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[render] Add unit test gflags for show_window (#20143)
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It's nice to be able to debug show_window without rebuilding.

Adjust the vtk unit test rule for macOS tests to opt-in instead of opt-out.
While pushing this commit through CI, we saw even more spurious failures.
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@jwnimmer-tri
jwnimmer-tri authored Sep 8, 2023
1 parent df39f12 commit 7669bdf
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Showing 3 changed files with 49 additions and 58 deletions.
30 changes: 17 additions & 13 deletions geometry/render_gl/test/internal_render_engine_gl_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
#include <optional>
#include <unordered_map>

#include <gflags/gflags.h>
#include <gtest/gtest.h>

// To ease build system upkeep, we annotate VTK includes with their deps.
Expand All @@ -24,6 +25,8 @@
#include "drake/systems/sensors/color_palette.h"
#include "drake/systems/sensors/image.h"

DEFINE_bool(show_window, false, "Display render windows locally for debugging");

namespace drake {
namespace geometry {
namespace render_gl {
Expand Down Expand Up @@ -98,7 +101,6 @@ const double kClipFar = 100.0;
const double kZNear = 0.1;
const double kZFar = 5.;
const double kFovY = M_PI_4;
const bool kShowWindow = false;

// Each channel of the color image must be within the expected color +/- 1
// (where each channel is in the range [0, 255]).
Expand Down Expand Up @@ -235,7 +237,8 @@ class RenderEngineGlTest : public ::testing::Test {
if (!renderer) renderer = renderer_.get();
const DepthRenderCamera& depth_camera =
camera_in ? *camera_in : depth_camera_;
const ColorRenderCamera color_camera(depth_camera.core(), kShowWindow);
const ColorRenderCamera color_camera(depth_camera.core(),
FLAGS_show_window);
ImageLabel16I* label = label_in ? label_in : &label_;
ImageDepth32F* depth = depth_in ? depth_in : &depth_;
ImageRgba8U* color = color_out ? color_out : &color_;
Expand Down Expand Up @@ -500,7 +503,8 @@ class RenderEngineGlTest : public ::testing::Test {
RgbaColor default_color_{kDefaultVisualColor};

// We store a reference depth camera; we can always derive a color camera
// from it; they have the same intrinsics and we grab the global kShowWindow.
// from it; they have the same intrinsics and we grab the global
// FLAGS_show_window.
const DepthRenderCamera depth_camera_{
{"unused", {kWidth, kHeight, kFovY}, {kClipNear, kClipFar}, {}},
{kZNear, kZFar}};
Expand Down Expand Up @@ -589,7 +593,7 @@ TEST_F(RenderEngineGlTest, HorizonTest) {
AngleAxisd(M_PI_2, Vector3d::UnitY())}};
Init(X_WR, true);

const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
const auto& intrinsics = camera.core().intrinsics();
// Returns y in [0, camera.height), index of horizon location in image
// coordinate system under several assumptions:
Expand Down Expand Up @@ -755,7 +759,7 @@ TEST_F(RenderEngineGlTest, TransparentSphereTest) {
default_color_ = Rgba(kDefaultVisualColor.r(), kDefaultVisualColor.g(),
kDefaultVisualColor.b(), int_alpha / 255.0);
PopulateSphereTest(&renderer);
const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
const auto& intrinsics = camera.core().intrinsics();
ImageRgba8U color(intrinsics.width(), intrinsics.height());
renderer.RenderColorImage(camera, &color);
Expand Down Expand Up @@ -1053,7 +1057,7 @@ TEST_F(RenderEngineGlTest, UnsupportedMeshConvex) {
// uint16 image is loaded to prove the existence of the conversion, but this
// test doesn't guarantee universal conversion success.
TEST_F(RenderEngineGlTest, NonUcharChannelTextures) {
const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
const auto& intrinsics = camera.core().intrinsics();
const Box box(1.999, 0.55, 0.75);
expected_label_ = RenderLabel(1);
Expand Down Expand Up @@ -1616,7 +1620,7 @@ TEST_F(RenderEngineGlTest, FallbackLight) {
props.AddProperty("phong", "diffuse", test_color); // match the plane.
props.AddProperty("label", "id", dummy_label);
const RigidTransformd X_WB(Vector3d(0, 0, 3));
const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
ImageRgba8U image(camera.core().intrinsics().width(),
camera.core().intrinsics().height());
renderer.RegisterVisual(GeometryId::get_new_id(), box, props, X_WB,
Expand Down Expand Up @@ -1693,7 +1697,7 @@ TEST_F(RenderEngineGlTest, SingleLight) {
};

