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Signed-off-by: Louise Poubel <[email protected]>
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| /* | ||
| * 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. | ||
| * | ||
| */ | ||
|
|
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| #include <gtest/gtest.h> | ||
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| #include <ignition/common/Console.hh> | ||
| #include <ignition/math/Pose3.hh> | ||
| #include <ignition/msgs/pose.pb.h> | ||
| #include <ignition/rendering/Camera.hh> | ||
| #include <ignition/rendering/RenderEngine.hh> | ||
| #include <ignition/rendering/RenderingIface.hh> | ||
| #include <ignition/rendering/Scene.hh> | ||
| #include <ignition/transport/Node.hh> | ||
| #include <ignition/utilities/ExtraTestMacros.hh> | ||
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| #include "test_config.h" // NOLINT(build/include) | ||
| #include "ignition/gui/Application.hh" | ||
| #include "ignition/gui/GuiEvents.hh" | ||
| #include "ignition/gui/Plugin.hh" | ||
| #include "ignition/gui/MainWindow.hh" | ||
|
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||
| int g_argc = 1; | ||
| char* g_argv[] = | ||
| { | ||
| reinterpret_cast<char*>(const_cast<char*>("./camera_tracking")), | ||
| }; | ||
|
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||
| using namespace ignition; | ||
| using namespace gui; | ||
| using namespace std::chrono_literals; | ||
|
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| ///////////////////////////////////////////////// | ||
| TEST(MinimalSceneTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config)) | ||
| { | ||
| common::Console::SetVerbosity(4); | ||
|
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| Application app(g_argc, g_argv); | ||
| app.AddPluginPath(std::string(PROJECT_BINARY_PATH) + "/lib"); | ||
|
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| // Load plugins | ||
| const char *pluginStr = | ||
| "<plugin filename=\"MinimalScene\">" | ||
| "<engine>ogre</engine>" | ||
| "<scene>banana</scene>" | ||
| "<ambient_light>1.0 0 0</ambient_light>" | ||
| "<background_color>0 1 0</background_color>" | ||
| "<camera_pose>1 2 3 0 0 0</camera_pose>" | ||
| "</plugin>"; | ||
|
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| tinyxml2::XMLDocument pluginDoc; | ||
| pluginDoc.Parse(pluginStr); | ||
| EXPECT_TRUE(app.LoadPlugin("MinimalScene", | ||
| pluginDoc.FirstChildElement("plugin"))); | ||
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| pluginStr = | ||
| "<plugin filename=\"CameraTracking\">" | ||
| "</plugin>"; | ||
|
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| pluginDoc.Parse(pluginStr); | ||
| EXPECT_TRUE(app.LoadPlugin("CameraTracking", | ||
| pluginDoc.FirstChildElement("plugin"))); | ||
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| // Get main window | ||
| auto win = app.findChild<MainWindow *>(); | ||
| ASSERT_NE(nullptr, win); | ||
|
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| // Get plugin | ||
| auto plugins = win->findChildren<Plugin *>(); | ||
| EXPECT_EQ(plugins.size(), 2); | ||
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| auto plugin = plugins[0]; | ||
| EXPECT_EQ(plugin->Title(), "3D Scene"); | ||
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| plugin = plugins[1]; | ||
| EXPECT_EQ(plugin->Title(), "Camera tracking"); | ||
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| // Show, but don't exec, so we don't block | ||
| win->QuickWindow()->show(); | ||
|
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| // Get camera pose | ||
| msgs::Pose poseMsg; | ||
| auto poseCb = std::function<void(const msgs::Pose &)>( | ||
| [&](const auto &_msg) | ||
| { | ||
| poseMsg = _msg; | ||
| }); | ||
|
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| transport::Node node; | ||
| node.Subscribe("/gui/camera/pose", poseCb); | ||
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| int sleep = 0; | ||
| int maxSleep = 30; | ||
