.points.size (); ++i)
  {
    EXPECT_FLOAT_EQ (cloud_c.points[i].x, cloud_a.points[i].x);
    EXPECT_FLOAT_EQ (cloud_c.points[i].y, cloud_a.points[i].y);
    EXPECT_FLOAT_EQ (cloud_c.points[i].z, cloud_a.points[i].z);
    EXPECT_FLOAT_EQ (cloud_c.points[i].normal[0], cloud_b.points[i].normal[0]);
    EXPECT_FLOAT_EQ (cloud_c.points[i].normal[1], cloud_b.points[i].normal[1]);
    EXPECT_FLOAT_EQ (cloud_c.points[i].normal[2], cloud_b.points[i].normal[2]);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, IO)
{
  sensor_msgs::PointCloud2 cloud_blob;
  PointCloud<PointXYZI> cloud;

  cloud.width  = 640;
  cloud.height = 480;
  cloud.points.resize (cloud.width * cloud.height);
  cloud.is_dense = true;

  srand (static_cast<unsigned int> (time (NULL)));
  size_t nr_p = cloud.points.size ();
  // Randomly create a new point cloud
  for (size_t i = 0; i < nr_p; ++i)
  {
    cloud[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].intensity = static_cast<float> (i);
  }
  PointXYZI first, last;
  first.x = cloud.points[0].x;       first.y = cloud.points[0].y;       first.z = cloud.points[0].z;       first.intensity = cloud.points[0].intensity;
  last.x = cloud.points[nr_p - 1].x; last.y = cloud.points[nr_p - 1].y; last.z = cloud.points[nr_p - 1].z; last.intensity  = cloud.points[nr_p - 1].intensity;

  // Tests for PointCloud::operator()
  EXPECT_FLOAT_EQ (first.x, cloud (0, 0).x);
  EXPECT_FLOAT_EQ (first.y, cloud (0, 0).y);
  EXPECT_FLOAT_EQ (first.z, cloud (0, 0).z);
  EXPECT_FLOAT_EQ (first.intensity, 0.0f);
  EXPECT_FLOAT_EQ (last.x, cloud (cloud.width-1, cloud.height-1).x);
  EXPECT_FLOAT_EQ (last.y, cloud (cloud.width-1, cloud.height-1).y);
  EXPECT_FLOAT_EQ (last.z, cloud (cloud.width-1, cloud.height-1).z);
  EXPECT_FLOAT_EQ (last.intensity, static_cast<float> (nr_p - 1));

  // Test getFieldIndex
  std::vector<sensor_msgs::PointField> fields;
  pcl::getFields (cloud, fields);
  EXPECT_EQ (fields.size (), size_t (4));
  int x_idx = pcl::getFieldIndex (cloud, "x", fields);
  EXPECT_EQ (x_idx, 0);
  EXPECT_EQ (fields[x_idx].offset, uint32_t (0));
  EXPECT_EQ (fields[x_idx].name, "x");
  EXPECT_EQ (fields[x_idx].datatype, sensor_msgs::PointField::FLOAT32);
  EXPECT_EQ (fields[x_idx].count, uint32_t (1));

  int y_idx = pcl::getFieldIndex (cloud, "y", fields);
  EXPECT_EQ (y_idx, 1);
  EXPECT_EQ (fields[y_idx].offset, uint32_t (4));
  EXPECT_EQ (fields[y_idx].name, "y");
  EXPECT_EQ (fields[y_idx].datatype, sensor_msgs::PointField::FLOAT32);
  EXPECT_EQ (fields[y_idx].count, uint32_t (1));

  int z_idx = pcl::getFieldIndex (cloud, "z", fields);
  EXPECT_EQ (z_idx, 2);
  EXPECT_EQ (fields[z_idx].offset, uint32_t (8));
  EXPECT_EQ (fields[z_idx].name, "z");
  EXPECT_EQ (fields[z_idx].datatype, sensor_msgs::PointField::FLOAT32);
  EXPECT_EQ (fields[z_idx].count, uint32_t (1));

  int intensity_idx = pcl::getFieldIndex (cloud, "intensity", fields);
  EXPECT_EQ (intensity_idx, 3);
  EXPECT_EQ (fields[intensity_idx].offset, uint32_t (16));      // NOTE: intensity_idx.offset should be 12, but we are padding in PointXYZ (!)
  EXPECT_EQ (fields[intensity_idx].name, "intensity");
  EXPECT_EQ (fields[intensity_idx].datatype, sensor_msgs::PointField::FLOAT32);
  EXPECT_EQ (fields[intensity_idx].count, uint32_t (1));

  // Convert from data type to blob
  toROSMsg (cloud, cloud_blob);

