text: /*
   * Copyright (C) 2015 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 "gazebo/gui/GuiIface.hh"
  #include "gazebo/gui/MainWindow.hh"
  #include "gazebo/gui/Projection_TEST.hh"
  
  #include "test_config.h"
  
  /////////////////////////////////////////////////
  void Projection_TEST::Projection()
  {
    this->resMaxPercentChange = 5.0;
    this->shareMaxPercentChange = 2.0;
  
    this->Load("worlds/ortho_box.world", false, false, false);
  
    gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
    QVERIFY(mainWindow != NULL);
  
    // Create the main window.
    mainWindow->Load();
    mainWindow->Init();
    mainWindow->show();
  
    // Get the user camera and scene
    gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
    QVERIFY(cam != NULL);
  
    cam->SetCaptureData(true);
  
    this->ProcessEventsAndDraw(mainWindow);
  
    const unsigned char *data = cam->ImageData();
    unsigned int width = cam->ImageWidth();
    unsigned int height = cam->ImageHeight();
    unsigned int depth = cam->ImageDepth();
    std::cerr << "width: " << width << std::endl;
    std::cerr << "height: " << height << std::endl;
    std::cerr << "depth: " << depth << std::endl;
  
    int topWidth = 0;
    int bottomWidth = 0;
  
    // Get the width of the white box at the top and bottom of the image
    for (unsigned int x = 0; x < width*depth; ++x)
    {
      if ( data[x] >= 250)
        topWidth++;
  
      if ( data[((height-1)*width*depth)+x] >= 250)
        bottomWidth++;
    }
  
    // Make sure the widths are roughly the same
    std::cerr << "topWidth: " << topWidth << std::endl;
    std::cerr << "bottomWidth: " << bottomWidth << std::endl;
    std::cerr << "std::abs(topWidth - bottomWidth): "
              << std::abs(topWidth - bottomWidth)
              << " (should be less than 5)"
              << std::endl;
    QVERIFY(std::abs(topWidth - bottomWidth) < 5);
  
    // Now change to Perspective projection
    cam->SetProjectionType("perspective");
  
    this->ProcessEventsAndDraw(mainWindow);
  
    topWidth = 0;
    bottomWidth = 0;
  
    // Get the width of the white box at the top and bottom of the image
    for (unsigned int x = 0; x < width*depth; ++x)
    {
      if (data[x] >= 250)
        topWidth++;
  
      if (data[((height-1)*width*depth)+x] >= 250)
        bottomWidth++;
    }
  
    // Make sure the top and bottom width difference is large enough to
    // indicate perspective rendering is used
    std::cerr << "topWidth: " << topWidth << std::endl;
    std::cerr << "bottomWidth: " << bottomWidth << std::endl;
    double widthRatio = topWidth - bottomWidth;
    widthRatio /= height;
    std::cerr << "(topWidth - bottomWidth) / height: "
              << widthRatio
              << " (should be less than -0.2)"
              << std::endl;
    QVERIFY(widthRatio < -0.2);
  
    cam->Fini();
    mainWindow->close();
    delete mainWindow;
  }
  
  // Generate a main function for the test
  QTEST_MAIN(Projection_TEST)
  