utest.cpp

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#include <gtest/gtest.h>

#include "opencv/cxcore.h"  
#include "opencv/cvwimage.h"
#include "opencv/cv.h"
#include "opencv/highgui.h"

#include "cv_bridge/CvBridge.h"
#include "sensor_msgs/Image.h"

TEST(OpencvTests, testCase_encode_decode)
{
  int fmts[] = { IPL_DEPTH_8U, -1, IPL_DEPTH_8S, IPL_DEPTH_16U, IPL_DEPTH_16S, IPL_DEPTH_32S, IPL_DEPTH_32F, IPL_DEPTH_64F, -1 };

  for (int w = 100; w < 800; w += 100) {
    for (int h = 100; h < 800; h += 100) {
      for (int fi = 0; fmts[fi] != -1; fi++) {
        for (int channels = 1; channels <= 4; channels++) {
          IplImage *original = cvCreateImage(cvSize(w, h), fmts[fi], channels);
          CvRNG r = cvRNG(77);
          cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));

          sensor_msgs::Image image_message;
          sensor_msgs::CvBridge img_bridge_;

          int success;
          success = img_bridge_.fromIpltoRosImage(original, image_message);
          EXPECT_TRUE(success);
          success = img_bridge_.fromImage(image_message);
          EXPECT_TRUE(success);
          IplImage *final = img_bridge_.toIpl();

          // cvSaveImage("final.png", final);
          IplImage *diff = cvCloneImage(original);
          cvAbsDiff(original, final, diff);
          CvScalar sum = cvSum(diff);
          for (int c = 0; c < channels; c++) {
            EXPECT_TRUE(sum.val[c] == 0);
          }
        }
      }
    }
  }
}


TEST(OpencvTests, testCase_decode_8u)
{
  IplImage *original = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 1);
  CvRNG r = cvRNG(77);
  cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));

  sensor_msgs::Image image_message;
  sensor_msgs::CvBridge img_bridge_;

  int success;
  success = img_bridge_.fromIpltoRosImage(original, image_message);
  EXPECT_TRUE(success);

  success = img_bridge_.fromImage(image_message, "passthrough");
  EXPECT_TRUE(success);
  EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 1);

  success = img_bridge_.fromImage(image_message, "mono8");
  EXPECT_TRUE(success);
  EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 1);

  success = img_bridge_.fromImage(image_message, "rgb8");
  EXPECT_TRUE(success);
  EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 3);

  success = img_bridge_.fromImage(image_message, "bgr8");
  EXPECT_TRUE(success);
  EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 3);
}

TEST(OpencvTests, testCase_decode_16u)
{
  IplImage *original = cvCreateImage(cvSize(640, 480), IPL_DEPTH_16U, 1);
  CvRNG r = cvRNG(77);
  cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));

  sensor_msgs::Image image_message;
  sensor_msgs::CvBridge img_bridge_;

  int success;
  success = img_bridge_.fromIpltoRosImage(original, image_message);
  EXPECT_TRUE(success);

  success = img_bridge_.fromImage(image_message, "mono16");
  EXPECT_TRUE(success);
  printf("%d\n", cvGetElemType(img_bridge_.toIpl()));
  EXPECT_TRUE(cvGetElemType(img_bridge_.toIpl()) == CV_16UC1);
}

TEST(OpencvTests, testCase_decode_8uc3)
{
  IplImage *original = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
  CvRNG r = cvRNG(77);
  cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));

  sensor_msgs::Image image_message;
  sensor_msgs::CvBridge img_bridge_;

  int success;
  success = img_bridge_.fromIpltoRosImage(original, image_message);
  EXPECT_TRUE(success);

  success = img_bridge_.fromImage(image_message, "passthrough");
  EXPECT_TRUE(success);
  EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 3);

  success = img_bridge_.fromImage(image_message, "mono8");
  EXPECT_TRUE(success);
  EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 1);

  success = img_bridge_.fromImage(image_message, "rgb8");
  EXPECT_TRUE(success);
  EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 3);

  success = img_bridge_.fromImage(image_message, "bgr8");
  EXPECT_TRUE(success);
  EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 3);
}

TEST(OpencvTests, testCase_new_methods)
{
  int channels = 3;
  IplImage *original = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, channels);
  CvRNG r = cvRNG(77);
  cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));

  sensor_msgs::CvBridge img_bridge_;
  sensor_msgs::Image::Ptr rosimg = img_bridge_.cvToImgMsg(original);

  IplImage *final = img_bridge_.imgMsgToCv(rosimg);

  IplImage *diff = cvCloneImage(original);
  cvAbsDiff(original, final, diff);
  CvScalar sum = cvSum(diff);
  for (int c = 0; c < channels; c++) {
    EXPECT_TRUE(sum.val[c] == 0);
  }
}

TEST(OpencvTests, testCase_16u_bgr)
{
  int channels = 1;
  IplImage *original = cvCreateImage(cvSize(640, 480), IPL_DEPTH_16U, channels);
  CvRNG r = cvRNG(77);
  cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));

  sensor_msgs::CvBridge img_bridge_;
  sensor_msgs::Image::Ptr image_message = img_bridge_.cvToImgMsg(original, "mono16");

  int success;
  success = img_bridge_.fromImage(*image_message, "mono16");
  EXPECT_TRUE(success);
  EXPECT_TRUE(cvGetElemType(img_bridge_.toIpl()) == CV_16UC1);

  //why would this work? its mono16 -> bgr8...
  success = img_bridge_.fromImage(*image_message, "bgr8");
  EXPECT_TRUE(success);
  EXPECT_TRUE(cvGetElemType(img_bridge_.toIpl()) == CV_8UC3);
}

int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}