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Camera_TEST.cc
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/*
* Copyright (C) 2018 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 <gtest/gtest.h>
#include "gazebo/rendering/Camera.hh"
#include "gazebo/rendering/RenderingIface.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/rendering/Scene.hh"
#include "gazebo/test/ServerFixture.hh"
using namespace gazebo;
class Camera_TEST: public RenderingFixture
{
};
/////////////////////////////////////////////////
TEST_F(Camera_TEST, Create)
{
Load("worlds/empty.world");
gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene("default");
if (!scene)
scene = gazebo::rendering::create_scene("default", false);
ASSERT_TRUE(scene != nullptr);
// test creating rgb camera
{
rendering::CameraPtr camera =
scene->CreateCamera("test_camera_rgb8", false);
ASSERT_TRUE(camera != nullptr);
unsigned int width = 320;
unsigned int height = 240;
std::string format = "R8G8B8";
double hfov = 0.78;
double near = 0.01;
double far = 100.0;
std::stringstream ss;
ss << "<sdf version='" << SDF_VERSION << "'>"
<< " <camera>"
<< " <horizontal_fov>" << hfov << "</horizontal_fov>"
<< " <image>"
<< " <width>" << width << "</width>"
<< " <height>" << height << "</height>"
<< " <format>" << format << "</format>"
<< " </image>"
<< " <clip>"
<< " <near>" << near << "</near>" << "<far>" << far << "</far>"
<< " </clip>"
<< " </camera>"
<< "</sdf>";
sdf::ElementPtr cameraSDF(new sdf::Element);
sdf::initFile("camera.sdf", cameraSDF);
sdf::readString(ss.str(), cameraSDF);
camera->Load(cameraSDF);
camera->Init();
EXPECT_EQ(width, camera->ImageWidth());
EXPECT_EQ(height, camera->ImageHeight());
unsigned int channels = 3u;
unsigned int bytesPerChannel = 1u;
unsigned int bytesPerPixel = channels * bytesPerChannel;
unsigned int imageMemSize = width * height * bytesPerPixel;
EXPECT_EQ(bytesPerPixel, camera->ImageDepth());
EXPECT_EQ(imageMemSize, camera->ImageMemorySize());
EXPECT_EQ(format, camera->ImageFormat());
EXPECT_DOUBLE_EQ(hfov, camera->HFOV().Radian());
EXPECT_NEAR(near, camera->NearClip(), 1e-3);
EXPECT_DOUBLE_EQ(far, camera->FarClip());
scene->RemoveCamera(camera->Name());
}
// test creating grayscale camera
{
rendering::CameraPtr camera = scene->CreateCamera("test_camera_l8", false);
ASSERT_TRUE(camera != nullptr);
unsigned int width = 640;
unsigned int height = 480;
std::string format = "L8";
double hfov = 0.5;
double near = 0.05;
double far = 20.0;
std::stringstream ss;
ss << "<sdf version='" << SDF_VERSION << "'>"
<< " <camera>"
<< " <horizontal_fov>" << hfov << "</horizontal_fov>"
<< " <image>"
<< " <width>" << width << "</width>"
<< " <height>" << height << "</height>"
<< " <format>" << format << "</format>"
<< " </image>"
<< " <clip>"
<< " <near>" << near << "</near>" << "<far>" << far << "</far>"
<< " </clip>"
<< " </camera>"
<< "</sdf>";
sdf::ElementPtr cameraSDF(new sdf::Element);
sdf::initFile("camera.sdf", cameraSDF);
sdf::readString(ss.str(), cameraSDF);
camera->Load(cameraSDF);
camera->Init();
EXPECT_EQ(width, camera->ImageWidth());
EXPECT_EQ(height, camera->ImageHeight());
unsigned int channels = 1u;
unsigned int bytesPerChannel = 1u;
unsigned int bytesPerPixel = channels * bytesPerChannel;
unsigned int imageMemSize = width * height * bytesPerPixel;
EXPECT_EQ(bytesPerPixel, camera->ImageDepth());
EXPECT_EQ(imageMemSize, camera->ImageMemorySize());
EXPECT_EQ(format, camera->ImageFormat());
EXPECT_DOUBLE_EQ(hfov, camera->HFOV().Radian());
EXPECT_NEAR(near, camera->NearClip(), 1e-3);
EXPECT_DOUBLE_EQ(far, camera->FarClip());
scene->RemoveCamera(camera->Name());
}
// test creating 16 bit rgb camera
{
rendering::CameraPtr camera =
scene->CreateCamera("test_camera_rgb16", false);
ASSERT_TRUE(camera != nullptr);
unsigned int width = 500;
unsigned int height = 300;
std::string format = "R16G16B16";
double hfov = 1.05;
double near = 0.001;
double far = 200.0;
std::stringstream ss;
ss << "<sdf version='" << SDF_VERSION << "'>"
<< " <camera>"
<< " <horizontal_fov>" << hfov << "</horizontal_fov>"
