Added tests for shadow_caster_render_back_faces param

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>
gazebosim · Oct 13, 2021 · 349b235 · 349b235
1 parent abe295e
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diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
@@ -99,6 +99,7 @@ set(tests
   sensor.cc
   sdf_frame_semantics.cc
   server_fixture.cc
+  shadow_caster_render_back_faces.cc
   sim_events.cc
   speed.cc
   speed_thread_islands.cc

diff --git a/test/integration/shadow_caster_render_back_faces.cc b/test/integration/shadow_caster_render_back_faces.cc
@@ -0,0 +1,175 @@
+/*
+ * Copyright (C) 2021 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/test/ServerFixture.hh"
+#include "gazebo/sensors/sensors.hh"
+
+using namespace gazebo;
+class ShadowCasterRenderBackFacesTest : public ServerFixture
+{
+  /// \brief Test rendering back faces
+  public: void ShadowCasterBackFaces();
+
+  /// \brief Test rendering without back face
+  public: void ShadowCasterNoBackFaces();
+
+  /// \brief Counter for the numbder of image messages received.
+  public: unsigned int imageCount = 0u;
+
+  /// \brief Depth data buffer.
+  public: unsigned char* imageBuffer = nullptr;
+
+  /// \brief Camera image callback
+  /// \param[in] _msg Message with image data containing raw image values.
+  public: void OnImage(ConstImageStampedPtr &_msg);
+};
+
+/////////////////////////////////////////////////
+void ShadowCasterRenderBackFacesTest::OnImage(ConstImageStampedPtr &_msg)
+{
+  unsigned int imageSamples = _msg->image().width() *_msg->image().height() * 3;
+  memcpy(this->imageBuffer, _msg->image().data().c_str(), imageSamples);
+  this->imageCount++;
+}
+
+/////////////////////////////////////////////////
+// \brief The shadow caster will render back faces; The plane in the world will
+/// cast a shadow
+void ShadowCasterRenderBackFacesTest::ShadowCasterBackFaces()
+{
+  this->Load("worlds/shadow_caster_back_faces.world");
+
+  // Make sure the render engine is available.
+  if (rendering::RenderEngine::Instance()->GetRenderPathType() ==
+      rendering::RenderEngine::NONE)
+  {
+    gzerr << "No rendering engine, unable to run camera test\n";
+    return;
+  }
+
+  sensors::CameraSensorPtr sensor =
+      std::dynamic_pointer_cast<sensors::CameraSensor>(
+      sensors::get_sensor("camera_normal"));
+  EXPECT_TRUE(sensor != nullptr);
+  EXPECT_TRUE(sensor->IsActive());
+
+  unsigned int width  = 320;
+  unsigned int height = 240;
+
+  this->imageCount = 0;
+  this->imageBuffer = new unsigned char[width * height*3];
+
+  transport::NodePtr node(new transport::Node());
+  node->Init();
+
+  std::string topic = sensor->Topic();
+  EXPECT_TRUE(!topic.empty());
+
+  transport::SubscriberPtr sub = node->Subscribe(topic,
+      &ShadowCasterRenderBackFacesTest::OnImage, this);
+
+  // wait for a few images
+  int i = 0;
+  while (this->imageCount < 10 && i < 300)
+  {
+    common::Time::MSleep(10);
+    i++;
+  }
+  EXPECT_LT(i, 300);
+
+  for (unsigned int x = 0; x < 320 * 240; x += 600) {
+    EXPECT_GT(50, this->imageBuffer[3 * x]);
+    EXPECT_GT(50, this->imageBuffer[3 * x + 1]);
+    EXPECT_GT(50, this->imageBuffer[3 * x + 2]);
+  }
+
+  delete this->imageBuffer;
+}
+
+/////////////////////////////////////////////////
+TEST_F(ShadowCasterRenderBackFacesTest, ShadowCasterBackFaces)
+{
+  ShadowCasterBackFaces();
+}
+
+/////////////////////////////////////////////////
+// \brief The shadow caster will not render back faces; The plane in the world 
+/// will not cast a shadow
+void ShadowCasterRenderBackFacesTest::ShadowCasterNoBackFaces()
+{
+  this->Load("worlds/shadow_caster_no_back_faces.world");
+
+  // Make sure the render engine is available.
+  if (rendering::RenderEngine::Instance()->GetRenderPathType() ==
+      rendering::RenderEngine::NONE)
+  {
+    gzerr << "No rendering engine, unable to run camera test\n";
+    return;
+  }
+
+  sensors::CameraSensorPtr sensor =
+      std::dynamic_pointer_cast<sensors::CameraSensor>(
+      sensors::get_sensor("camera_normal"));
+  EXPECT_TRUE(sensor != nullptr);
+  EXPECT_TRUE(sensor->IsActive());
+
+  unsigned int width  = 320;
+  unsigned int height = 240;
+
+  this->imageCount = 0;
+  this->imageBuffer = new unsigned char[width * height*3];
+
+  transport::NodePtr node(new transport::Node());
+  node->Init();
+
+  std::string topic = sensor->Topic();
+  EXPECT_TRUE(!topic.empty());
+
+  transport::SubscriberPtr sub = node->Subscribe(topic,
+      &ShadowCasterRenderBackFacesTest::OnImage, this);
+
+  // wait for a few images
+  int i = 0;
+  while (this->imageCount < 10 && i < 300)
+  {
+    common::Time::MSleep(10);
+    i++;
+  }
+  EXPECT_LT(i, 300);
+
+  for (unsigned int x = 0; x < 320 * 240; x += 600) {
+    EXPECT_LT(50, this->imageBuffer[3 * x]);
+    EXPECT_LT(50, this->imageBuffer[3 * x + 1]);
+    EXPECT_LT(50, this->imageBuffer[3 * x + 2]);
+  }
+
+  delete this->imageBuffer;
+}
+
+/////////////////////////////////////////////////
+TEST_F(ShadowCasterRenderBackFacesTest, ShadowCasterNoBackFaces)
+{
+  ShadowCasterNoBackFaces();
+}
+
+/////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
+
diff --git a/test/worlds/custom_shadow_caster.world b/test/worlds/custom_shadow_caster.world
@@ -36,7 +36,7 @@
             <image>
               <width>320</width>
               <height>240</height>
-              <format>R8G8B8</format>\
+              <format>R8G8B8</format>
             </image>
             <clip>
               <near>0.1</near>

