Add extra model in test world

The pre-existing model in the test world exhibits the lens flare rendering bug without the fix in this branch, so I added an extra model at a different pose that does not exhibit the bug. It makes it easier to confirm that the bug is fixed. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
gazebosim · Jan 11, 2023 · 7be87db · 7be87db
1 parent d4616e9
commit 7be87db
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Showing 2 changed files with 64 additions and 4 deletions.
diff --git a/test/integration/camera_sensor.cc b/test/integration/camera_sensor.cc
@@ -1425,7 +1425,7 @@ TEST_F(CameraSensor, LensFlareWideAngleCamera)
   }
 
   // Get the lens flare wide angle camera model.
-  std::string modelNameLensFlare = "wide_angle_camera_lensflare";
+  std::string modelNameLensFlare = "wide_angle_cameras_near_heightmap";
   std::string cameraNameLensFlare = "camera_sensor_lensflare";
 
   physics::WorldPtr world = physics::get_world();
@@ -1440,7 +1440,7 @@ TEST_F(CameraSensor, LensFlareWideAngleCamera)
   ASSERT_TRUE(camSensorLensFlare != nullptr);
 
   // Get the wide angle camera without the lens flare.
-  std::string modelNameWithoutLensFlare = "wide_angle_camera_lensflare";
+  std::string modelNameWithoutLensFlare = "wide_angle_cameras_near_heightmap";
   std::string cameraNameWithoutLensFlare = "camera_sensor_without_lensflare";
 
   model = world->ModelByName(modelNameWithoutLensFlare);

diff --git a/worlds/lensflare_wideangle_cam.world b/worlds/lensflare_wideangle_cam.world
@@ -64,8 +64,8 @@
       </link>
     </model>
 
-    <!-- wide-angle camera model with lens flare plugin -->
-    <model name="wide_angle_camera_lensflare">
+    <!-- model with two wide-angle cameras, with and without lens flare plugin -->
+    <model name="wide_angle_cameras_near_heightmap">
       <static>true</static>
       <pose>0 2 5.2 0 0 0</pose>
       <link name="link">
@@ -124,5 +124,65 @@
       </link>
     </model>
 
+    <!-- model with two wide-angle cameras, with and without lens flare plugin -->
+    <model name="wide_angle_cameras_above_heightmap">
+      <static>true</static>
+      <pose>0 2 11.0 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name="camera_sensor_lensflare" type="wideanglecamera">
+          <camera>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>240</height>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+            <lens>
+              <type>gnomonical</type>
+              <scale_to_hfov>true</scale_to_hfov>
+              <cutoff_angle>1.5707</cutoff_angle>
+              <env_texture_size>512</env_texture_size>
+            </lens>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>25</update_rate>
+          <visualize>true</visualize>
+          <plugin name="lensflare" filename="libLensFlareSensorPlugin.so"/>
+        </sensor>
+        <sensor name="camera_sensor_without_lensflare" type="wideanglecamera">
+          <camera>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>240</height>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+            <lens>
+              <type>gnomonical</type>
+              <scale_to_hfov>true</scale_to_hfov>
+              <cutoff_angle>1.5707</cutoff_angle>
+              <env_texture_size>512</env_texture_size>
+            </lens>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>25</update_rate>
+          <visualize>true</visualize>
+        </sensor>
+      </link>
+    </model>
+
   </world>
 </sdf>