catchPanda.cpp

Test saving and parsing JSON configuration for Panda 3D renderer.

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Test vpCameraParameters JSON parse / save.
 */
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PANDA3D) && defined(VISP_HAVE_CATCH2)
#include <visp3/core/vpCameraParameters.h>
#include <visp3/ar/vpPanda3DBaseRenderer.h>
#include <visp3/ar/vpPanda3DRGBRenderer.h>
#include <visp3/ar/vpPanda3DFrameworkManager.h>
#include <visp3/ar/vpPanda3DRendererSet.h>
#include <visp3/ar/vpPanda3DGeometryRenderer.h>
#include <catch_amalgamated.hpp>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
#include <random>
 
vpPanda3DRenderParameters defaultRenderParams()
{
  vpCameraParameters cam(600, 600, 160, 120);
  return vpPanda3DRenderParameters(cam, 240, 320, 0.001, 1.0);
}
 
SCENARIO("Instanciating multiple Panda3D renderers", "[Panda3D]")
{
  GIVEN("A single renderer")
  {
    vpPanda3DGeometryRenderer r1(vpPanda3DGeometryRenderer::CAMERA_NORMALS);
    r1.setRenderParameters(defaultRenderParams());
    r1.initFramework();
    r1.renderFrame();
    vpImage<float> depth;
    r1.getRender(depth);
 
    THEN("Creating another, uncoupled renderer is ok and its destruction does not raise an error")
    {
      vpPanda3DGeometryRenderer r2(vpPanda3DGeometryRenderer::CAMERA_NORMALS);
      r2.setRenderParameters(defaultRenderParams());
      r2.initFramework();
      r2.renderFrame();
 
 
    }
    r1.renderFrame();
 
    r1.getRender(depth);
  }
}
 
 
SCENARIO("Sequentially instanciating and destroying Panda3D renderers", "[Panda3D]")
{
  vpPanda3DGeometryRenderer r3(vpPanda3DGeometryRenderer::CAMERA_NORMALS);
  r3.setRenderParameters(defaultRenderParams());
  r3.initFramework();
  r3.renderFrame();
  vpImage<float> depth;
  r3.getRender(depth);
 
  {
    vpPanda3DGeometryRenderer r1(vpPanda3DGeometryRenderer::CAMERA_NORMALS);
    r1.setRenderParameters(defaultRenderParams());
    r1.initFramework();
    r1.renderFrame();
    r1.getRender(depth);
  }
 
  {
    vpPanda3DGeometryRenderer r2(vpPanda3DGeometryRenderer::CAMERA_NORMALS);
    r2.setRenderParameters(defaultRenderParams());
    r2.initFramework();
    vpImage<float> depth;
    r2.renderFrame();
    r2.getRender(depth);
 
  }
}
 
SCENARIO("Sequentially instanciating and destroying Panda3D renderer sets", "[Panda3D]")
{
  {
    vpPanda3DRendererSet r1(defaultRenderParams());
    r1.addSubRenderer(std::make_shared<vpPanda3DGeometryRenderer>(vpPanda3DGeometryRenderer::CAMERA_NORMALS));
    r1.addSubRenderer(std::make_shared<vpPanda3DRGBRenderer>(true));
    r1.initFramework();
    r1.renderFrame();
  }
 
  {
    vpPanda3DRendererSet r1(defaultRenderParams());
    r1.addSubRenderer(std::make_shared<vpPanda3DGeometryRenderer>(vpPanda3DGeometryRenderer::CAMERA_NORMALS));
    r1.addSubRenderer(std::make_shared<vpPanda3DRGBRenderer>(true));
    r1.initFramework();
    r1.renderFrame();
  }
 
 
}
 
SCENARIO("Using multiple panda3d renderers in parallel", "[Panda3D]")
{
 
  vpPanda3DRGBRenderer r3(true);
  r3.setRenderParameters(defaultRenderParams());
  r3.initFramework();
  r3.renderFrame();
 
  vpPanda3DGeometryRenderer r1(vpPanda3DGeometryRenderer::CAMERA_NORMALS);
  r1.setRenderParameters(defaultRenderParams());
  r1.initFramework();
  r1.renderFrame();
  vpImage<float> depth;
  r1.getRender(depth);
 
  vpPanda3DGeometryRenderer r2(vpPanda3DGeometryRenderer::CAMERA_NORMALS);
  r2.setRenderParameters(defaultRenderParams());
  r2.initFramework();
  r2.renderFrame();
  r2.getRender(depth);
 
 
  r1.renderFrame();
  r1.getRender(depth);
 
}
 
 
int main(int argc, char *argv[])
{
  Catch::Session session; // There must be exactly one instance
  session.applyCommandLine(argc, argv);
 
  int numFailed = session.run();
  vpPanda3DFrameworkManager::getInstance().exit();
 
  return numFailed;
}
 
#else
 
#include <stdlib.h>
 
int main() { return EXIT_SUCCESS; }
 
#endif