112 lines
3.1 KiB
C++
112 lines
3.1 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 "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 ImageHeightmapTest : public gazebo::testing::AutoLogFixture { };
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class DemTest : public gazebo::testing::AutoLogFixture { };
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/////////////////////////////////////////////////
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TEST_F(DemTest, MisingFile)
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{
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common::ImageHeightmap img;
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EXPECT_EQ(-1, img.Load("/file/shouldn/never/exist.png"));
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}
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/////////////////////////////////////////////////
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TEST_F(DemTest, NotImage)
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{
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common::ImageHeightmap img;
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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(-1, img.Load(path.string()));
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}
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/////////////////////////////////////////////////
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TEST_F(ImageHeightmapTest, BasicAPI)
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{
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common::ImageHeightmap img;
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std::string path;
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path = "file://media/materials/textures/heightmap_bowl.png";
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EXPECT_EQ(0, img.Load(path));
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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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/////////////////////////////////////////////////
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TEST_F(ImageHeightmapTest, FillHeightmap)
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{
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common::ImageHeightmap img;
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std::string path;
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path = "file://media/materials/textures/heightmap_bowl.png";
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EXPECT_EQ(0, img.Load(path));
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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 = (img.GetWidth() * subsampling) - 1;
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size.X(129);
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size.Y(129);
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size.Z(10);
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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(img.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()) / img.GetMaxElevation());
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flipY = false;
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img.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_NEAR(0.0, elevations.at(0), ELEVATION_TOL);
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EXPECT_NEAR(10.0, elevations.at(elevations.size() - 1), ELEVATION_TOL);
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EXPECT_NEAR(5.0, elevations.at(elevations.size() / 2), ELEVATION_TOL);
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}
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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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