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azeeyazeey
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Merge remote-tracking branch 'origin/ign-gazebo6' into azeey/6_to_main
2 parents 2e141c2 + b753afe commit 960ce0f

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‎src/rendering/RenderUtil.cc

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@@ -214,7 +214,7 @@ class gz::sim::RenderUtilPrivate
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/// \brief Scene background color. This is optional because a <scene> is
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/// always present, which has a default background color value. This
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/// backgroundColor variable is used to override the <scene> value.
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public: std::optional<math::Color> backgroundColor = math::Color::Black;
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public: std::optional<math::Color> backgroundColor;
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/// \brief Ambient color. This is optional because an <scene> is always
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/// present, which has a default ambient light value. This ambientLight

‎src/systems/sensors/Sensors.cc

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@@ -849,6 +849,11 @@ bool SensorsPrivate::HasConnections(sensors::RenderingSensor *_sensor) const
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// \todo(iche033) Remove this function once a virtual
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// sensors::RenderingSensor::HasConnections function is available
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{
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auto s = dynamic_cast<sensors::RgbdCameraSensor *>(_sensor);
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if (s)
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return s->HasConnections();
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}
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{
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auto s = dynamic_cast<sensors::DepthCameraSensor *>(_sensor);
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if (s)

‎test/integration/CMakeLists.txt

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@@ -79,6 +79,7 @@ endif()
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# Tests that require a valid display
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set(tests_needing_display
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camera_sensor_background.cc
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camera_sensor_background_from_scene.cc
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camera_video_record_system.cc
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depth_camera.cc
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distortion_camera.cc

‎test/integration/camera_sensor_background_from_scene.cc

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/*
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* Copyright (C) 2022 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 <gtest/gtest.h>
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#include <string>
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#include <ignition/transport/Node.hh>
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#include <ignition/utilities/ExtraTestMacros.hh>
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#include "ignition/gazebo/Server.hh"
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#include "ignition/gazebo/SystemLoader.hh"
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#include "ignition/gazebo/Util.hh"
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#include "ignition/gazebo/test_config.hh"
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#include "../helpers/EnvTestFixture.hh"
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using namespace ignition;
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using namespace std::chrono_literals;
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std::mutex mutex;
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int cbCount = 0;
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//////////////////////////////////////////////////
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/// Note: This test is almost identical to the test in
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/// camera_sensor_scene_background.cc, and the `cameraCb` could have been
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/// reused, but loading the world twice in a single processes causes errors with
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/// Ogre.
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class CameraSensorBackgroundFixture :
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public InternalFixture<InternalFixture<::testing::Test>>
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{
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};
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/////////////////////////////////////////////////
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void cameraCb(const msgs::Image & _msg)
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{
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ASSERT_EQ(msgs::PixelFormatType::RGB_INT8,
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_msg.pixel_format_type());
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for (unsigned int y = 0; y < _msg.height(); ++y)
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{
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for (unsigned int x = 0; x < _msg.width(); ++x)
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{
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// The "/test/worlds/camera_sensor_scene_background.sdf" world has set a
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// background color of 1,0,0,1. So, all the pixels returned by the
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// camera should be red.
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unsigned char r = _msg.data()[y * _msg.step() + x*3];
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ASSERT_EQ(255, static_cast<int>(r));
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unsigned char g = _msg.data()[y * _msg.step() + x*3+1];
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ASSERT_EQ(0, static_cast<int>(g));
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unsigned char b = _msg.data()[y * _msg.step() + x*3+2];
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ASSERT_EQ(0, static_cast<int>(b));
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}
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}
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std::lock_guard<std::mutex> lock(mutex);
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cbCount++;
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}
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/////////////////////////////////////////////////
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// Test sensors use the background color of <scene> by default
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TEST_F(CameraSensorBackgroundFixture,
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IGN_UTILS_TEST_DISABLED_ON_MAC(RedBackgroundFromScene))
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{
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const auto sdfFile = common::joinPaths(std::string(PROJECT_SOURCE_PATH),
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"test", "worlds", "camera_sensor_scene_background.sdf");
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// Start server
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gazebo::ServerConfig serverConfig;
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serverConfig.SetSdfFile(sdfFile);
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gazebo::Server server(serverConfig);
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EXPECT_FALSE(server.Running());
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EXPECT_FALSE(*server.Running(0));
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// subscribe to the camera topic
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transport::Node node;
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cbCount = 0;
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node.Subscribe("/camera", &cameraCb);
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// Run server and verify that we are receiving a message
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// from the depth camera
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server.Run(true, 100, false);
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int i = 0;
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while (i < 100 && cbCount <= 0)
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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i++;
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}
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std::lock_guard<std::mutex> lock(mutex);
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EXPECT_GE(cbCount, 1);
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}

‎test/worlds/camera_sensor_scene_background.sdf

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<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="sensors">
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<physics name="1ms" type="ignored">
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<max_step_size>.001</max_step_size>
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<real_time_factor>0</real_time_factor>
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</physics>
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<plugin
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filename="ignition-gazebo-physics-system"
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name="ignition::gazebo::systems::Physics">
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</plugin>
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<plugin
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filename="ignition-gazebo-sensors-system"
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name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<scene>
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<background>1 0 0</background>
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</scene>
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<model name="camera">
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<static>true</static>
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<pose>0 0 1.0 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>0.1 0.1 0.1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.1 0.1 0.1</size>
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</box>
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</geometry>
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</visual>
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<sensor name="camera" type="camera">
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>320</width>
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<height>240</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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</camera>
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<update_rate>30</update_rate>
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<topic>camera</topic>
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</sensor>
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</link>
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</model>
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</world>
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</sdf>

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