// 45-degree vertical field of view.
const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
// The camera's position is p_WC = [0, 0, 3]. The ground plane lies on the
// world's x-y plane. So, the ground is 3.0 meters away from the camera. This
// will inform attenuation calculations.
Expand Down Expand Up @@ -1818,7 +1822,7 @@ TEST_F(RenderEngineGlTest, MultiLights) {

// Lights combine.
{
const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
const RigidTransformd X_WR(RotationMatrixd::MakeXRotation(M_PI),
Vector3d(0, 0, 3));
ImageRgba8U image(camera.core().intrinsics().width(),
Expand Down Expand Up @@ -1967,7 +1971,7 @@ TEST_F(RenderEngineGlTest, IntrinsicsAndRenderProperties) {

const CameraInfo ref_intrinsics{w, h, fx, fy, cx, cy};
const ColorRenderCamera ref_color_camera{
{"n/a", ref_intrinsics, {clip_n, clip_f}, {}}, kShowWindow};
{"n/a", ref_intrinsics, {clip_n, clip_f}, {}}, FLAGS_show_window};
const DepthRenderCamera ref_depth_camera{
{"n/a", ref_intrinsics, {clip_n, clip_f}, {}}, {min_depth, max_depth}};

Expand Down Expand Up @@ -2015,7 +2019,7 @@ TEST_F(RenderEngineGlTest, IntrinsicsAndRenderProperties) {
const double cy2 = h2 / 2.0 + 0.5 + offset_y;
const CameraInfo intrinsics{w2, h2, fx2, fy2, cx2, cy2};
const ColorRenderCamera color_camera{
{"n/a", intrinsics, {clip_n, clip_f}, {}}, kShowWindow};
{"n/a", intrinsics, {clip_n, clip_f}, {}}, FLAGS_show_window};
const DepthRenderCamera depth_camera{
{"n/a", intrinsics, {clip_n, clip_f}, {}}, {min_depth, max_depth}};

Expand Down Expand Up @@ -2074,7 +2078,7 @@ TEST_F(RenderEngineGlTest, IntrinsicsAndRenderProperties) {
const double n_alt = expected_object_depth_ * 0.1;
const double f_alt = expected_object_depth_ * 0.9;
const ColorRenderCamera color_camera{
{"n/a", ref_intrinsics, {n_alt, f_alt}, {}}, kShowWindow};
{"n/a", ref_intrinsics, {n_alt, f_alt}, {}}, FLAGS_show_window};
// Set depth range to clipping range so we don't take a chance with the
// depth range lying outside the clipping range.
const DepthRenderCamera depth_camera{
Expand All @@ -2098,7 +2102,7 @@ TEST_F(RenderEngineGlTest, IntrinsicsAndRenderProperties) {
const double n_alt = expected_object_depth_ + 2.1;
const double f_alt = expected_object_depth_ + 4.1;
const ColorRenderCamera color_camera{
{"n/a", ref_intrinsics, {n_alt, f_alt}, {}}, kShowWindow};
{"n/a", ref_intrinsics, {n_alt, f_alt}, {}}, FLAGS_show_window};
// Set depth range to clipping range so we don't take a chance with the
// depth range lying outside the clipping range.
const DepthRenderCamera depth_camera{
Expand Down
33 changes: 8 additions & 25 deletions geometry/render_vtk/BUILD.bazel
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Original file line number Diff line number Diff line change
Expand Up @@ -115,32 +115,15 @@ drake_cc_library(
drake_cc_googletest(
name = "internal_render_engine_vtk_test",
args = select({
# We have disabled the test cases that fail on Mac Arm CI.
# TODO(#19424) Try to re-enable the tests.
# Most test cases do not run correctly on macOS arm64 CI. We have
# selectively enabled the few test cases that actually pass.
# TODO(#19424) Try to re-enable all of the tests.
"@platforms//cpu:arm64": [
"--gtest_filter=-" + ":".join([
"RenderEngineVtkTest.BoxTest",
"RenderEngineVtkTest.CapsuleRotatedTest",
"RenderEngineVtkTest.CapsuleTest",
"RenderEngineVtkTest.CloneIndependence",
"RenderEngineVtkTest.ClonePersistence",
"RenderEngineVtkTest.CylinderTest",
"RenderEngineVtkTest.DefaultProperties_RenderLabel",
"RenderEngineVtkTest.DifferentCameras",
"RenderEngineVtkTest.EllipsoidTest",
"RenderEngineVtkTest.FallbackLight",
"RenderEngineVtkTest.GltfSupport",
"RenderEngineVtkTest.GltfTextureOrientation",
"RenderEngineVtkTest.HorizonTest",
"RenderEngineVtkTest.IntrinsicsAndRenderProperties",
"RenderEngineVtkTest.MeshTest",
"RenderEngineVtkTest.NonUcharChannelTextures",
"RenderEngineVtkTest.PreservePropertyTexturesOverClone",
"RenderEngineVtkTest.RemoveVisual",
"RenderEngineVtkTest.SimpleClone",
"RenderEngineVtkTest.SingleLight",
"RenderEngineVtkTest.SphereTest",
"RenderEngineVtkTest.TerrainTest",
"--gtest_filter=" + ":".join([
"RenderEngineVtkTest.ControlBackgroundColor",
"RenderEngineVtkTest.NoBodyTest",
"RenderEngineVtkTest.TransparentSphereTest",
"RenderEngineVtkTest.UnsupportedMeshConvex",
]),
],
"//conditions:default": [],
Expand Down
44 changes: 24 additions & 20 deletions geometry/render_vtk/test/internal_render_engine_vtk_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

