stl_loader_test.cpp
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1 #include <gtest/gtest.h>
2 #include <rviz/mesh_loader.h>
3 #include <ros/package.h>
5 
6 TEST(STLLoader, load)
7 {
8  // Get the path to the directory where the meshes are located.
9  std::string meshDir = "package://rviz/src/test/meshes/";
10 
11  // Load a valid ascii STL file.
12  std::string meshFilePath = meshDir + "valid_ascii.stl";
13  EXPECT_TRUE(rviz::loadMeshFromResource(meshFilePath).get());
14 
15  // Load an invalid ascii STL file, using "end facet" instead of "endfacet"
16  meshFilePath = meshDir + "invalid_end_tags.stl";
17  EXPECT_FALSE(rviz::loadMeshFromResource(meshFilePath).get());
18 
19  // Load an invalid STL binary file (size < 84 bytes).
20  meshFilePath = meshDir + "invalid_short.stl";
21  EXPECT_FALSE(rviz::loadMeshFromResource(meshFilePath).get());
22 
23  // Load an invalid STL binary file (size does not match the expected size).
24  meshFilePath = meshDir + "invalid.stl";
25  EXPECT_FALSE(rviz::loadMeshFromResource(meshFilePath).get());
26 
27  // Load an invalid STL binary file (size does not match the expected size,
28  // but does if incorrectly read as an 16-bit uint)
29  meshFilePath = meshDir + "16bit_vs_32bit_should_fail.stl";
30  EXPECT_FALSE(rviz::loadMeshFromResource(meshFilePath).get());
31 
32  // Load a valid STL binary file.
33  meshFilePath = meshDir + "valid.stl";
34  EXPECT_TRUE(rviz::loadMeshFromResource(meshFilePath).get());
35 
36  // Load a "potentially" valid STL binary file with extra data at the end of the file
37  meshFilePath = meshDir + "invalid_extra.stl";
38  EXPECT_FALSE(rviz::loadMeshFromResource(meshFilePath).get());
39 }
40 
41 int main(int argc, char** argv)
42 {
43  testing::InitGoogleTest(&argc, argv);
44 
45  // initialize ogre resource system
47 
48  return RUN_ALL_TESTS();
49 }
static RenderSystem * get()
Ogre::MeshPtr loadMeshFromResource(const std::string &resource_path)
int main(int argc, char **argv)
TEST(STLLoader, load)


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Fri Aug 12 2022 02:06:09