124 lines
3.7 KiB
C++
124 lines
3.7 KiB
C++
/*
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* Copyright (C) 2016 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 <functional>
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#include <mutex>
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#include <gtest/gtest.h>
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class DepthCameraSensor_TEST : public ServerFixture
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{
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};
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std::mutex g_depthMutex;
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unsigned int g_depthCounter = 0;
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float *g_depthBuffer = NULL;
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/////////////////////////////////////////////////
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void OnNewDepthFrame(const float * _image,
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unsigned int _width, unsigned int _height,
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unsigned int /*_depth*/, const std::string &/*_format*/)
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{
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if (!_image)
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return;
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std::lock_guard<std::mutex> lock(g_depthMutex);
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if (!g_depthBuffer)
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g_depthBuffer = new float[_width * _height];
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memcpy(g_depthBuffer, _image, _width * _height * sizeof(_image[0]));
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g_depthCounter++;
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}
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/////////////////////////////////////////////////
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/// \brief Test Creation of a Depth Camera sensor
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TEST_F(DepthCameraSensor_TEST, CreateDepthCamera)
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{
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Load("worlds/depth_camera.world");
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sensors::SensorManager *mgr = sensors::SensorManager::Instance();
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// Create the camera sensor
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std::string sensorName = "default::camera_model::my_link::camera";
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// Get a pointer to the depth camera sensor
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sensors::DepthCameraSensorPtr sensor =
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std::dynamic_pointer_cast<sensors::DepthCameraSensor>
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(mgr->GetSensor(sensorName));
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// Make sure the above dynamic cast worked.
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EXPECT_TRUE(sensor != NULL);
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unsigned int imageWidth = sensor->DepthCamera()->ImageWidth();
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unsigned int imageHeight = sensor->DepthCamera()->ImageHeight();
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EXPECT_EQ(imageWidth, 640u);
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EXPECT_EQ(imageHeight, 480u);
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EXPECT_TRUE(sensor->IsActive());
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rendering::DepthCameraPtr depthCamera = sensor->DepthCamera();
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EXPECT_TRUE(depthCamera != NULL);
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event::ConnectionPtr c = depthCamera->ConnectNewDepthFrame(
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std::bind(&::OnNewDepthFrame, std::placeholders::_1,
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std::placeholders::_2, std::placeholders::_3, std::placeholders::_4,
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std::placeholders::_5));
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// wait for a few depth camera frames
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int i = 0;
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while (g_depthCounter < 10 && i < 300)
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{
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common::Time::MSleep(10);
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i++;
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}
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EXPECT_LT(i, 300);
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unsigned int imageSize = imageWidth * imageHeight;
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std::lock_guard<std::mutex> lock(g_depthMutex);
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// Check that the depth values are valid
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for (unsigned int i = 0; i < imageSize; ++i)
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{
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// in gazebo versions < 8.0.0,
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// depth camera returns 0.0 if nothing is detected within range
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if (!gazebo::math::equal(g_depthBuffer[i], 0.0f))
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{
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EXPECT_TRUE(g_depthBuffer[i] <= depthCamera->FarClip());
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EXPECT_TRUE(g_depthBuffer[i] >= depthCamera->NearClip());
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}
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}
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// sphere with radius 1m is at 2m in front of depth camera
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// so verify depth readings are between 1-2m in the mid row
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unsigned int halfHeight = static_cast<unsigned int>(imageHeight*0.5)-1;
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for (unsigned int i = imageWidth*halfHeight;
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i < imageWidth*(halfHeight+1); ++i)
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{
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EXPECT_TRUE(g_depthBuffer[i] < 2.0f);
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EXPECT_TRUE(g_depthBuffer[i] >= 1.0f);
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}
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if (g_depthBuffer)
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delete [] g_depthBuffer;
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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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