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Update Marker test #673

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merged 7 commits into from
Jul 25, 2022
Merged

Update Marker test #673

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82d869f
update marker test
iche033 Jul 15, 2022
1967b36
Merge branch 'ign-rendering6' into marker_test
iche033 Jul 21, 2022
c7dcb3b
style
iche033 Jul 21, 2022
3aa3c28
merge and resolve conflicts
iche033 Jul 21, 2022
8880456
Windows warning
chapulina Jul 23, 2022
5513fe1
Merge branch 'ign-rendering6' into marker_test
chapulina Jul 23, 2022
6fce8d1
Merge branch 'ign-rendering6' into marker_test
iche033 Jul 25, 2022
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3 changes: 3 additions & 0 deletions src/LidarVisual_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -120,6 +120,9 @@ void LidarVisualTest::LidarVisual(const std::string &_renderEngine)
10, 3.5};
lidar->SetPoints(pts);
EXPECT_EQ(pts.size(), lidar->PointCount());

lidar->PreRender();

lidar->ClearPoints();
EXPECT_EQ(lidar->PointCount(), 0u);

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81 changes: 80 additions & 1 deletion src/Marker_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -19,9 +19,10 @@
#include <ignition/common/Console.hh>

#include "test_config.h" // NOLINT(build/include)
#include "ignition/rendering/Marker.hh"
#include "ignition/rendering/Material.hh"
#include "ignition/rendering/RenderEngine.hh"
#include "ignition/rendering/RenderingIface.hh"
#include "ignition/rendering/Marker.hh"
#include "ignition/rendering/Scene.hh"

using namespace ignition;
Expand All @@ -32,6 +33,9 @@ class MarkerTest : public testing::Test,
public testing::WithParamInterface<const char *>
{
public: void Marker(const std::string &_renderEngine);

/// \brief Test setting material
public: void Material(const std::string &_renderEngine);
};

/////////////////////////////////////////////////
Expand Down Expand Up @@ -79,12 +83,26 @@ void MarkerTest::Marker(const std::string &_renderEngine)
marker->SetType(MarkerType::MT_CAPSULE);
EXPECT_EQ(MarkerType::MT_CAPSULE, marker->Type());

// test attaching marker to visual
VisualPtr visual = scene->CreateVisual();
ASSERT_NE(nullptr, visual);
visual->AddGeometry(marker);

marker->SetType(MarkerType::MT_CYLINDER);
EXPECT_EQ(MarkerType::MT_CYLINDER, marker->Type());

marker->SetType(MarkerType::MT_BOX);
EXPECT_EQ(MarkerType::MT_BOX, marker->Type());

marker->SetType(MarkerType::MT_SPHERE);
EXPECT_EQ(MarkerType::MT_SPHERE, marker->Type());

marker->SetType(MarkerType::MT_NONE);
EXPECT_EQ(MarkerType::MT_NONE, marker->Type());

marker->SetType(static_cast<MarkerType>(99));
EXPECT_EQ(static_cast<MarkerType>(99), marker->Type());

marker->SetType(MarkerType::MT_POINTS);
EXPECT_EQ(MarkerType::MT_POINTS, marker->Type());

Expand All @@ -103,6 +121,13 @@ void MarkerTest::Marker(const std::string &_renderEngine)
marker->SetType(MarkerType::MT_TRIANGLE_FAN);
EXPECT_EQ(MarkerType::MT_TRIANGLE_FAN, marker->Type());

// set same type again
marker->SetType(MarkerType::MT_TRIANGLE_FAN);
EXPECT_EQ(MarkerType::MT_TRIANGLE_FAN, marker->Type());

// attach to visual again
EXPECT_NO_THROW(visual->AddGeometry(marker));

// exercise point api
EXPECT_NO_THROW(marker->AddPoint(math::Vector3d(0, 1, 2),
math::Color::White));
Expand All @@ -118,12 +143,66 @@ void MarkerTest::Marker(const std::string &_renderEngine)
rendering::unloadEngine(engine->Name());
}

/////////////////////////////////////////////////
void MarkerTest::Material(const std::string &_renderEngine)
{
if (_renderEngine == "optix")
{
igndbg << "Marker not supported yet in rendering engine: "
<< _renderEngine << std::endl;
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return;
}

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RenderEngine *engine = rendering::engine(_renderEngine);
if (!engine)
{
igndbg << "Engine '" << _renderEngine
<< "' is not supported" << std::endl;
return;
}

ScenePtr scene = engine->CreateScene("scene");

MarkerPtr marker = scene->CreateMarker();
ASSERT_NE(nullptr, marker);

EXPECT_NO_THROW(marker->SetMaterial(MaterialPtr(), false));
EXPECT_EQ(nullptr, marker->Material());

MaterialPtr material = scene->CreateMaterial();
ASSERT_NE(nullptr, material);
material->SetDiffuse(0.1, 0.2, 0.3);

marker->SetType(MarkerType::MT_NONE);
EXPECT_EQ(MarkerType::MT_NONE, marker->Type());
marker->SetMaterial(material, false);
EXPECT_EQ(material, marker->Material());

marker->SetType(MarkerType::MT_BOX);
EXPECT_EQ(MarkerType::MT_BOX, marker->Type());
marker->SetMaterial(material, false);
EXPECT_EQ(material, marker->Material());

marker->SetType(MarkerType::MT_LINE_STRIP);
EXPECT_EQ(MarkerType::MT_LINE_STRIP, marker->Type());
marker->SetMaterial(material, true);
EXPECT_NE(material, marker->Material());
EXPECT_EQ(math::Color(0.1, 0.2, 0.3), marker->Material()->Diffuse());
}

/////////////////////////////////////////////////
TEST_P(MarkerTest, Marker)
{
Marker(GetParam());
}

/////////////////////////////////////////////////
TEST_P(MarkerTest, Material)
{
Material(GetParam());
}

INSTANTIATE_TEST_CASE_P(Marker, MarkerTest,
RENDER_ENGINE_VALUES,
ignition::rendering::PrintToStringParam());
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