Merge branch 'ign-sensors3' into ahcorde/3/coverage_noise

gazebosim · Oct 26, 2022 · 0ce7e36 · 0ce7e36
2 parents 44e8d87 + adeb660
commit 0ce7e36
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Showing 17 changed files with 180 additions and 114 deletions.
diff --git a/src/AirPressureSensor.cc b/src/AirPressureSensor.cc
@@ -15,14 +15,14 @@
  *
 */
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
 #endif
 #include <ignition/msgs/fluid_pressure.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
+#if defined(_MSC_VER)
+  #pragma warning(pop)
 #endif
 
 #include <ignition/common/Profiler.hh>

diff --git a/src/AltimeterSensor.cc b/src/AltimeterSensor.cc
@@ -15,6 +15,16 @@
  *
 */
 
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
+#endif
+#include <ignition/msgs/altimeter_sensor.pb.h>
+#if defined(_MSC_VER)
+  #pragma warning(pop)
+#endif
+
 #include <ignition/common/Profiler.hh>
 #include <ignition/transport/Node.hh>
 

diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc
@@ -14,14 +14,14 @@
  * limitations under the License.
  *
 */
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
 #endif
 #include <ignition/msgs/camera_info.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
+#if defined(_MSC_VER)
+  #pragma warning(pop)
 #endif
 
 #include <mutex>

diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
@@ -14,14 +14,14 @@
  * limitations under the License.
  *
 */
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
 #endif
 #include <ignition/msgs/pointcloud_packed.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
+#if defined(_MSC_VER)
+  #pragma warning(pop)
 #endif
 
 #include <mutex>

diff --git a/src/GpuLidarSensor.cc b/src/GpuLidarSensor.cc
@@ -14,15 +14,14 @@
  * limitations under the License.
  *
 */
-
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
 #endif
 #include <ignition/msgs/pointcloud_packed.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
+#if defined(_MSC_VER)
+  #pragma warning(pop)
 #endif
 
 #include <ignition/common/Console.hh>

diff --git a/src/ImageGaussianNoiseModel.cc b/src/ImageGaussianNoiseModel.cc
@@ -22,19 +22,10 @@
 
 #include <ignition/common/Console.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
-// warnings
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4251)
-#endif
 #include <ignition/rendering/GaussianNoisePass.hh>
 #include <ignition/rendering/RenderPass.hh>
 #include <ignition/rendering/RenderEngine.hh>
 #include <ignition/rendering/RenderPassSystem.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 
 #include "ignition/sensors/ImageGaussianNoiseModel.hh"
 

diff --git a/src/ImuSensor.cc b/src/ImuSensor.cc
@@ -14,14 +14,14 @@
  * limitations under the License.
  *
 */
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
 #endif
 #include <ignition/msgs/imu.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
+#if defined(_MSC_VER)
+  #pragma warning(pop)
 #endif
 
 #include <ignition/common/Profiler.hh>

diff --git a/src/ImuSensor_TEST.cc b/src/ImuSensor_TEST.cc
@@ -14,19 +14,20 @@
  * limitations under the License.
  *
  */
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
+#endif
+#include <ignition/msgs.hh>
+#if defined(_MSC_VER)
+  #pragma warning(pop)
+#endif
+
 #include <gtest/gtest.h>
 #include <sdf/sdf.hh>
 
 #include <ignition/math/Helpers.hh>
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <ignition/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 
 #include <ignition/sensors/Export.hh>
 #include <ignition/sensors/ImuSensor.hh>

diff --git a/src/Lidar.cc b/src/Lidar.cc
@@ -14,6 +14,16 @@
  * limitations under the License.
  *
 */
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
+#endif
+#include <ignition/msgs/laserscan.pb.h>
+#if defined(_MSC_VER)
+  #pragma warning(pop)
+#endif
+
 #include <ignition/common/Console.hh>
 #include <ignition/common/Event.hh>
 #include <ignition/common/Profiler.hh>

diff --git a/src/Lidar_TEST.cc b/src/Lidar_TEST.cc
@@ -14,20 +14,20 @@
  * limitations under the License.
  *
 */
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
+#endif
+#include <ignition/msgs.hh>
+#if defined(_MSC_VER)
+  #pragma warning(pop)
+#endif
 #include <gtest/gtest.h>
 #include <sdf/sdf.hh>
 
 #include <ignition/math/Angle.hh>
 #include <ignition/math/Helpers.hh>
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <ignition/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 
 #include <ignition/sensors/Export.hh>
 #include <ignition/sensors/Manager.hh>
@@ -140,6 +140,8 @@ TEST(Lidar_TEST, CreateLaser)
   ignition::sensors::Lidar *sensor = mgr.CreateSensor<ignition::sensors::Lidar>(
       lidarSDF);
 
+  EXPECT_FALSE(sensor->CreateLidar());
+
   // Make sure the above dynamic cast worked.
   ASSERT_NE(nullptr, sensor);
 
@@ -162,6 +164,70 @@ TEST(Lidar_TEST, CreateLaser)
   EXPECT_TRUE(sensor->IsActive());
 }
 