diff --git a/test/worlds/shadow_caster_back_faces.world b/test/worlds/shadow_caster_back_faces.world
@@ -0,0 +1,74 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="default">
+
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 0 0 0 0</pose>
+      <diffuse>1.0 1.0 1.0 1</diffuse>
+      <specular>1.0 1.0 1.0 1</specular>
+      <direction>1 0 -0.2</direction>
+    </light>
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <scene>
+      <ignition:shadow_caster_render_back_faces>true</ignition:shadow_caster_render_back_faces>
+      <background>0.0 0.0 0.0 1</background>
+    </scene>
+
+    <model name='camera_normal'>
+      <static>1</static>
+      <pose>5 0.0 0.25 0 1.5 0</pose>
+      <link name='link'>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name='camera_normal' type='camera'>
+          <camera>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>240</height>
+              <format>R8G8B8</format>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>10</update_rate>
+        </sensor>
+      </link>
+    </model>
+
+    <model name="box">
+      <static>true</static>
+      <pose>0 0 1.0 0 2.0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <size>1 1 1</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <size>1 1 1</size>
+            </plane>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>
diff --git a/test/worlds/shadow_caster_no_back_faces.world b/test/worlds/shadow_caster_no_back_faces.world
@@ -0,0 +1,74 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="default">
+
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 0 0 0 0</pose>
+      <diffuse>1.0 1.0 1.0 1</diffuse>
+      <specular>1.0 1.0 1.0 1</specular>
+      <direction>1 0 -0.2</direction>
+    </light>
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <scene>
+      <ignition:shadow_caster_render_back_faces>false</ignition:shadow_caster_render_back_faces>
+      <background>0.0 0.0 0.0 1</background>
+    </scene>
+
+    <model name='camera_normal'>
+      <static>1</static>
+      <pose>5 0.0 0.25 0 1.5 0</pose>
+      <link name='link'>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name='camera_normal' type='camera'>
+          <camera>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>240</height>
+              <format>R8G8B8</format>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>10</update_rate>
+        </sensor>
+      </link>
+    </model>
+
+    <model name="box">
+      <static>true</static>
+      <pose>0 0 1.0 0 2.0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <size>1 1 1</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <size>1 1 1</size>
+            </plane>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>