  // Test getFieldIndex
  x_idx = pcl::getFieldIndex (cloud_blob, "x");
  EXPECT_EQ (x_idx, 0);
  EXPECT_EQ (cloud_blob.fields[x_idx].offset, uint32_t (0));
  EXPECT_EQ (cloud_blob.fields[x_idx].name, "x");
  EXPECT_EQ (cloud_blob.fields[x_idx].datatype, sensor_msgs::PointField::FLOAT32);
  EXPECT_EQ (cloud_blob.fields[x_idx].count, uint32_t (1));
  y_idx = pcl::getFieldIndex (cloud_blob, "y");
  EXPECT_EQ (y_idx, 1);
  EXPECT_EQ (cloud_blob.fields[y_idx].offset, uint32_t (4));
  EXPECT_EQ (cloud_blob.fields[y_idx].name, "y");
  EXPECT_EQ (cloud_blob.fields[y_idx].datatype, sensor_msgs::PointField::FLOAT32);
  EXPECT_EQ (cloud_blob.fields[y_idx].count, uint32_t (1));
  z_idx = pcl::getFieldIndex (cloud_blob, "z");
  EXPECT_EQ (z_idx, 2);
  EXPECT_EQ (cloud_blob.fields[z_idx].offset, uint32_t (8));
  EXPECT_EQ (cloud_blob.fields[z_idx].name, "z");
  EXPECT_EQ (cloud_blob.fields[z_idx].datatype, sensor_msgs::PointField::FLOAT32);
  EXPECT_EQ (cloud_blob.fields[z_idx].count, uint32_t (1));
  intensity_idx = pcl::getFieldIndex (cloud_blob, "intensity");
  EXPECT_EQ (intensity_idx, 3);
  //EXPECT_EQ (cloud_blob.fields[intensity_idx].offset, (uint32_t)12);      // NOTE: the fields.offset is 16 in PointCloud<PointXYZI>, but we are obtaining the correct offset in toROSMsg
  EXPECT_EQ (cloud_blob.fields[intensity_idx].offset, uint32_t (16));      // NOTE: the fields.offset is 16 in PointCloud<PointXYZI>, but we are obtaining the correct offset in toROSMsg
  EXPECT_EQ (cloud_blob.fields[intensity_idx].name, "intensity");
  EXPECT_EQ (cloud_blob.fields[intensity_idx].datatype, sensor_msgs::PointField::FLOAT32);
  EXPECT_EQ (cloud_blob.fields[intensity_idx].count, uint32_t (1));
  
  fromROSMsg (cloud_blob, cloud);
  for (size_t i = 0; i < nr_p; ++i)
    EXPECT_EQ (cloud.points[i].intensity, i);

  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);    // test for toROSMsg ()
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);  // test for toROSMsg ()
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);  // test for toROSMsg ()
  //EXPECT_EQ ((size_t)cloud_blob.data.size () * 2,         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
  //           cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for toROSMsg ()
  EXPECT_EQ (size_t (cloud_blob.data.size ()),             // PointXYZI is 16*2 (XYZ+1, Intensity+3)
             cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for toROSMsg ()

  // Make sure we have permissions to write there
  PCDWriter w;
  int res = w.writeASCII ("test_pcl_io.pcd", cloud_blob, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), 10);
  EXPECT_EQ (int (res), 0);                            // test for savePCDFileASCII ()

  // Please make sure that this file exists, otherwise the test will fail.
  res = loadPCDFile ("test_pcl_io.pcd", cloud_blob);
  EXPECT_NE (int (res), -1);                               // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);    // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);  // test for loadPCDFile ()
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);  // test for loadPCDFile ()
  EXPECT_EQ (size_t (cloud_blob.data.size () * 2),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
              cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for loadPCDFile ()

  // Convert from blob to data type
  fromROSMsg (cloud_blob, cloud);

  EXPECT_EQ (uint32_t (cloud.width), cloud_blob.width);    // test for fromROSMsg ()
  EXPECT_EQ (uint32_t (cloud.height), cloud_blob.height);  // test for fromROSMsg ()
  EXPECT_EQ (int (cloud.is_dense), cloud_blob.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (size_t (cloud.points.size ()), nr_p);         // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[0].x, first.x);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].y, first.y);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].z, first.z);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].intensity, first.intensity);  // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].x, last.x);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].y, last.y);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].z, last.z);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].intensity, last.intensity); // test for fromROSMsg ()

  // Make sure we have permissions to write there
  res = savePCDFile ("test_pcl_io.pcd", cloud_blob, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), true);
  EXPECT_EQ (int (res), 0);                            // test for savePCDFileBinary ()

  // Please make sure that this file exists, otherwise the test will fail.
  res = loadPCDFile ("test_pcl_io.pcd", cloud_blob);
  EXPECT_NE (int (res), -1);                               // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);    // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);  // test for loadPCDFile ()
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);
  EXPECT_EQ (size_t (cloud_blob.data.size () * 2),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
              cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for loadPCDFile ()

  // Convert from blob to data type
  fromROSMsg (cloud_blob, cloud);

  EXPECT_EQ (uint32_t (cloud.width), cloud_blob.width);    // test for fromROSMsg ()
  EXPECT_EQ (uint32_t (cloud.height), cloud_blob.height);  // test for fromROSMsg ()
  EXPECT_EQ (int (cloud.is_dense), cloud_blob.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (size_t (cloud.points.size ()), nr_p);         // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[0].x, first.x);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].y, first.y);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].z, first.z);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].intensity, first.intensity);  // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].x, last.x);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].y, last.y);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].z, last.z);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].intensity, last.intensity); // test for fromROSMsg ()