<< " <image>"
<< " <width>" << width << "</width>"
<< " <height>" << height << "</height>"
<< " <format>" << format << "</format>"
<< " </image>"
<< " <clip>"
<< " <near>" << near << "</near>" << "<far>" << far << "</far>"
<< " </clip>"
<< " </camera>"
<< "</sdf>";
sdf::ElementPtr cameraSDF(new sdf::Element);
sdf::initFile("camera.sdf", cameraSDF);
sdf::readString(ss.str(), cameraSDF);
camera->Load(cameraSDF);
camera->Init();
EXPECT_EQ(width, camera->ImageWidth());
EXPECT_EQ(height, camera->ImageHeight());
unsigned int channels = 3u;
unsigned int bytesPerChannel = 2u;
unsigned int bytesPerPixel = channels * bytesPerChannel;
unsigned int imageMemSize = width * height * bytesPerPixel;
EXPECT_EQ(bytesPerPixel, camera->ImageDepth());
EXPECT_EQ(imageMemSize, camera->ImageMemorySize());
EXPECT_EQ(format, camera->ImageFormat());
EXPECT_DOUBLE_EQ(hfov, camera->HFOV().Radian());
EXPECT_NEAR(near, camera->NearClip(), 1e-3);
EXPECT_DOUBLE_EQ(far, camera->FarClip());
scene->RemoveCamera(camera->Name());
}
// test creating camera with 16 bit float point format
{
rendering::CameraPtr camera =
scene->CreateCamera("test_camera_16", false);
ASSERT_TRUE(camera != nullptr);
unsigned int width = 500;
unsigned int height = 300;
std::string format = "R_FLOAT16";
double hfov = 1.05;
double near = 0.001;
double far = 200.0;
std::stringstream ss;
ss << "<sdf version='" << SDF_VERSION << "'>"
<< " <camera>"
<< " <horizontal_fov>" << hfov << "</horizontal_fov>"
<< " <image>"
<< " <width>" << width << "</width>"
<< " <height>" << height << "</height>"
<< " <format>" << format << "</format>"
<< " </image>"
<< " <clip>"
<< " <near>" << near << "</near>" << "<far>" << far << "</far>"
<< " </clip>"
<< " </camera>"
<< "</sdf>";
sdf::ElementPtr cameraSDF(new sdf::Element);
sdf::initFile("camera.sdf", cameraSDF);
sdf::readString(ss.str(), cameraSDF);
camera->Load(cameraSDF);
camera->Init();
EXPECT_EQ(width, camera->ImageWidth());
EXPECT_EQ(height, camera->ImageHeight());
unsigned int channels = 1u;
unsigned int bytesPerChannel = 2u;
unsigned int bytesPerPixel = channels * bytesPerChannel;
unsigned int imageMemSize = width * height * bytesPerPixel;
EXPECT_EQ(bytesPerPixel, camera->ImageDepth());
EXPECT_EQ(imageMemSize, camera->ImageMemorySize());
EXPECT_EQ(format, camera->ImageFormat());
EXPECT_DOUBLE_EQ(hfov, camera->HFOV().Radian());
EXPECT_NEAR(near, camera->NearClip(), 1e-3);
EXPECT_DOUBLE_EQ(far, camera->FarClip());
scene->RemoveCamera(camera->Name());
}
// test creating camera with 32 bit floating point format
{
rendering::CameraPtr camera =
scene->CreateCamera("test_camera_32", false);
ASSERT_TRUE(camera != nullptr);
unsigned int width = 500;
unsigned int height = 300;
std::string format = "R_FLOAT32";
double hfov = 1.05;
double near = 0.001;
double far = 200.0;
std::stringstream ss;
ss << "<sdf version='" << SDF_VERSION << "'>"
<< " <camera>"
<< " <horizontal_fov>" << hfov << "</horizontal_fov>"
<< " <image>"
<< " <width>" << width << "</width>"
<< " <height>" << height << "</height>"
<< " <format>" << format << "</format>"
<< " </image>"
<< " <clip>"
<< " <near>" << near << "</near>" << "<far>" << far << "</far>"
<< " </clip>"
<< " </camera>"
<< "</sdf>";
sdf::ElementPtr cameraSDF(new sdf::Element);
sdf::initFile("camera.sdf", cameraSDF);
sdf::readString(ss.str(), cameraSDF);
camera->Load(cameraSDF);
camera->Init();
EXPECT_EQ(width, camera->ImageWidth());
EXPECT_EQ(height, camera->ImageHeight());
unsigned int channels = 1u;
unsigned int bytesPerChannel = 4u;
unsigned int bytesPerPixel = channels * bytesPerChannel;
unsigned int imageMemSize = width * height * bytesPerPixel;
EXPECT_EQ(bytesPerPixel, camera->ImageDepth());
EXPECT_EQ(imageMemSize, camera->ImageMemorySize());
EXPECT_EQ(format, camera->ImageFormat());
EXPECT_DOUBLE_EQ(hfov, camera->HFOV().Radian());
EXPECT_NEAR(near, camera->NearClip(), 1e-3);
EXPECT_DOUBLE_EQ(far, camera->FarClip());
scene->RemoveCamera(camera->Name());
}
}
/////////////////////////////////////////////////
int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}