147 lines
4.0 KiB
C++
147 lines
4.0 KiB
C++
/*
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* Copyright (C) 2015 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/gui/GuiIface.hh"
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#include "gazebo/gui/MainWindow.hh"
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#include "gazebo/rendering/RenderEvents.hh"
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#include "gazebo/gui/LayersWidget_TEST.hh"
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#include "test_config.h"
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/////////////////////////////////////////////////
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void LayersWidget_TEST::ToggleLayers()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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this->Load("worlds/test_layers.world", false, false, false);
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != NULL);
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// Create the main window.
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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// Get the user camera and scene
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gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
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QVERIFY(cam != NULL);
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cam->SetCaptureData(true);
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this->ProcessEventsAndDraw(mainWindow, 20);
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const unsigned char *data = cam->ImageData();
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unsigned int width = cam->ImageWidth();
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unsigned int height = cam->ImageHeight();
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unsigned int depth = cam->ImageDepth();
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// Part 1 : Make sure the box is rendered. The white box should fill the
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// entire field of view.
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{
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int blackCount = 0;
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// Get the number of black pixels
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for (unsigned int y = 0; y < height; ++y)
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{
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for (unsigned int x = 0; x < width*depth; ++x)
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{
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if (data[y*(width*depth) + x] <= 10)
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blackCount++;
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}
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}
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// Make sure the black count is zero. This means the visual
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// is visible and compelty fills the camera field of view.
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std::cerr << "blackCount: " << blackCount
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<< " (should be 0)" << std::endl;
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QVERIFY(blackCount == 0);
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}
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// PART 2: Disable the white box. Only a black background should be
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// visible
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{
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// Disable the visual. This should hide the visual.
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gazebo::rendering::Events::toggleLayer(0);
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this->ProcessEventsAndDraw(mainWindow);
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// Get the new image data
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data = cam->ImageData();
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int whiteCount = 0;
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// Get the number of white pixels
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for (unsigned int y = 0; y < height; ++y)
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{
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for (unsigned int x = 0; x < width; ++x)
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{
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unsigned int sum = 0;
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for (unsigned int i = 0; i < depth; ++i)
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{
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sum += data[y*(width*depth) + x + i];
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}
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if (sum >= 250*depth)
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whiteCount++;
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}
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}
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// Make sure the white count is zero. This means the visual is not
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// visible.
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std::cerr << "whiteCount: " << whiteCount
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<< " (should be 0)" << std::endl;
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QVERIFY(whiteCount == 0);
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}
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// PART 3: Re-enable the white box, which again should fill the entire
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// field of view.
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{
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// Re-enable the visual. This should make the visual visible again.
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gazebo::rendering::Events::toggleLayer(0);
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this->ProcessEventsAndDraw(mainWindow);
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// Get the new image data
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data = cam->ImageData();
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int blackCount = 0;
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// Get the number of black pixels
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for (unsigned int y = 0; y < height; ++y)
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{
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for (unsigned int x = 0; x < width*depth; ++x)
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{
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if (data[y*(width*depth) + x] <= 10)
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blackCount++;
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}
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}
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// Make sure the black count is zero. This means the visual
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// is visible and completely fills the camera field of view.
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std::cerr << "blackCount: " << blackCount
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<< " (should be 0)" << std::endl;
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QVERIFY(blackCount == 0);
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}
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mainWindow->close();
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delete mainWindow;
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}
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// Generate a main function for the test
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QTEST_MAIN(LayersWidget_TEST)
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