234 lines
7.0 KiB
C++
234 lines
7.0 KiB
C++
/*
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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 <boost/filesystem.hpp>
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#include <gtest/gtest.h>
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#include <ignition/math/Angle.hh>
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#include <ignition/math/Vector3.hh>
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#include "gazebo/common/Dem.hh"
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#include "gazebo/math/Angle.hh"
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#include "test_config.h"
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#include "test/util.hh"
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using namespace gazebo;
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class DemTest : public gazebo::testing::AutoLogFixture { };
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#ifdef HAVE_GDAL
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/////////////////////////////////////////////////
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TEST_F(DemTest, MisingFile)
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{
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common::Dem dem;
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EXPECT_NE(dem.Load("/file/shouldn/never/exist.png"), 0);
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}
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/////////////////////////////////////////////////
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TEST_F(DemTest, NotDem)
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{
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common::Dem dem;
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boost::filesystem::path path;
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path = "file://media/materials/scripts/CMakeLists.txt";
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EXPECT_NE(dem.Load(path.string()), 0);
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}
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/////////////////////////////////////////////////
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TEST_F(DemTest, UnsupportedDem)
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{
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common::Dem dem;
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boost::filesystem::path path;
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path = "file://media/materials/textures/wood.jpg";
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EXPECT_NE(dem.Load(path.string()), 0);
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}
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/////////////////////////////////////////////////
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TEST_F(DemTest, NonSquaredDemPortrait)
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{
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common::Dem dem;
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boost::filesystem::path path = TEST_PATH;
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path /= "data/dem_portrait.tif";
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EXPECT_EQ(dem.Load(path.string()), 0);
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}
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/////////////////////////////////////////////////
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TEST_F(DemTest, NonSquaredDemLandscape)
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{
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common::Dem dem;
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boost::filesystem::path path = TEST_PATH;
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path /= "data/dem_landscape.tif";
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EXPECT_EQ(dem.Load(path.string()), 0);
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}
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/////////////////////////////////////////////////
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TEST_F(DemTest, SquaredDem)
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{
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common::Dem dem;
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boost::filesystem::path path = TEST_PATH;
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path /= "data/dem_squared.tif";
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EXPECT_EQ(dem.Load(path.string()), 0);
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}
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/////////////////////////////////////////////////
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TEST_F(DemTest, BasicAPI)
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{
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common::Dem dem;
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boost::filesystem::path path = TEST_PATH;
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path /= "data/dem_squared.tif";
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EXPECT_EQ(dem.Load(path.string()), 0);
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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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// Illegal coordinates
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ASSERT_ANY_THROW(dem.GetElevation(0, height));
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ASSERT_ANY_THROW(dem.GetElevation(width, 0));
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ASSERT_ANY_THROW(dem.GetElevation(width, height));
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// Check GetGeoReferenceOrigin()
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ignition::math::Angle latitude, longitude;
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dem.GetGeoReferenceOrigin(latitude, longitude);
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EXPECT_FLOAT_EQ(38.001667, latitude.Degree());
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EXPECT_FLOAT_EQ(-122.22278, longitude.Degree());
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}
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/////////////////////////////////////////////////
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TEST_F(DemTest, FillHeightmap)
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{
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common::Dem dem;
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boost::filesystem::path path = TEST_PATH;
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path /= "data/dem_squared.tif";
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EXPECT_EQ(dem.Load(path.string()), 0);
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// Use FillHeightMap() to retrieve a vector<float> after some transformations
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int subsampling;
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unsigned vertSize;
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ignition::math::Vector3d size;
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ignition::math::Vector3d scale;
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bool flipY;
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std::vector<float> elevations;
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subsampling = 2;
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vertSize = (dem.GetWidth() * subsampling) - 1;
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size.X(dem.GetWorldWidth());
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size.Y(dem.GetWorldHeight());
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size.Z(dem.GetMaxElevation() - dem.GetMinElevation());
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scale.X(size.X() / vertSize);
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scale.Y(size.Y() / vertSize);
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if (ignition::math::equal(dem.GetMaxElevation(), 0.0f))
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scale.Z(fabs(size.Z()));
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else
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scale.Z(fabs(size.Z()) / dem.GetMaxElevation());
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flipY = false;
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dem.FillHeightMap(subsampling, vertSize, size, scale, flipY, elevations);
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// Check the size of the returned vector
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EXPECT_EQ(vertSize * vertSize, elevations.size());
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// Check the elevation of some control points
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EXPECT_FLOAT_EQ(184.94113, elevations.at(0));
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EXPECT_FLOAT_EQ(179.63583, elevations.at(elevations.size() - 1));
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EXPECT_FLOAT_EQ(213.42966, elevations.at(elevations.size() / 2));
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}
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/////////////////////////////////////////////////
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TEST_F(DemTest, NegDem)
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{
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common::Dem dem;
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boost::filesystem::path path = TEST_PATH;
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path /= "media/materials/textures/dem_neg.tif";
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EXPECT_EQ(dem.Load(path.string()), 0);
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// Check the heights and widths
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EXPECT_EQ(33, static_cast<int>(dem.GetHeight()));
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EXPECT_EQ(33, static_cast<int>(dem.GetWidth()));
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EXPECT_FLOAT_EQ(293.51068, dem.GetWorldHeight());
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EXPECT_FLOAT_EQ(293.51089, dem.GetWorldWidth());
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EXPECT_FLOAT_EQ(-212.29616, dem.GetMinElevation());
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EXPECT_FLOAT_EQ(-205.44009, dem.GetMaxElevation());
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}
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/////////////////////////////////////////////////
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TEST_F(DemTest, UnfinishedDem)
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{
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common::Dem dem;
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boost::filesystem::path path = TEST_PATH;
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path /= "data/dem_unfinished.tif";
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EXPECT_EQ(dem.Load(path.string()), 0);
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// Check that the min and max elevations are valid for an unfinished
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// and unfilled dem.
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EXPECT_EQ(33, static_cast<int>(dem.GetHeight()));
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EXPECT_EQ(33, static_cast<int>(dem.GetWidth()));
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EXPECT_FLOAT_EQ(111287.59, dem.GetWorldHeight());
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EXPECT_FLOAT_EQ(88878.297, dem.GetWorldWidth());
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// gdal reports min elevation as -32768 but this is treated as a nodata
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// by our dem class and ignored when computing the min elevation
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EXPECT_FLOAT_EQ(-10, dem.GetMinElevation());
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EXPECT_FLOAT_EQ(1909, dem.GetMaxElevation());
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// test another dem file with multiple nodata values
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common::Dem demNoData;
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path = TEST_PATH;
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path /= "data/dem_nodata.dem";
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EXPECT_EQ(demNoData.Load(path.string()), 0);
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// Check that the min and max elevations are valid for a dem with multiple
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// nodata values
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EXPECT_EQ(65, static_cast<int>(demNoData.GetHeight()));
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EXPECT_EQ(65, static_cast<int>(demNoData.GetWidth()));
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EXPECT_FLOAT_EQ(14050.08, demNoData.GetWorldHeight());
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EXPECT_FLOAT_EQ(9785.4375, demNoData.GetWorldWidth());
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// gdal reports min elevation as -32767 but this is treated as a nodata
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// by our dem class and ignored when computing the min elevation
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EXPECT_FLOAT_EQ(682, demNoData.GetMinElevation());
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EXPECT_FLOAT_EQ(2932, demNoData.GetMaxElevation());
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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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