  // Save as ASCII
  try
  {
    w.write<PointXYZI> ("test_pcl_io_binary.pcd", cloud, true);
  }
  catch (pcl::IOException &e)
  {
    std::cerr << e.detailedMessage () << std::endl;
  }
  res = loadPCDFile ("test_pcl_io_binary.pcd", cloud_blob);
  EXPECT_NE (int (res), -1);                               // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);    // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);  // test for loadPCDFile ()
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);
  EXPECT_EQ (size_t (cloud_blob.data.size () * 2),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
              cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for loadPCDFile ()

  // Convert from blob to data type
  fromROSMsg (cloud_blob, cloud);

  EXPECT_EQ (uint32_t (cloud.width), cloud_blob.width);    // test for fromROSMsg ()
  EXPECT_EQ (uint32_t (cloud.height), cloud_blob.height);  // test for fromROSMsg ()
  EXPECT_EQ (int (cloud.is_dense), cloud_blob.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (size_t (cloud.points.size ()), nr_p);         // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[0].x, first.x);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].y, first.y);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].z, first.z);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].intensity, first.intensity);  // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].x, last.x);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].y, last.y);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].z, last.z);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].intensity, last.intensity); // test for fromROSMsg ()

  // Save as ASCII
  try
  {
    w.write<PointXYZI> ("test_pcl_io_ascii.pcd", cloud, false);
  }
  catch (pcl::IOException &e)
  {
    std::cerr << e.detailedMessage () << std::endl;
  }
  res = loadPCDFile ("test_pcl_io_ascii.pcd", cloud_blob);
  EXPECT_NE (int (res), -1);                               // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);    // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);  // test for loadPCDFile ()
  EXPECT_EQ (bool (cloud_blob.is_dense), true);
  EXPECT_EQ (size_t (cloud_blob.data.size () * 2),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
              cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for loadPCDFile ()

  // Convert from blob to data type
  fromROSMsg (cloud_blob, cloud);

  EXPECT_EQ (uint32_t (cloud.width), cloud_blob.width);    // test for fromROSMsg ()
  EXPECT_EQ (uint32_t (cloud.height), cloud_blob.height);  // test for fromROSMsg ()
  EXPECT_EQ (int (cloud.is_dense), cloud_blob.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (size_t (cloud.points.size ()), nr_p);         // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[0].x, first.x);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].y, first.y);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].z, first.z);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].intensity, first.intensity);  // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].x, last.x);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].y, last.y);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].z, last.z);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (float (cloud.points[nr_p - 1].intensity), float (last.intensity)); // test for fromROSMsg ()

  std::vector<int> indices (cloud.width * cloud.height / 2);
  for (int i = 0; i < static_cast<int> (indices.size ()); ++i) indices[i] = i;
  // Save as ASCII
  try
  {
    w.write<PointXYZI> ("test_pcl_io_binary.pcd", cloud, indices, true);
  }
  catch (pcl::IOException &e)
  {
    std::cerr << e.detailedMessage () << std::endl;
  }
  res = loadPCDFile ("test_pcl_io_binary.pcd", cloud_blob);
  EXPECT_NE (int (res), -1);                               // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width * cloud.height / 2);    // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.height), 1);  // test for loadPCDFile ()
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);
  EXPECT_EQ (size_t (cloud_blob.data.size () * 2),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
              cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for loadPCDFile ()

  // Convert from blob to data type
  fromROSMsg (cloud_blob, cloud);

  EXPECT_EQ (uint32_t (cloud.width), cloud_blob.width);    // test for fromROSMsg ()
  EXPECT_EQ (uint32_t (cloud.height), cloud_blob.height);  // test for fromROSMsg ()
  EXPECT_EQ (int (cloud.is_dense), cloud_blob.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (size_t (cloud.points.size ()), nr_p / 2);         // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[0].x, first.x);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].y, first.y);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].z, first.z);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (float (cloud.points[0].intensity), float (first.intensity));  // test for fromROSMsg ()

  indices.resize (cloud.width * cloud.height / 2);
  for (int i = 0; i < static_cast<int> (indices.size ()); ++i) indices[i] = i;
  // Save as ASCII
  try
  {
    w.write<PointXYZI> ("test_pcl_io_ascii.pcd", cloud, indices, false);
  }
  catch (pcl::IOException &e)
  {
    std::cerr << e.detailedMessage () << std::endl;
  }
  res = loadPCDFile ("test_pcl_io_ascii.pcd", cloud_blob);
  EXPECT_NE (int (res), -1);                               // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width * cloud.height / 2);    // test for loadPCDFile ()
  EXPECT_EQ (uint32_t (cloud_blob.height), 1);  // test for loadPCDFile ()
  EXPECT_EQ (bool (cloud_blob.is_dense), true);
  EXPECT_EQ (size_t (cloud_blob.data.size () * 2),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
              cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for loadPCDFile ()

  // Convert from blob to data type
  fromROSMsg (cloud_blob, cloud);