#include <Eigen/Dense>
#include <fmt/format.h>
#include <gflags/gflags.h>
#include <gtest/gtest.h>

// To ease build system upkeep, we annotate VTK includes with their deps.
Expand All @@ -29,6 +30,14 @@
#include "drake/systems/sensors/image.h"
#include "drake/systems/sensors/test_utilities/image_compare.h"

/* Note: enabling this causes failures with two tests. Try running as:
bazel test //geometry/render_vtk:internal_render_engine_vtk_test \
--test_filter=-*DifferentCameras:*Intrinsics*
to get past the aberrant tests; they *should* pass with this disabled. */
DEFINE_bool(show_window, false, "Display render windows locally for debugging");

namespace drake {
namespace geometry {
namespace render_vtk {
Expand Down Expand Up @@ -69,13 +78,6 @@ const double kClipFar = 100.0;
const double kZNear = 0.5;
const double kZFar = 5.;
const double kFovY = M_PI_4;
/* Note: enabling this causes failures with two tests. Try running as:
bazel test //geometry/render_vtk:internal_render_engine_vtk_test \
--test_filter=-*DifferentCameras:*Intrinsics*
to get past the aberrant tests; they *should* pass with this disabled. */
const bool kShowWindow = false;

// The following tolerance is used due to a precision difference between Ubuntu
// Linux and Mac OSX.
Expand Down Expand Up @@ -234,7 +236,8 @@ class RenderEngineVtkTest : public ::testing::Test {
if (!renderer) renderer = renderer_.get();
const DepthRenderCamera& depth_camera =
camera_in ? *camera_in : depth_camera_;
const ColorRenderCamera color_camera(depth_camera.core(), kShowWindow);
const ColorRenderCamera color_camera(depth_camera.core(),
FLAGS_show_window);
ImageRgba8U* color = color_out ? color_out : &color_;
ImageDepth32F* depth = depth_out ? depth_out : &depth_;
ImageLabel16I* label = label_out ? label_out : &label_;
Expand Down Expand Up @@ -499,7 +502,8 @@ class RenderEngineVtkTest : public ::testing::Test {
RgbaColor default_color_{kDefaultVisualColor, 255};

// We store a reference depth camera; we can always derive a color camera
// from it; they have the same intrinsics and we grab the global kShowWindow.
// from it; they have the same intrinsics and we grab the global
// FLAGS_show_window.
const DepthRenderCamera depth_camera_{
{"unused", {kWidth, kHeight, kFovY}, {kClipNear, kClipFar}, {}},
{kZNear, kZFar}};
Expand Down Expand Up @@ -583,7 +587,7 @@ TEST_F(RenderEngineVtkTest, HorizonTest) {
AngleAxisd(M_PI_2, Vector3d::UnitY())}};
Init(X_WR, true);

