114 lines
3.3 KiB
C++
114 lines
3.3 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/gui/Projection_TEST.hh"
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#include "test_config.h"
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/////////////////////////////////////////////////
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void Projection_TEST::Projection()
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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/ortho_box.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);
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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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std::cerr << "width: " << width << std::endl;
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std::cerr << "height: " << height << std::endl;
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std::cerr << "depth: " << depth << std::endl;
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int topWidth = 0;
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int bottomWidth = 0;
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// Get the width of the white box at the top and bottom of the image
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for (unsigned int x = 0; x < width*depth; ++x)
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{
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if ( data[x] >= 250)
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topWidth++;
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if ( data[((height-1)*width*depth)+x] >= 250)
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bottomWidth++;
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}
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// Make sure the widths are roughly the same
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std::cerr << "topWidth: " << topWidth << std::endl;
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std::cerr << "bottomWidth: " << bottomWidth << std::endl;
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std::cerr << "std::abs(topWidth - bottomWidth): "
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<< std::abs(topWidth - bottomWidth)
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<< " (should be less than 5)"
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<< std::endl;
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QVERIFY(std::abs(topWidth - bottomWidth) < 5);
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// Now change to Perspective projection
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cam->SetProjectionType("perspective");
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this->ProcessEventsAndDraw(mainWindow);
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topWidth = 0;
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bottomWidth = 0;
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// Get the width of the white box at the top and bottom of the image
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for (unsigned int x = 0; x < width*depth; ++x)
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{
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if (data[x] >= 250)
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topWidth++;
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if (data[((height-1)*width*depth)+x] >= 250)
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bottomWidth++;
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}
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// Make sure the top and bottom width difference is large enough to
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// indicate perspective rendering is used
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std::cerr << "topWidth: " << topWidth << std::endl;
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std::cerr << "bottomWidth: " << bottomWidth << std::endl;
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double widthRatio = topWidth - bottomWidth;
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widthRatio /= height;
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std::cerr << "(topWidth - bottomWidth) / height: "
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<< widthRatio
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<< " (should be less than -0.2)"
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<< std::endl;
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QVERIFY(widthRatio < -0.2);
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cam->Fini();
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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(Projection_TEST)
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