  EXPECT_EQ (uint32_t (cloud.width), cloud_blob.width);    // test for fromROSMsg ()
  EXPECT_EQ (uint32_t (cloud.height), cloud_blob.height);  // test for fromROSMsg ()
  EXPECT_EQ (int (cloud.is_dense), cloud_blob.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (size_t (cloud.points.size ()), nr_p / 4);         // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[0].x, first.x);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].y, first.y);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].z, first.z);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].intensity, first.intensity);  // test for fromROSMsg ()
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, PCDReaderWriter)
{
  sensor_msgs::PointCloud2 cloud_blob;
  PointCloud<PointXYZI> cloud;

  cloud.width  = 640;
  cloud.height = 480;
  cloud.points.resize (cloud.width * cloud.height);
  cloud.is_dense = true;

  srand (static_cast<unsigned int> (time (NULL)));
  size_t nr_p = cloud.points.size ();
  // Randomly create a new point cloud
  for (size_t i = 0; i < nr_p; ++i)
  {
    cloud.points[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].intensity = static_cast<float> (i);
  }
  PointXYZI first, last;
  first.x = cloud.points[0].x;       first.y = cloud.points[0].y;       first.z = cloud.points[0].z;       first.intensity = cloud.points[0].intensity;
  last.x = cloud.points[nr_p - 1].x; last.y = cloud.points[nr_p - 1].y; last.z = cloud.points[nr_p - 1].z; last.intensity  = cloud.points[nr_p - 1].intensity;

  // Convert from data type to blob
  toROSMsg (cloud, cloud_blob);

  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);    // test for toROSMsg ()
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);  // test for toROSMsg ()
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);  // test for toROSMsg ()
  //EXPECT_EQ ((size_t)cloud_blob.data.size () * 2,         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
  //           cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for toROSMsg ()
  EXPECT_EQ (size_t (cloud_blob.data.size ()),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
             cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for toROSMsg ()

  PCDWriter writer;
  writer.write ("test_pcl_io.pcd", cloud_blob, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), true);

  PCDReader reader;
  reader.read ("test_pcl_io.pcd", cloud_blob);
  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);
  //EXPECT_EQ ((size_t)cloud_blob.data.size () * 2,         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
  //           cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for loadPCDFile ()
  EXPECT_EQ (size_t (cloud_blob.data.size ()),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
             cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  // test for loadPCDFile ()

  // Convert from blob to data type
  fromROSMsg (cloud_blob, cloud);

  EXPECT_EQ (uint32_t (cloud.width), cloud_blob.width);    // test for fromROSMsg ()
  EXPECT_EQ (uint32_t (cloud.height), cloud_blob.height);  // test for fromROSMsg ()
  EXPECT_EQ (int (cloud.is_dense), cloud_blob.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (size_t (cloud.points.size ()), nr_p);         // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[0].x, first.x);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].y, first.y);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].z, first.z);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].intensity, first.intensity);  // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].x, last.x);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].y, last.y);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].z, last.z);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].intensity, last.intensity); // test for fromROSMsg ()
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, PCDReaderWriterEigen)
{
  sensor_msgs::PointCloud2 cloud_blob;
  PointCloud<PointXYZI> cloud;
  pcl::PointCloud<Eigen::MatrixXf> cloud_eigen1, cloud_eigen2, cloud_eigen3;

  cloud.width  = 640;
  cloud.height = 480;
  cloud.points.resize (cloud.width * cloud.height);
  cloud.is_dense = true;

  srand (static_cast<unsigned int> (time (NULL)));
  size_t nr_p = cloud.points.size ();
  // Randomly create a new point cloud
  for (size_t i = 0; i < nr_p; ++i)
  {
    cloud.points[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].intensity = static_cast<float> (i);
  }
  PointXYZI first, last;
  first.x = cloud.points[0].x;       first.y = cloud.points[0].y;       first.z = cloud.points[0].z;       first.intensity = cloud.points[0].intensity;
  last.x = cloud.points[nr_p - 1].x; last.y = cloud.points[nr_p - 1].y; last.z = cloud.points[nr_p - 1].z; last.intensity  = cloud.points[nr_p - 1].intensity;

  // Convert from data type to blob
  toROSMsg (cloud, cloud_blob);

  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);    // test for toROSMsg ()
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);  // test for toROSMsg ()
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);  // test for toROSMsg ()
  EXPECT_EQ (size_t (cloud_blob.data.size ()),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
             cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));

  // Convert to Eigen
  cloud_eigen1 = cloud;

  PCDWriter writer;
  writer.writeBinaryCompressedEigen ("test_pcl_io.pcd", cloud_eigen1);

  PCDReader reader;
  reader.read ("test_pcl_io.pcd", cloud_blob);

  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);
  EXPECT_EQ (size_t (cloud_blob.data.size ()),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
             cloud_blob.width * cloud_blob.height * sizeof (PointXYZI) / 2);  // we already got rid of the padding here

  // Convert from blob to data type
  fromROSMsg (cloud_blob, cloud);