| while (!poseMsg.has_position() && sleep++ < maxSleep) | ||
| { | ||
| std::this_thread::sleep_for(100ms); | ||
| QCoreApplication::processEvents(); | ||
| } | ||
| EXPECT_LT(sleep, maxSleep); | ||
| EXPECT_TRUE(poseMsg.has_position()); | ||
| EXPECT_TRUE(poseMsg.has_orientation()); | ||
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| auto engine = rendering::engine("ogre"); | ||
| ASSERT_NE(nullptr, engine); | ||
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| auto scene = engine->SceneByName("banana"); | ||
| ASSERT_NE(nullptr, scene); | ||
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| auto root = scene->RootVisual(); | ||
| ASSERT_NE(nullptr, root); | ||
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| auto camera = std::dynamic_pointer_cast<rendering::Camera>( | ||
| root->ChildByIndex(0)); | ||
| ASSERT_NE(nullptr, camera); | ||
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| EXPECT_EQ(camera->WorldPose(), msgs::Convert(poseMsg)); | ||
| EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 0), msgs::Convert(poseMsg)); | ||
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| // Add object to be tracked | ||
| auto trackedVis = scene->CreateVisual("track_me"); | ||
| ASSERT_NE(nullptr, trackedVis); | ||
| trackedVis->SetWorldPose({100, 100, 100, 0, 0, 0}); | ||
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| // Move to | ||
| msgs::StringMsg req; | ||
| msgs::Boolean rep; | ||
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| req.set_data("track_me"); | ||
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| bool result; | ||
| unsigned int timeout = 2000; | ||
| bool executed = node.Request("/gui/move_to", req, timeout, rep, result); | ||
| EXPECT_TRUE(executed); | ||
| EXPECT_TRUE(result); | ||
| EXPECT_TRUE(rep.data()); | ||
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| sleep = 0; | ||
| while (abs(camera->WorldPose().Pos().X() - 100) > 10 && sleep++ < maxSleep) | ||
| { | ||
| std::this_thread::sleep_for(100ms); | ||
| QCoreApplication::processEvents(); | ||
| } | ||
| EXPECT_LT(sleep, maxSleep); | ||
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| EXPECT_GT(10, abs(camera->WorldPose().Pos().X() - 100)); | ||
| EXPECT_GT(10, abs(camera->WorldPose().Pos().Y() - 100)); | ||
| EXPECT_GT(10, abs(camera->WorldPose().Pos().Z() - 100)); | ||
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| // Move target object to new position | ||
| trackedVis->SetWorldPose({130, 130, 130, 0, 0, 0}); | ||
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| // Follow | ||
| result = false; | ||
| executed = node.Request("/gui/follow", req, timeout, rep, result); | ||
| EXPECT_TRUE(executed); | ||
| EXPECT_TRUE(result); | ||
| EXPECT_TRUE(rep.data()); | ||
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| msgs::Vector3d reqOffset; | ||
| reqOffset.set_x(1.0); | ||
| reqOffset.set_y(1.0); | ||
| reqOffset.set_z(1.0); | ||
| result = false; | ||
| executed = node.Request("/gui/follow/offset", reqOffset, timeout, rep, | ||
| result); | ||
| EXPECT_TRUE(executed); | ||
| EXPECT_TRUE(result); | ||
| EXPECT_TRUE(rep.data()); | ||
|
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| // Many update loops to process many events | ||
| maxSleep = 300; | ||
| for (auto it : {150.0, 200.0}) | ||
| { | ||
| // Move target | ||
| trackedVis->SetWorldPose({it, it, it, 0, 0, 0}); | ||
|
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| // Check camera moved | ||
| sleep = 0; | ||
| while (abs(camera->WorldPose().Pos().X() - it) > 10 && | ||
| sleep++ < maxSleep) | ||
| { | ||
| std::this_thread::sleep_for(10ms); | ||
| QCoreApplication::processEvents(); | ||
| } | ||
| EXPECT_LT(sleep, maxSleep); | ||
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| EXPECT_GT(10, abs(camera->WorldPose().Pos().X() - it)); | ||
| EXPECT_GT(10, abs(camera->WorldPose().Pos().Y() - it)); | ||
| EXPECT_GT(10, abs(camera->WorldPose().Pos().Z() - it)); | ||
| } | ||
| } | ||
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