opencv_tests: utest.cpp Source File

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00034 
00035 #include <gtest/gtest.h>
00036 
00037 #include <opencv/cxtypes.h> 
00038 #include "opencv/cxcore.h"  
00039 #include "opencv/cvwimage.h"
00040 #include "opencv/cv.h"
00041 #include "opencv/highgui.h"
00042 
00043 #include "cv_bridge/CvBridge.h"
00044 #include "sensor_msgs/Image.h"
00045 
00046 
00047 TEST(OpencvTests, testCase_encode_decode)
00048 {
00049   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 };
00050 
00051   for (int w = 100; w < 800; w += 100) {
00052     for (int h = 100; h < 800; h += 100) {
00053       for (int fi = 0; fmts[fi] != -1; fi++) {
00054         for (int channels = 1; channels <= 4; channels++) {
00055           IplImage *original = cvCreateImage(cvSize(w, h), fmts[fi], channels);
00056 #if 0 // XXX OpenCV bug, change this when opencv_latest next moves
00057           CvRNG r = cvRNG(77);
00058           cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));
00059 #else
00060           cvSet(original, cvScalar(1,2,3,4));
00061 #endif
00062 
00063           sensor_msgs::Image image_message;
00064           sensor_msgs::CvBridge img_bridge_;
00065 
00066           int success;
00067           success = img_bridge_.fromIpltoRosImage(original, image_message);
00068           ASSERT_TRUE(success);
00069           success = img_bridge_.fromImage(image_message);
00070           ASSERT_TRUE(success);
00071           IplImage *final = img_bridge_.toIpl();
00072 
00073           // cvSaveImage("final.png", final);
00074           IplImage *diff = cvCloneImage(original);
00075           cvAbsDiff(original, final, diff);
00076           CvScalar sum = cvSum(diff);
00077           for (int c = 0; c < channels; c++) {
00078             EXPECT_TRUE(sum.val[c] == 0);
00079           }
00080         }
00081       }
00082     }
00083   }
00084 }
00085 
00086 
00087 TEST(OpencvTests, testCase_decode_8u)
00088 {
00089   IplImage *original = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 1);
00090   CvRNG r = cvRNG(77);
00091   cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));
00092 
00093   sensor_msgs::Image image_message;
00094   sensor_msgs::CvBridge img_bridge_;
00095 
00096   int success;
00097   success = img_bridge_.fromIpltoRosImage(original, image_message);
00098   ASSERT_TRUE(success);
00099 
00100   success = img_bridge_.fromImage(image_message, "passthrough");
00101   ASSERT_TRUE(success);
00102   EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 1);
00103 
00104   success = img_bridge_.fromImage(image_message, "mono8");
00105   ASSERT_TRUE(success);
00106   EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 1);
00107 
00108   success = img_bridge_.fromImage(image_message, "rgb8");
00109   ASSERT_TRUE(success);
00110   EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 3);
00111 
00112   success = img_bridge_.fromImage(image_message, "bgr8");
00113   ASSERT_TRUE(success);
00114   EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 3);
00115 }
00116 
00117 TEST(OpencvTests, testCase_decode_16u)
00118 {
00119   IplImage *original = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 1);
00120   CvRNG r = cvRNG(77);
00121   cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));
00122 
00123   sensor_msgs::Image image_message;
00124   sensor_msgs::CvBridge img_bridge_;
00125 
00126   int success;
00127   success = img_bridge_.fromIpltoRosImage(original, image_message);
00128   ASSERT_TRUE(success);
00129 
00130   success = img_bridge_.fromImage(image_message, "mono16");
00131   ASSERT_TRUE(success);
00132   printf("%d\n", cvGetElemType(img_bridge_.toIpl()));
00133   EXPECT_TRUE(cvGetElemType(img_bridge_.toIpl()) == CV_16UC1);
00134 }
00135 
00136 TEST(OpencvTests, testCase_decode_8uc3)
00137 {
00138   IplImage *original = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
00139   CvRNG r = cvRNG(77);
00140   cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));
00141 
00142   sensor_msgs::Image image_message;
00143   sensor_msgs::CvBridge img_bridge_;
00144 
00145   int success;
00146   success = img_bridge_.fromIpltoRosImage(original, image_message);
00147   ASSERT_TRUE(success);
00148 
00149   success = img_bridge_.fromImage(image_message, "passthrough");
00150   ASSERT_TRUE(success);
00151   EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 3);
00152 
00153   success = img_bridge_.fromImage(image_message, "mono8");
00154   ASSERT_TRUE(success);
00155   EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 1);
00156 
00157   success = img_bridge_.fromImage(image_message, "rgb8");
00158   ASSERT_TRUE(success);
00159   EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 3);
00160 
00161   success = img_bridge_.fromImage(image_message, "bgr8");
00162   ASSERT_TRUE(success);
00163   EXPECT_TRUE(CV_MAT_CN(cvGetElemType(img_bridge_.toIpl())) == 3);
00164 }
00165 
00166 TEST(OpencvTests, testCase_new_methods)
00167 {
00168   int channels = 3;
00169   IplImage *original = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, channels);
00170   CvRNG r = cvRNG(77);
00171   cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));
00172 
00173   sensor_msgs::CvBridge img_bridge_;
00174   sensor_msgs::Image::Ptr rosimg = img_bridge_.cvToImgMsg(original);
00175 
00176   IplImage *final = img_bridge_.imgMsgToCv(rosimg);
00177 
00178   IplImage *diff = cvCloneImage(original);
00179   cvAbsDiff(original, final, diff);
00180   CvScalar sum = cvSum(diff);
00181   for (int c = 0; c < channels; c++) {
00182     EXPECT_TRUE(sum.val[c] == 0);
00183   }
00184 }
00185 
00186 TEST(OpencvTests, testCase_16u_bgr)
00187 {
00188   int channels = 1;
00189   IplImage *original = cvCreateImage(cvSize(640, 480), IPL_DEPTH_16U, channels);
00190   CvRNG r = cvRNG(77);
00191   cvRandArr(&r, original, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(255,255,255,255));
00192 
00193   sensor_msgs::CvBridge img_bridge_;
00194   sensor_msgs::Image::Ptr image_message = img_bridge_.cvToImgMsg(original, "mono16");
00195 
00196   int success;
00197   success = img_bridge_.fromImage(*image_message, "mono16");
00198   ASSERT_TRUE(success);
00199   EXPECT_TRUE(cvGetElemType(img_bridge_.toIpl()) == CV_16UC1);
00200 
00201   success = img_bridge_.fromImage(*image_message, "bgr8");
00202   ASSERT_TRUE(success);
00203   EXPECT_TRUE(cvGetElemType(img_bridge_.toIpl()) == CV_8UC3);
00204 }
00205 
00206 int main(int argc, char **argv)
00207 {
00208   testing::InitGoogleTest(&argc, argv);
00209   return RUN_ALL_TESTS();
00210 }