  EXPECT_EQ (uint32_t (cloud.width), cloud_blob.width);    // test for fromROSMsg ()
  EXPECT_EQ (uint32_t (cloud.height), cloud_blob.height);  // test for fromROSMsg ()
  EXPECT_EQ (int (cloud.is_dense), cloud_blob.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (size_t (cloud.points.size ()), nr_p);         // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[0].x, first.x);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].y, first.y);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].z, first.z);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].intensity, first.intensity);  // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].x, last.x);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].y, last.y);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].z, last.z);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].intensity, last.intensity); // test for fromROSMsg ()

  cloud_eigen2 = cloud;
  writer.writeBinaryEigen ("test_pcl_io.pcd", cloud_eigen2);

  reader.read ("test_pcl_io.pcd", cloud_blob);

  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);
  EXPECT_EQ (size_t (cloud_blob.data.size ()),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
             cloud_blob.width * cloud_blob.height * sizeof (PointXYZI) / 2);  // we already got rid of the padding here

  // Convert from blob to data type
  fromROSMsg (cloud_blob, cloud);

  EXPECT_EQ (uint32_t (cloud.width), cloud_blob.width);    // test for fromROSMsg ()
  EXPECT_EQ (uint32_t (cloud.height), cloud_blob.height);  // test for fromROSMsg ()
  EXPECT_EQ (int (cloud.is_dense), cloud_blob.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (size_t (cloud.points.size ()), nr_p);         // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[0].x, first.x);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].y, first.y);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].z, first.z);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].intensity, first.intensity);  // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].x, last.x);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].y, last.y);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].z, last.z);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].intensity, last.intensity); // test for fromROSMsg ()

  cloud_eigen3 = cloud;
  writer.writeASCIIEigen ("test_pcl_io.pcd", cloud_eigen3);

  reader.read ("test_pcl_io.pcd", cloud_blob);

  EXPECT_EQ (uint32_t (cloud_blob.width), cloud.width);
  EXPECT_EQ (uint32_t (cloud_blob.height), cloud.height);
  EXPECT_EQ (bool (cloud_blob.is_dense), cloud.is_dense);
  EXPECT_EQ (size_t (cloud_blob.data.size ()),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
             cloud_blob.width * cloud_blob.height * sizeof (PointXYZI) / 2);  // we already got rid of the padding here

  // Convert from blob to data type
  fromROSMsg (cloud_blob, cloud);

  EXPECT_EQ (uint32_t (cloud.width), cloud_blob.width);    // test for fromROSMsg ()
  EXPECT_EQ (uint32_t (cloud.height), cloud_blob.height);  // test for fromROSMsg ()
  EXPECT_EQ (int (cloud.is_dense), cloud_blob.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (size_t (cloud.points.size ()), nr_p);         // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[0].x, first.x);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].y, first.y);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].z, first.z);     // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[0].intensity, first.intensity);  // test for fromROSMsg ()

  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].x, last.x);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].y, last.y);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].z, last.z);    // test for fromROSMsg ()
  EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].intensity, last.intensity); // test for fromROSMsg ()

  pcl::PointCloud<Eigen::MatrixXf> cloud_eigen4, cloud_eigen5, cloud_eigen6;
  reader.readEigen ("test_pcl_io.pcd", cloud_eigen4);

  EXPECT_EQ (uint32_t (cloud_eigen4.width), cloud.width);
  EXPECT_EQ (uint32_t (cloud_eigen4.height), cloud.height);
  EXPECT_EQ (bool (cloud_eigen4.is_dense), cloud.is_dense);

  for (int i = 0; i < cloud_eigen4.points.rows (); ++i)
  {
    EXPECT_FLOAT_EQ (cloud_eigen4.points (i, 0), cloud.points[i].x);
    EXPECT_FLOAT_EQ (cloud_eigen4.points (i, 1), cloud.points[i].y);
    EXPECT_FLOAT_EQ (cloud_eigen4.points (i, 2), cloud.points[i].z);
    EXPECT_FLOAT_EQ (cloud_eigen4.points (i, 3), cloud.points[i].intensity);
  }

  writer.writeBinaryEigen ("test_pcl_io.pcd", cloud_eigen1);

  reader.readEigen ("test_pcl_io.pcd", cloud_eigen5);

  EXPECT_EQ (uint32_t (cloud_eigen5.width), cloud.width);
  EXPECT_EQ (uint32_t (cloud_eigen5.height), cloud.height);
  EXPECT_EQ (bool (cloud_eigen5.is_dense), cloud.is_dense);

  for (int i = 0; i < cloud_eigen5.points.rows (); ++i)
  {
    EXPECT_FLOAT_EQ (cloud_eigen5.points (i, 0), cloud.points[i].x);
    EXPECT_FLOAT_EQ (cloud_eigen5.points (i, 1), cloud.points[i].y);
    EXPECT_FLOAT_EQ (cloud_eigen5.points (i, 2), cloud.points[i].z);
    EXPECT_FLOAT_EQ (cloud_eigen5.points (i, 3), cloud.points[i].intensity);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, PLYReaderWriter)
{
  sensor_msgs::PointCloud2 cloud_blob, cloud_blob2;
  PointCloud<PointXYZI> cloud, cloud2;

  cloud.width  = 640;
  cloud.height = 480;
  cloud.resize (cloud.width * cloud.height);
  cloud.is_dense = true;

  srand (static_cast<unsigned int> (time (NULL)));
  size_t nr_p = cloud.size ();
  // Randomly create a new point cloud
  for (size_t i = 0; i < nr_p; ++i)
  {
    cloud[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud[i].intensity = static_cast<float> (i);
  }

