Add test for thermal object temperatures below 0 kelvin (#621)

Signed-off-by: Ashton Larkin <[email protected]>
gazebosim · Mar 19, 2021 · 167f086 · 167f086
1 parent f9a5ece
commit 167f086
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Showing 3 changed files with 46 additions and 4 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -114,7 +114,7 @@ set(IGN_SENSORS_VER ${ignition-sensors4_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-rendering
-ign_find_package(ignition-rendering4 REQUIRED VERSION 4.1.0)
+ign_find_package(ignition-rendering4 REQUIRED VERSION 4.7.0)
 set(IGN_RENDERING_VER ${ignition-rendering4_VERSION_MAJOR})
 
 #--------------------------------------

diff --git a/test/integration/thermal_sensor_system.cc b/test/integration/thermal_sensor_system.cc
@@ -171,13 +171,18 @@ TEST_F(ThermalSensorTest,
   // verify temperature of heat source
   const std::string sphereVisual = "sphere_visual";
   const std::string cylinderVisual = "cylinder_visual";
-  EXPECT_EQ(2u, entityTemp.size());
+  const std::string boxVisual = "box_visual";
+  EXPECT_EQ(3u, entityTemp.size());
   ASSERT_TRUE(entityTemp.find(sphereVisual) != entityTemp.end());
   ASSERT_TRUE(entityTemp.find(cylinderVisual) != entityTemp.end());
+  ASSERT_TRUE(entityTemp.find(boxVisual) != entityTemp.end());
   EXPECT_DOUBLE_EQ(600.0, entityTemp[sphereVisual].Kelvin());
   // the user specified temp is larger than the max value representable by an
   // 8 bit 3 degree resolution camera - this value should be clamped
   EXPECT_DOUBLE_EQ(800.0, entityTemp[cylinderVisual].Kelvin());
+  // the user specified temp is less than the min value of the camera - this
+  // value should be clamped
+  EXPECT_DOUBLE_EQ(-10.0, entityTemp[boxVisual].Kelvin());
 
   // Run server
   server.Run(true, 10, false);
@@ -201,16 +206,21 @@ TEST_F(ThermalSensorTest,
     std::lock_guard<std::mutex> lock(g_mutex);
     unsigned int leftIdx = height * 0.5 * width;
     unsigned int rightIdx = leftIdx + width-1;
+    unsigned int middleIdx = leftIdx + (0.5 * width);
     unsigned int defaultResolution = 3u;
     unsigned int cylinderTemp = g_image[leftIdx] * defaultResolution;
     unsigned int sphereTemp = g_image[rightIdx] * defaultResolution;
+    unsigned int boxTemp = g_image[middleIdx] * defaultResolution;
     // default resolution, min, max values used so we should get correct
     // temperature value
     EXPECT_EQ(600u, sphereTemp);
     // 8 bit 3 degree resolution camera - this value should be clamped
     // in the image output to:
     //     2^(bitDepth) - 1 * resolution = 2^8 - 1 * 3 = 765
     EXPECT_EQ(765u, cylinderTemp);
+    // the box resolution should be clamped to the camera's default
+    // minimum temperature (0)
+    EXPECT_EQ(0u, boxTemp);
   }
 
   g_imageMsgs.clear();

diff --git a/test/worlds/thermal_invalid.sdf b/test/worlds/thermal_invalid.sdf
@@ -38,7 +38,7 @@
 
     <model name="sphere">
       <static>true</static>`
-      <pose>0 0.5 0.5 0 0 0</pose>
+      <pose>0 0.85 0.5 0 0 0</pose>
       <link name="sphere_link">
         <collision name="sphere_collision">
           <geometry>
@@ -70,7 +70,7 @@
 
     <model name="cylinder">
       <static>true</static>`
-      <pose>0 -0.5 0.5 0 0 0</pose>
+      <pose>0 -0.85 0.5 0 0 0</pose>
       <link name="cylinder_link">
         <collision name="cylinder_collision">
           <geometry>
@@ -102,6 +102,38 @@
       </link>
     </model>
 
+    <model name="box">
+      <static>true</static>`
+      <pose>-1 0.0 0.5 0 0 0</pose>
+      <link name="box_link">
+        <collision name="box_collision">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <visual name="box_visual">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>1 0 0 1</specular>
+          </material>
+          <plugin
+            filename="ignition-gazebo-thermal-system"
+            name="ignition::gazebo::systems::Thermal">
+            <temperature>-10.0</temperature>
+          </plugin>
+        </visual>
+      </link>
+    </model>
+
     <model name="thermal_camera_invalid">
       <pose>1.0 0 0.5 0.0 0.0 3.14</pose>
       <link name="link">