pxmlw6n2f/Gazebo_Distributed_MPI/gazebo/gui/LaserVisualization_TEST.cc

269 lines
7.1 KiB
C++

/*
* Copyright (C) 2015 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include "gazebo/common/Time.hh"
#include "gazebo/gui/GuiIface.hh"
#include "gazebo/gui/MainWindow.hh"
#include "gazebo/rendering/RenderEvents.hh"
#include "gazebo/gui/LaserVisualization_TEST.hh"
#include "test_config.h"
/////////////////////////////////////////////////
void LaserVisualization_TEST::Lines()
{
this->resMaxPercentChange = 5.0;
this->shareMaxPercentChange = 2.0;
this->Load("worlds/laser_lines_test.world", false, false, false);
gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
QVERIFY(mainWindow != NULL);
// Create the main window.
mainWindow->Load();
mainWindow->Init();
mainWindow->show();
// Get the user camera and scene
gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
QVERIFY(cam != NULL);
cam->SetCaptureData(true);
this->ProcessEventsAndDraw(mainWindow);
// Get camera data
const unsigned char *data = cam->ImageData();
unsigned int width = cam->ImageWidth();
unsigned int height = cam->ImageHeight();
unsigned int depth = cam->ImageDepth();
// Make sure there are darker lines in the laser rendering
int lightBlueCount = 0;
int darkBlueTransition = 0;
int rPrev = 0;
int gPrev = 0;
int bPrev = 0;
// Read a horizontal line in the middle of the screen
unsigned int y = height / 2;
bool transitioning = false;
for (unsigned int x = 0; x < width*depth; x += depth)
{
int r = data[y*(width*depth) + x];
int g = data[y*(width*depth) + x+1];
int b = data[y*(width*depth) + x+2];
// check if current pixel is blue, prev pixel is also blue
// and the two shades of blue are different
if (!transitioning && r == g && r < b && rPrev == gPrev && rPrev < bPrev &&
r < rPrev)
{
++darkBlueTransition;
transitioning = true;
}
// check if current and prev pixels are the same blue color
if (r == g && r < b && r == rPrev && g == gPrev && b == bPrev)
{
++lightBlueCount;
transitioning = false;
}
rPrev = r;
bPrev = b;
gPrev = g;
}
// Make sure there are 2 dark blue lines.
QVERIFY(darkBlueTransition == 2);
// Make sure there is a bunch of light blue pixels
QVERIFY(lightBlueCount > static_cast<int>(width * 0.95));
mainWindow->close();
delete mainWindow;
}
/////////////////////////////////////////////////
void LaserVisualization_TEST::Hit()
{
this->resMaxPercentChange = 5.0;
this->shareMaxPercentChange = 2.0;
this->Load("worlds/laser_hit_test.world", false, false, false);
gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
QVERIFY(mainWindow != NULL);
// Create the main window.
mainWindow->Load();
mainWindow->Init();
mainWindow->show();
// Get the user camera and scene
gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
QVERIFY(cam != NULL);
cam->SetCaptureData(true);
this->ProcessEventsAndDraw(mainWindow);
// Get camera data
const unsigned char *data = cam->ImageData();
unsigned int width = cam->ImageWidth();
unsigned int height = cam->ImageHeight();
unsigned int depth = cam->ImageDepth();
for (unsigned int y = 0; y < height; ++y)
{
for (unsigned int x = 0; x < width*depth; x += depth)
{
int r = data[y*(width*depth) + x];
int g = data[y*(width*depth) + x+1];
int b = data[y*(width*depth) + x+2];
// See issue #2027
#if !defined(__APPLE__) || (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))
QVERIFY(r > 118 && r < 126);
QVERIFY(g > 118 && g < 126);
QVERIFY(b == 255);
#else
QVERIFY(r > 29 && r < 33);
QVERIFY(g > 29 && g < 33);
QVERIFY(b > 160 && b < 166);
#endif
}
}
mainWindow->close();
delete mainWindow;
}
/////////////////////////////////////////////////
void LaserVisualization_TEST::Nohit()
{
this->resMaxPercentChange = 5.0;
this->shareMaxPercentChange = 2.0;
this->Load("worlds/laser_nohit_test.world", false, false, false);
gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
QVERIFY(mainWindow != NULL);
// Create the main window.
mainWindow->Load();
mainWindow->Init();
mainWindow->show();
// Get the user camera and scene
gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
QVERIFY(cam != NULL);
cam->SetCaptureData(true);
this->ProcessEventsAndDraw(mainWindow);
// Get camera data
const unsigned char *data = cam->ImageData();
unsigned int width = cam->ImageWidth();
unsigned int height = cam->ImageHeight();
unsigned int depth = cam->ImageDepth();
for (unsigned int y = 0; y < height; ++y)
{
for (unsigned int x = 0; x < width*depth; x += depth)
{
int r = data[y*(width*depth) + x];
int g = data[y*(width*depth) + x+1];
int b = data[y*(width*depth) + x+2];
// See issue #2027
#if !defined(__APPLE__) || (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))
QVERIFY(r > 200 && r < 208);
QVERIFY(g > 200 && g < 208);
QVERIFY(b == 255);
#else
QVERIFY(r > 49 && r < 53);
QVERIFY(g > 49 && g < 53);
QVERIFY(b > 100 && b < 104);
#endif
}
}
mainWindow->close();
delete mainWindow;
}
/////////////////////////////////////////////////
void LaserVisualization_TEST::Deadzone()
{
this->resMaxPercentChange = 5.0;
this->shareMaxPercentChange = 2.0;
this->Load("worlds/laser_deadzone_test.world", false, false, false);
gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
QVERIFY(mainWindow != NULL);
// Create the main window.
mainWindow->Load();
mainWindow->Init();
mainWindow->show();
// Get the user camera and scene
gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
QVERIFY(cam != NULL);
cam->SetCaptureData(true);
this->ProcessEventsAndDraw(mainWindow);
// Get camera data
const unsigned char *data = cam->ImageData();
unsigned int width = cam->ImageWidth();
unsigned int height = cam->ImageHeight();
unsigned int depth = cam->ImageDepth();
for (unsigned int y = 0; y < height; ++y)
{
for (unsigned int x = 0; x < width*depth; x += depth)
{
int r = data[y*(width*depth) + x];
int g = data[y*(width*depth) + x+1];
int b = data[y*(width*depth) + x+2];
// See issue #2027
#if !defined(__APPLE__) || (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))
QVERIFY(r > 124 && r < 132);
QVERIFY(g > 124 && g < 132);
QVERIFY(b > 124 && b < 132);
#else
QVERIFY(r == 0);
QVERIFY(g == 0);
QVERIFY(b == 0);
#endif
}
}
mainWindow->close();
delete mainWindow;
}
// Generate a main function for the test
QTEST_MAIN(LaserVisualization_TEST)