98 lines
3.0 KiB
C++
98 lines
3.0 KiB
C++
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/*
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* Copyright (C) 2016 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <boost/filesystem.hpp>
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#include <gtest/gtest.h>
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#include "gazebo/common/CommonIface.hh"
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#include "gazebo/common/Dem.hh"
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#include "gazebo/common/HeightmapData.hh"
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#include "gazebo/common/ImageHeightmap.hh"
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#include "test_config.h"
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#include "test/util.hh"
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#define ELEVATION_TOL 1e-8
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using namespace gazebo;
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class HeightmapDataLoaderTest : public gazebo::testing::AutoLogFixture { };
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/////////////////////////////////////////////////
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TEST_F(HeightmapDataLoaderTest, ImageHeightmap)
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{
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common::HeightmapData *heightmapData = NULL;
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std::string path;
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path = "file://media/materials/textures/heightmap_bowl.png";
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heightmapData = common::HeightmapDataLoader::LoadTerrainFile(
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common::find_file(path));
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EXPECT_TRUE(heightmapData != nullptr);
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common::ImageHeightmap *img =
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dynamic_cast<common::ImageHeightmap *>(heightmapData);
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EXPECT_TRUE(img != nullptr);
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// Check the heights and widths
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EXPECT_EQ(129, static_cast<int>(img->GetHeight()));
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EXPECT_EQ(129, static_cast<int>(img->GetWidth()));
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EXPECT_NEAR(0.99607843, img->GetMaxElevation(), ELEVATION_TOL);
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}
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#ifdef HAVE_GDAL
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/////////////////////////////////////////////////
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TEST_F(HeightmapDataLoaderTest, DemHeightmap)
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{
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common::HeightmapData *heightmapData = NULL;
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boost::filesystem::path path = TEST_PATH;
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path /= "data/dem_squared.tif";
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heightmapData = common::HeightmapDataLoader::LoadTerrainFile(path.string());
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EXPECT_TRUE(heightmapData != nullptr);
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common::Dem *dem = dynamic_cast<common::Dem *>(heightmapData);
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EXPECT_TRUE(dem != nullptr);
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// Check the heights and widths
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EXPECT_EQ(129, static_cast<int>(dem->GetHeight()));
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EXPECT_EQ(129, static_cast<int>(dem->GetWidth()));
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EXPECT_FLOAT_EQ(3984.4849, dem->GetWorldHeight());
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EXPECT_FLOAT_EQ(3139.7456, dem->GetWorldWidth());
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EXPECT_FLOAT_EQ(65.3583, dem->GetMinElevation());
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EXPECT_FLOAT_EQ(318.441, dem->GetMaxElevation());
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// Check GetElevation()
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unsigned int width = dem->GetWidth();
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unsigned int height = dem->GetHeight();
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EXPECT_FLOAT_EQ(215.82324, dem->GetElevation(0, 0));
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EXPECT_FLOAT_EQ(216.04961, dem->GetElevation(width - 1, 0));
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EXPECT_FLOAT_EQ(142.2274, dem->GetElevation(0, height - 1));
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EXPECT_FLOAT_EQ(209.14784, dem->GetElevation(width - 1, height - 1));
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}
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#endif
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/////////////////////////////////////////////////
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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