frameGrabberCropper_test.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/sig/Image.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IWrapper.h>
 
#include <yarp/dev/IFrameGrabberImage.h>
#include <yarp/dev/IRgbVisualParams.h>
#include <yarp/dev/IFrameGrabberControls.h>
#include <yarp/dev/IFrameGrabberControlsDC1394.h>
 
#include <yarp/dev/tests/IFrameGrabberImageTest.h>
#include <yarp/dev/tests/IRgbVisualParamsTest.h>
#include <yarp/dev/tests/IFrameGrabberControlsTest.h>
#include <yarp/dev/tests/IFrameGrabberControlsDC1394Test.h>
 
#include <catch2/catch_amalgamated.hpp>
#include <harness.h>
 
using namespace yarp::os;
using namespace yarp::dev;
using namespace yarp::sig;
 
 
TEST_CASE("dev::frameGrabberCropperTest", "[yarp::dev]")
{
    YARP_REQUIRE_PLUGIN("fakeFrameGrabber", "device");
    YARP_REQUIRE_PLUGIN("frameGrabberCropper", "device");
 
    Network::setLocalMode(true);
 
    SECTION("test the frameGrabberCropper mode")
    {
        constexpr size_t width = 320;
        constexpr size_t height = 240;
 
        // Open fakeFrameGrabber
        PolyDriver dd;
        Property p;
        p.put("device", "fakeFrameGrabber");
        p.put("width", static_cast<int>(width * 2));
        p.put("height", static_cast<int>(height));
        REQUIRE(dd.open(p));
 
        // Open frameGrabberCropper left
        PolyDriver ddl;
        Property pl;
        pl.put("device","frameGrabberCropper");
        pl.put("x1", 0);
        pl.put("y1", 0);
        pl.put("x2", static_cast<int>(width - 1));
        pl.put("y2", static_cast<int>(height - 1));
        REQUIRE(ddl.open(pl));
 
        // Attach frameGrabberCropper left
        yarp::dev::IWrapper* wl = nullptr;
        REQUIRE(ddl.view(wl));
        REQUIRE(wl);
        REQUIRE(wl->attach(&dd));
 
        // Check IFrameGrabberImage on frameGrabberCropper left
        IFrameGrabberImage *ifgil = nullptr;
        REQUIRE(ddl.view(ifgil));
        REQUIRE(ifgil);
 
        ImageOf<PixelRgb> imgl;
        ifgil->getImage(imgl);
        CHECK(imgl.width() == width);
        CHECK(imgl.height() == height);
 
 
        // Open frameGrabberCropper right
        PolyDriver ddr;
        Property pr;
        pr.put("device","frameGrabberCropper");
        pr.put("x1", static_cast<int>(width));
        pr.put("y1", static_cast<int>(0));
        pr.put("x2", static_cast<int>((width * 2) - 1));
        pr.put("y2", static_cast<int>(height - 1));
        REQUIRE(ddr.open(pr));
 
        // Attach frameGrabberCropper right
        yarp::dev::IWrapper* wr = nullptr;
        REQUIRE(ddr.view(wr));
        REQUIRE(wr);
        REQUIRE(wr->attach(&dd));
 
        // Check IFrameGrabberImage on frameGrabberCropper right
        IFrameGrabberImage *ifgir = nullptr;
        REQUIRE(ddr.view(ifgir));
        REQUIRE(ifgir);
 
        ImageOf<PixelRgb> imgr;
        ifgir->getImage(imgr);
        CHECK(imgr.width() == width);
        CHECK(imgr.height() == height);
 
 
        // Close all devices
        CHECK(ddl.close());
        CHECK(ddr.close());
        CHECK(dd.close());
    }
 
    SECTION("test the frameGrabberCropper control")
    {
        constexpr size_t width = 320;
        constexpr size_t height = 240;
 
        // Open fakeFrameGrabber
        PolyDriver dd;
        Property p;
        p.put("device", "fakeFrameGrabber");
        p.put("width", static_cast<int>(width));
        p.put("height", static_cast<int>(height));
        REQUIRE(dd.open(p));
 
        // Open frameGrabberCropper left
        PolyDriver ddl;
        Property pl;
        pl.put("device","frameGrabberCropper");
        pl.put("x1", 0);
        pl.put("y1", 0);
        pl.put("x2", static_cast<int>(width - 1));
        pl.put("y2", static_cast<int>(height - 1));
        REQUIRE(ddl.open(pl));
 
        // Attach frameGrabberCropper left
        yarp::dev::IWrapper* wl = nullptr;
        REQUIRE(ddl.view(wl));
        REQUIRE(wl);
        REQUIRE(wl->attach(&dd));
 
        IFrameGrabberImage *ifgi = nullptr;
        REQUIRE(ddl.view(ifgi));
        IRgbVisualParams* rgbParams = nullptr;
        REQUIRE(dd.view(rgbParams));
        IFrameGrabberControls* ictl = nullptr;
        REQUIRE(dd.view(ictl));
        IFrameGrabberControlsDC1394* ictl1394 = nullptr;
        REQUIRE(dd.view(ictl1394));
 
        yarp::dev::tests::exec_IFrameGrabberImage_test_1(ifgi);
        yarp::dev::tests::exec_IRgbVisualParams_test_1(rgbParams);
        yarp::dev::tests::exec_IFrameGrabberControls_test_1(ictl);
        yarp::dev::tests::exec_IFrameGrabberControlsDC1394_test_1(ictl1394);
 
        // Close all devices
        CHECK(ddl.close());
        CHECK(dd.close());
    }
 
    Network::setLocalMode(false);
}