+TEST(Lidar_TEST, CreateLaserFailures)
+{
+  sdf::Sensor sdfSensor;
+  sdfSensor.SetType(sdf::SensorType::CAMERA);
+  sdf::Lidar sdfLidarSensor;
+
+  ignition::sensors::Lidar sensor;
+  EXPECT_FALSE(sensor.Load(sdfSensor));
+
+  EXPECT_DOUBLE_EQ(0.0, sensor.Range(-1));
+  EXPECT_DOUBLE_EQ(0.0, sensor.Range(0));
+
+  EXPECT_FALSE(sensor.IsHorizontal());
+  EXPECT_DOUBLE_EQ(640, sensor.RangeCountRatio());
+  sensor.SetAngleMax(0.707);
+  sensor.SetAngleMin(-0.707);
+  EXPECT_DOUBLE_EQ(-0.707, sensor.AngleMin().Radian());
+  EXPECT_DOUBLE_EQ(0.707, sensor.AngleMax().Radian());
+
+  sensor.SetVerticalAngleMax(0.707);
+  sensor.SetVerticalAngleMin(-0.707);
+  EXPECT_DOUBLE_EQ(-0.707, sensor.VerticalAngleMin().Radian());
+  EXPECT_DOUBLE_EQ(0.707, sensor.VerticalAngleMax().Radian());
+
+  sensor.ApplyNoise();
+
+  sdfSensor.SetType(sdf::SensorType::LIDAR);
+  sdfSensor.SetLidarSensor(sdfLidarSensor);
+
+  ignition::sensors::Lidar sensor2;
+
+  EXPECT_TRUE(sensor2.Load(sdfSensor));
+  EXPECT_FALSE(sensor2.Load(sdfSensor));
+
+  ignition::sensors::Lidar sensor3;
+
+  sdfLidarSensor.SetHorizontalScanSamples(0);
+  sdfSensor.SetLidarSensor(sdfLidarSensor);
+  EXPECT_TRUE(sensor3.Load(sdfSensor));
+
+  sdfLidarSensor.SetHorizontalScanSamples(20);
+
+  sdf::Noise noise;
+  noise.SetType(sdf::NoiseType::GAUSSIAN);
+  noise.SetMean(1.2);
+  noise.SetStdDev(2.3);
+  noise.SetBiasMean(4.5);
+  noise.SetBiasStdDev(6.7);
+  noise.SetPrecision(8.9);
+
+  sdfLidarSensor.SetLidarNoise(noise);
+  sdfSensor.SetLidarSensor(sdfLidarSensor);
+  ignition::sensors::Lidar sensor4;
+  EXPECT_TRUE(sensor4.Load(sdfSensor));
+
+  noise.SetType(sdf::NoiseType::GAUSSIAN_QUANTIZED);
+  sdfLidarSensor.SetLidarNoise(noise);
+  sdfSensor.SetLidarSensor(sdfLidarSensor);
+  ignition::sensors::Lidar sensor5;
+  EXPECT_TRUE(sensor5.Load(sdfSensor));
+
+  sensor.Update(ignition::common::Time(0.1));
+}
+
 //////////////////////////////////////////////////
 int main(int argc, char **argv)
 {

diff --git a/src/LogicalCameraSensor.cc b/src/LogicalCameraSensor.cc
@@ -14,6 +14,15 @@
  * limitations under the License.
  *
 */
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
+#endif
+#include <ignition/msgs/logical_camera_image.pb.h>
+#if defined(_MSC_VER)
+  #pragma warning(pop)
+#endif
 
 #include <mutex>
 

diff --git a/src/MagnetometerSensor.cc b/src/MagnetometerSensor.cc
@@ -14,15 +14,14 @@
  * limitations under the License.
  *
 */
-
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
 #endif
-#include <ignition/msgs/magnetometer.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
+#include <ignition/msgs/magnetometer_sensor.pb.h>
+#if defined(_MSC_VER)
+  #pragma warning(pop)
 #endif
 
 #include <ignition/common/Profiler.hh>

diff --git a/src/PointCloudUtil.hh b/src/PointCloudUtil.hh
@@ -18,14 +18,14 @@
 #ifndef IGNITION_SENSORS_POINTCLOUDUTIL_HH_
 #define IGNITION_SENSORS_POINTCLOUDUTIL_HH_
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
 #endif
 #include <ignition/msgs/pointcloud_packed.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
+#if defined(_MSC_VER)
+  #pragma warning(pop)
 #endif
 #include <ignition/math/Angle.hh>
 

diff --git a/src/RenderingSensor.cc b/src/RenderingSensor.cc
@@ -17,16 +17,7 @@
 
 #include <ignition/common/Profiler.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
-// warnings
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4251)
-#endif
 #include <ignition/rendering/Camera.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 
 #include "ignition/sensors/RenderingSensor.hh"
 
@@ -112,4 +103,3 @@ void RenderingSensor::Render()
     }
   }
 }
-