  // Convert from data type to blob
  toROSMsg (cloud, cloud_blob);

  EXPECT_EQ (cloud_blob.width, cloud.width);    // test for toROSMsg ()
  EXPECT_EQ (cloud_blob.height, cloud.height);  // test for toROSMsg ()
  EXPECT_EQ (cloud_blob.is_dense, cloud.is_dense);  // test for toROSMsg ()
  EXPECT_EQ (cloud_blob.data.size (), 
             cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));  

  // test for toROSMsg ()
  PLYWriter writer;
  writer.write ("test_pcl_io.ply", cloud_blob, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), true, true);

  PLYReader reader;
  reader.read ("test_pcl_io.ply", cloud_blob2);
  //PLY DOES preserve organiziation
  EXPECT_EQ (cloud_blob.width * cloud_blob.height, cloud_blob2.width * cloud_blob2.height);
  EXPECT_EQ (cloud_blob.is_dense, cloud.is_dense);   
  EXPECT_EQ (size_t (cloud_blob2.data.size ()),         // PointXYZI is 16*2 (XYZ+1, Intensity+3)
             cloud_blob2.width * cloud_blob2.height * sizeof (PointXYZ));  // test for loadPLYFile ()

  // Convert from blob to data type
  fromROSMsg (cloud_blob2, cloud2);

  // EXPECT_EQ (cloud.width, cloud2.width);    // test for fromROSMsg ()
  // EXPECT_EQ (cloud.height, cloud2.height);  // test for fromROSMsg ()
  // EXPECT_EQ (cloud.is_dense, cloud2.is_dense);   // test for fromROSMsg ()
  EXPECT_EQ (cloud.size (), cloud2.size ());         // test for fromROSMsg ()

  for (uint32_t counter = 0; counter < cloud.size (); ++counter)
  {
    EXPECT_FLOAT_EQ (cloud[counter].x, cloud2[counter].x);     // test for fromROSMsg ()
    EXPECT_FLOAT_EQ (cloud[counter].y, cloud2[counter].y);     // test for fromROSMsg ()
    EXPECT_FLOAT_EQ (cloud[counter].z, cloud2[counter].z);     // test for fromROSMsg ()
    EXPECT_FLOAT_EQ (cloud[counter].intensity, cloud2[counter].intensity);  // test for fromROSMsg ()
  }
}

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

struct PointXYZFPFH33
{
  float x, y, z;
  float histogram[33];
};
POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZFPFH33,
    (float, x, x) (float, y, y) (float, z, z)
    (float[33], histogram, fpfh))

inline std::ostream& operator << (std::ostream& os, const PointXYZFPFH33& p)
{
  os << "(" << p.x << "," << p.y << "," << p.z << ")";
  for (int i = 0; i < 33; ++i) 
    os << (i == 0 ? "(" :"") << p.histogram[i] << (i < 32 ? ", " : ")");
  return os;
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, ExtendedIO)
{
  PointCloud<PointXYZFPFH33> cloud;
  cloud.width = 2; cloud.height = 1;
  cloud.points.resize (2);

  cloud.points[0].x = cloud.points[0].y = cloud.points[0].z = 1;
  cloud.points[1].x = cloud.points[1].y = cloud.points[1].z = 2;
  for (int i = 0; i < 33; ++i)
  {
    cloud.points[0].histogram[i] = static_cast<float> (i);
    cloud.points[1].histogram[i] = 33.0f - static_cast<float> (i);
  }

  savePCDFile ("v.pcd", cloud);
  cloud.points.clear ();
  loadPCDFile ("v.pcd", cloud);

  EXPECT_EQ (int (cloud.width), 2);
  EXPECT_EQ (int (cloud.height), 1);
  EXPECT_EQ (cloud.is_dense, true);
  EXPECT_EQ (int (cloud.points.size ()), 2);
  
  EXPECT_EQ (cloud.points[0].x, 1); EXPECT_EQ (cloud.points[0].y, 1); EXPECT_EQ (cloud.points[0].z, 1);
  EXPECT_EQ (cloud.points[1].x, 2); EXPECT_EQ (cloud.points[1].y, 2); EXPECT_EQ (cloud.points[1].z, 2);
  for (int i = 0; i < 33; ++i)
  {
    ASSERT_EQ (cloud.points[0].histogram[i], i);
    ASSERT_EQ (cloud.points[1].histogram[i], 33-i);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, EigenConversions)
{
  PointCloud<PointXYZ> cloud;
  cloud.points.resize (5);

  for (int i = 0; i < int (cloud.points.size ()); ++i)
    cloud.points[i].x = cloud.points[i].y = cloud.points[i].z = static_cast<float> (i);

  sensor_msgs::PointCloud2 blob;
  toROSMsg (cloud, blob);

