TEST(SCENE_SEGMENTER_TEST_NODE, TestTableSceneSegmentation) {
scene_segmenter_node_test::TestSceneSegmenterNode test_node = buildTestNode();
sensor_msgs::PointCloud2 scene = buildTestScene();
test_node.scenePublisher.publish(scene);
double startTimeInSeconds =ros::Time::now().toSec();
while(!test_node.hasReceivedMessage)
{
ros::spinOnce();
double currentTimeInSeconds =ros::Time::now().toSec();
//we should have received a message by now, something is wrong.
if(currentTimeInSeconds-startTimeInSeconds > 5)
{
break;
}
}
EXPECT_EQ(test_node.hasReceivedMessage, true);
EXPECT_EQ(test_node.sizeOfReceivedSegmentedObjectList, 5);
}
void checkRunRendererRunning()
{
// GIVEN
Qt3DRender::Render::FilterCompatibleTechniqueJob backendFilterCompatibleTechniqueJob;
Qt3DRender::TestAspect testAspect(buildTestScene());
// WHEN
Qt3DRender::Render::NodeManagers *nodeManagers = testAspect.nodeManagers();
QVERIFY(nodeManagers);
Qt3DRender::Render::TechniqueManager *techniqueManager = nodeManagers->techniqueManager();
QVERIFY(techniqueManager);
backendFilterCompatibleTechniqueJob.setManager(techniqueManager);
backendFilterCompatibleTechniqueJob.setRenderer(testAspect.renderer());
testAspect.initializeRenderer();
// THEN
QCOMPARE(testAspect.renderer()->isRunning(), true);
QCOMPARE(testAspect.renderer()->graphicsContext()->isInitialized(), true);
const QVector<Qt3DRender::Render::HTechnique> handles = testAspect.nodeManagers()->techniqueManager()->activeHandles();
QCOMPARE(handles.size(), 3);
// WHEN
backendFilterCompatibleTechniqueJob.run();
// THEN -> empty if job ran properly
const QVector<Qt3DCore::QNodeId> dirtyTechniquesId = testAspect.nodeManagers()->techniqueManager()->takeDirtyTechniques();
QCOMPARE(dirtyTechniquesId.size(), 0);
// Check at least one technique is valid
bool foundValid = false;
for (const auto handle: handles) {
Qt3DRender::Render::Technique *technique = testAspect.nodeManagers()->techniqueManager()->data(handle);
foundValid |= technique->isCompatibleWithRenderer();
}
QCOMPARE(foundValid, true);
}