Added integration test for distortion camera

Signed-off-by: William Lew <[email protected]>

test/integration/CMakeLists.txt

@@ -77,6 +77,7 @@ set(tests_needing_display
  camera_sensor_background.cc
  camera_video_record_system.cc
  depth_camera.cc
+ distortion_camera.cc
  gpu_lidar.cc
  optical_tactile_plugin.cc
  rgbd_camera.cc

test/integration/distortion_camera.cc

@@ -0,0 +1,96 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+ */
+
+#include <gtest/gtest.h>
+
+#include <ignition/msgs/image.pb.h>
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/Util.hh>
+#include <ignition/math/Pose3.hh>
+#include <ignition/transport/Node.hh>
+#include <ignition/utilities/ExtraTestMacros.hh>
+
+#include "ignition/gazebo/Server.hh"
+#include "ignition/gazebo/test_config.hh"
+
+#include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace std::chrono_literals;
+
+/// \brief Test WideAndleCameraTest system
+class DistortionCameraTest : public InternalFixture<::testing::Test>
+{
+};
+
+std::mutex mutex;
+msgs::Image imageMsg;
+unsigned char *imageBuffer = nullptr;
+
+/////////////////////////////////////////////////
+void imageCb(const msgs::Image &_msg)
+{
+ ASSERT_EQ(msgs::PixelFormatType::RGB_INT8,
+ _msg.pixel_format_type());
+
+ mutex.lock();
+ unsigned int imageSamples = _msg.width() * _msg.height() * 3;
+
+ if (!imageBuffer)
+ imageBuffer = new unsigned char[imageSamples];
+ memcpy(imageBuffer, _msg.data().c_str(), imageSamples);
+ mutex.unlock();
+}
+
+/////////////////////////////////////////////////
+// The test checks the Distortion Camera readings
+TEST_F(DistortionCameraTest, IGN_UTILS_TEST_DISABLED_ON_MAC(DistortionCameraBox))
+{
+ // Start server
+ ServerConfig serverConfig;
+ const auto sdfFile = common::joinPaths(std::string(PROJECT_SOURCE_PATH),
+ "test", "worlds", "camera_distortion.sdf");
+ serverConfig.SetSdfFile(sdfFile);
+
+ Server server(serverConfig);
+ EXPECT_FALSE(server.Running());
+ EXPECT_FALSE(*server.Running(0));
+
+ // subscribe to the image topic
+ transport::Node node;
+ node.Subscribe("/camera_sensor_barrel", &imageCb);
+
+ // Run server and verify that we are receiving a message
+ // from the distortion camera
+ size_t iters100 = 100u;
+ server.Run(true, iters100, false);
+
+ int sleep{0};
+ int maxSleep{30};
+ while (imageBuffer == nullptr && sleep < maxSleep)
+ {
+ std::this_thread::sleep_for(100ms);
+ sleep++;
+ }
+ EXPECT_LT(sleep, maxSleep);
+ ASSERT_NE(imageBuffer, nullptr);
+
+ delete[] imageBuffer;
+}