  Eigen::MatrixXf mat;
  getPointCloudAsEigen (blob, mat);
  EXPECT_EQ (mat.cols (), int (cloud.points.size ()));
  EXPECT_EQ (mat.rows (), 4);
  
  for (size_t i = 0; i < cloud.points.size (); ++i)
  {
    EXPECT_EQ (mat (0, i), cloud.points[i].x);
    EXPECT_EQ (mat (1, i), cloud.points[i].y);
    EXPECT_EQ (mat (2, i), cloud.points[i].z);
    EXPECT_EQ (mat (3, i), 1);
  }
  
  getEigenAsPointCloud (mat, blob);
  fromROSMsg (blob, cloud);
  for (size_t i = 0; i < cloud.points.size (); ++i)
  {
    EXPECT_EQ (cloud.points[i].x, i);
    EXPECT_EQ (cloud.points[i].y, i);
    EXPECT_EQ (cloud.points[i].z, i);
  }

  getPointCloudAsEigen (blob, mat);
  EXPECT_EQ (mat.cols (), int (cloud.points.size ()));
  EXPECT_EQ (mat.rows (), 4);
  
  for (size_t i = 0; i < cloud.points.size (); ++i)
  {
    EXPECT_EQ (mat (0, i), cloud.points[i].x);
    EXPECT_EQ (mat (1, i), cloud.points[i].y);
    EXPECT_EQ (mat (2, i), cloud.points[i].z);
    EXPECT_EQ (mat (3, i), 1);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CopyPointCloud)
{
  pcl::PointCloud<pcl::PointXYZ> cloud_a;
  pcl::PointCloud<pcl::PointXYZRGBA> cloud_b;

  // Fill in the cloud data
  cloud_a.width  = cloud_b.width  = 3;
  cloud_a.height = cloud_b.height = 1;
  cloud_a.points.resize (cloud_a.width * cloud_a.height);
  cloud_b.points.resize (cloud_b.width * cloud_b.height);

  for (size_t i = 0; i < cloud_a.points.size (); ++i)
  {
    cloud_a.points[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_a.points[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_a.points[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud_b.points[i].rgba = 255;
  }

  pcl::copyPointCloud<pcl::PointXYZ, pcl::PointXYZRGBA> (cloud_a, cloud_b);

  for (size_t i = 0; i < cloud_a.points.size (); ++i)
  {
    EXPECT_EQ (cloud_b.points[i].x, cloud_a.points[i].x);
    EXPECT_EQ (cloud_b.points[i].y, cloud_a.points[i].y);
    EXPECT_EQ (cloud_b.points[i].z, cloud_a.points[i].z);
    EXPECT_EQ (cloud_b.points[i].rgba, 255);
    cloud_a.points[i].x = cloud_a.points[i].y = cloud_a.points[i].z = 0;
  }

  pcl::copyPointCloud<pcl::PointXYZRGBA, pcl::PointXYZ> (cloud_b, cloud_a);

  for (size_t i = 0; i < cloud_a.points.size (); ++i)
  {
    EXPECT_EQ (cloud_b.points[i].x, cloud_a.points[i].x);
    EXPECT_EQ (cloud_b.points[i].y, cloud_a.points[i].y);
    EXPECT_EQ (cloud_b.points[i].z, cloud_a.points[i].z);
    EXPECT_EQ (cloud_b.points[i].rgba, 255);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, LZF)
{
  PointCloud<PointXYZ> cloud, cloud2;
  cloud.width  = 640;
  cloud.height = 480;
  cloud.points.resize (cloud.width * cloud.height);
  cloud.is_dense = true;

  srand (static_cast<unsigned int> (time (NULL)));
  size_t nr_p = cloud.points.size ();
  // Randomly create a new point cloud
  for (size_t i = 0; i < nr_p; ++i)
  {
    cloud.points[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
  }
  PCDWriter writer;
  int res = writer.writeBinaryCompressed<PointXYZ> ("test_pcl_io_compressed.pcd", cloud);
  EXPECT_EQ (res, 0);

  PCDReader reader;
  reader.read<PointXYZ> ("test_pcl_io_compressed.pcd", cloud2);

  EXPECT_EQ (cloud2.width, cloud.width);
  EXPECT_EQ (cloud2.height, cloud.height);
  EXPECT_EQ (cloud2.is_dense, cloud.is_dense);
  EXPECT_EQ (cloud2.points.size (), cloud.points.size ());

  for (size_t i = 0; i < cloud2.points.size (); ++i)
  {
    ASSERT_EQ (cloud2.points[i].x, cloud.points[i].x);
    ASSERT_EQ (cloud2.points[i].y, cloud.points[i].y);
    ASSERT_EQ (cloud2.points[i].z, cloud.points[i].z);
  }

  sensor_msgs::PointCloud2 blob;
  pcl::toROSMsg (cloud, blob);
  res = writer.writeBinaryCompressed ("test_pcl_io_compressed.pcd", blob);
  EXPECT_EQ (res, 0);

  reader.read<PointXYZ> ("test_pcl_io_compressed.pcd", cloud2);

