58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
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/*
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* Copyright (C) 2012 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 "gazebo/test/ServerFixture.hh"
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#include "images_cmp.h"
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using namespace gazebo;
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class ProjectorTest : public ServerFixture
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{
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};
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TEST_F(ProjectorTest, Projector)
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{
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if (rendering::RenderEngine::Instance()->GetRenderPathType() ==
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rendering::RenderEngine::NONE)
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return;
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Load("worlds/projector.world");
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SpawnCamera("camera_model", "camera_sensor", math::Vector3(-4, 0, 1),
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math::Vector3(0, GZ_DTOR(10), 0));
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unsigned char *img = NULL;
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unsigned int width;
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unsigned int height;
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GetFrame("camera_sensor", &img, width, height);
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ASSERT_EQ(width, static_cast<unsigned int>(320));
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ASSERT_EQ(height, static_cast<unsigned int>(240));
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unsigned int diffMax = 0;
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unsigned int diffSum = 0;
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double diffAvg = 0;
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ImageCompare(img, projector_world_camera,
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width, height, 3, diffMax, diffSum, diffAvg);
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// PrintImage("projector_world_camera", &img, width, height, 3);
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ASSERT_EQ(diffSum, static_cast<unsigned int>(0));
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ASSERT_EQ(diffMax, static_cast<unsigned int>(0));
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ASSERT_EQ(diffAvg, 0.0);
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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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