  EXPECT_EQ (cloud2.width, blob.width);
  EXPECT_EQ (cloud2.height, blob.height);
  EXPECT_EQ (cloud2.is_dense, cloud.is_dense);
  EXPECT_EQ (cloud2.points.size (), cloud.points.size ());

  for (size_t i = 0; i < cloud2.points.size (); ++i)
  {
    EXPECT_EQ (cloud2.points[i].x, cloud.points[i].x);
    EXPECT_EQ (cloud2.points[i].y, cloud.points[i].y);
    EXPECT_EQ (cloud2.points[i].z, cloud.points[i].z);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, LZFExtended)
{
  PointCloud<PointXYZRGBNormal> cloud, cloud2;
  cloud.width  = 640;
  cloud.height = 480;
  cloud.points.resize (cloud.width * cloud.height);
  cloud.is_dense = true;

  srand (static_cast<unsigned int> (time (NULL)));
  size_t nr_p = cloud.points.size ();
  // Randomly create a new point cloud
  for (size_t i = 0; i < nr_p; ++i)
  {
    cloud.points[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].normal_x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].normal_y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].normal_z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    cloud.points[i].rgb = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
  }

  sensor_msgs::PointCloud2 blob;
  pcl::toROSMsg (cloud, blob);

  PCDWriter writer;
  int res = writer.writeBinaryCompressed ("test_pcl_io_compressed.pcd", blob);
  EXPECT_EQ (res, 0);

  PCDReader reader;
  reader.read<PointXYZRGBNormal> ("test_pcl_io_compressed.pcd", cloud2);

  EXPECT_EQ (cloud2.width, blob.width);
  EXPECT_EQ (cloud2.height, blob.height);
  EXPECT_EQ (cloud2.is_dense, cloud.is_dense);
  EXPECT_EQ (cloud2.points.size (), cloud.points.size ());

  for (size_t i = 0; i < cloud2.points.size (); ++i)
  {
    EXPECT_EQ (cloud2.points[i].x, cloud.points[i].x);
    EXPECT_EQ (cloud2.points[i].y, cloud.points[i].y);
    EXPECT_EQ (cloud2.points[i].z, cloud.points[i].z);
    EXPECT_EQ (cloud2.points[i].normal_x, cloud.points[i].normal_x);
    EXPECT_EQ (cloud2.points[i].normal_y, cloud.points[i].normal_y);
    EXPECT_EQ (cloud2.points[i].normal_z, cloud.points[i].normal_z);
    EXPECT_EQ (cloud2.points[i].rgb, cloud.points[i].rgb);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, Locale)
{
#ifndef __APPLE__
  try
  {
    PointCloud<PointXYZ> cloud, cloud2;
    cloud.width  = 640;
    cloud.height = 480;
    cloud.points.resize (cloud.width * cloud.height);
    cloud.is_dense = true;

    srand (static_cast<unsigned int> (time (NULL)));
    size_t nr_p = cloud.points.size ();
    // Randomly create a new point cloud
    cloud.points[0].x = std::numeric_limits<float>::quiet_NaN ();
    cloud.points[0].y = std::numeric_limits<float>::quiet_NaN ();
    cloud.points[0].z = std::numeric_limits<float>::quiet_NaN ();
  
    for (size_t i = 1; i < nr_p; ++i)
    {
      cloud.points[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
      cloud.points[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
      cloud.points[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
    }
    PCDWriter writer;
    try
    {
#ifdef _WIN32
      std::locale::global (std::locale ("German_germany"));
#else
      std::locale::global (std::locale ("de_DE.UTF-8"));
#endif
    }
    catch (std::runtime_error e)
    {
      PCL_WARN ("Failed to set locale, skipping test.\n");
    }
    int res = writer.writeASCII<PointXYZ> ("test_pcl_io_ascii.pcd", cloud);
    EXPECT_EQ (res, 0);

    PCDReader reader;
    try
    {
#ifdef _WIN32
      std::locale::global (std::locale ("English_US"));
#else
      std::locale::global (std::locale ("en_US.UTF-8"));
#endif
    }
    catch (std::runtime_error e)
    {
      PCL_WARN ("Failed to set locale, skipping test.\n");
    }
    reader.read<PointXYZ> ("test_pcl_io_ascii.pcd", cloud2);
    std::locale::global (std::locale::classic ());

    EXPECT_EQ (cloud2.width, cloud.width);
    EXPECT_EQ (cloud2.height, cloud.height);
    EXPECT_EQ (cloud2.is_dense, false);
    EXPECT_EQ (cloud2.points.size (), cloud.points.size ());
  
    EXPECT_TRUE (pcl_isnan(cloud2.points[0].x));
    EXPECT_TRUE (pcl_isnan(cloud2.points[0].y));
    EXPECT_TRUE (pcl_isnan(cloud2.points[0].z));
    for (size_t i = 1; i < cloud2.points.size (); ++i)
    {
      ASSERT_FLOAT_EQ (cloud2.points[i].x, cloud.points[i].x);
      ASSERT_FLOAT_EQ (cloud2.points[i].y, cloud.points[i].y);
      ASSERT_FLOAT_EQ (cloud2.points[i].z, cloud.points[i].z);
    }
  }
  catch(std::exception& e)
  {
  }
#endif
}

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