const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
const auto& intrinsics = camera.core().intrinsics();
// Returns y in [0, camera.height), index of horizon location in image
// coordinate system under several assumptions:
Expand Down Expand Up @@ -736,7 +740,7 @@ TEST_F(RenderEngineVtkTest, TransparentSphereTest) {
const int int_alpha = 128;
default_color_ = RgbaColor(kDefaultVisualColor, int_alpha);
PopulateSphereTest(&renderer);
const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
const auto& intrinsics = camera.core().intrinsics();
ImageRgba8U color(intrinsics.width(), intrinsics.height());
renderer.RenderColorImage(camera, &color);
Expand Down Expand Up @@ -987,7 +991,7 @@ TEST_F(RenderEngineVtkTest, GltfTextureOrientation) {
false /* needs update */);
ImageRgba8U image(64, 64);
const ColorRenderCamera camera(
{"unused", {64, 64, kFovY / 2}, {0.01, 10}, {}}, kShowWindow);
{"unused", {64, 64, kFovY / 2}, {0.01, 10}, {}}, FLAGS_show_window);
renderer_->RenderColorImage(camera, &image);

ImageRgba8U expected_image;
Expand Down Expand Up @@ -1123,7 +1127,7 @@ TEST_F(RenderEngineVtkTest, UnsupportedMeshConvex) {
// uint16 image is loaded to prove the existence of the conversion, but this
// test doesn't guarantee universal conversion success.
TEST_F(RenderEngineVtkTest, NonUcharChannelTextures) {
const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
const auto& intrinsics = camera.core().intrinsics();
const Box box(1.999, 0.55, 0.75);
expected_label_ = RenderLabel(1);
Expand Down Expand Up @@ -1582,7 +1586,7 @@ TEST_F(RenderEngineVtkTest, FallbackLight) {
props.AddProperty("phong", "diffuse", test_color); // match the plane.
props.AddProperty("label", "id", dummy_label);
const RigidTransformd X_WB(Vector3d(0, 0, 3));
const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
ImageRgba8U image(camera.core().intrinsics().width(),
camera.core().intrinsics().height());
renderer.RegisterVisual(GeometryId::get_new_id(), box, props, X_WB,
Expand Down Expand Up @@ -1666,7 +1670,7 @@ TEST_F(RenderEngineVtkTest, SingleLight) {
};

// 45-degree vertical field of view.
const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
// The camera's position is p_WC = [0, 0, 3]. The ground plane lies on the
// world's x-y plane. So, the ground is 3.0 meters away from the camera. This
// will inform attenuation calculations.
Expand Down Expand Up @@ -1783,7 +1787,7 @@ TEST_F(RenderEngineVtkTest, SingleLight) {
// lights than RenderEngineGl allows for to confirm that RenderEngineVtk doesn't
// share the limit.
TEST_F(RenderEngineVtkTest, MultiLights) {
const ColorRenderCamera camera(depth_camera_.core(), kShowWindow);
const ColorRenderCamera camera(depth_camera_.core(), FLAGS_show_window);
const RigidTransformd X_WR(RotationMatrixd::MakeXRotation(M_PI),
Vector3d(0, 0, 3));
ImageRgba8U image(camera.core().intrinsics().width(),
Expand Down Expand Up @@ -1939,7 +1943,7 @@ TEST_F(RenderEngineVtkTest, IntrinsicsAndRenderProperties) {

const CameraInfo ref_intrinsics{w, h, fx, fy, cx, cy};
const ColorRenderCamera ref_color_camera{
{"n/a", ref_intrinsics, {clip_n, clip_f}, {}}, kShowWindow};
{"n/a", ref_intrinsics, {clip_n, clip_f}, {}}, FLAGS_show_window};
const DepthRenderCamera ref_depth_camera{
{"n/a", ref_intrinsics, {clip_n, clip_f}, {}}, {min_depth, max_depth}};

Expand Down Expand Up @@ -1987,7 +1991,7 @@ TEST_F(RenderEngineVtkTest, IntrinsicsAndRenderProperties) {
const double cy2 = h2 / 2.0 + 0.5 + offset_y;
const CameraInfo intrinsics{w2, h2, fx2, fy2, cx2, cy2};
const ColorRenderCamera color_camera{
{"n/a", intrinsics, {clip_n, clip_f}, {}}, kShowWindow};
{"n/a", intrinsics, {clip_n, clip_f}, {}}, FLAGS_show_window};
const DepthRenderCamera depth_camera{
{"n/a", intrinsics, {clip_n, clip_f}, {}}, {min_depth, max_depth}};

Expand Down Expand Up @@ -2046,7 +2050,7 @@ TEST_F(RenderEngineVtkTest, IntrinsicsAndRenderProperties) {
const double n_alt = expected_object_depth_ * 0.1;
const double f_alt = expected_object_depth_ * 0.9;
const ColorRenderCamera color_camera{
{"n/a", ref_intrinsics, {n_alt, f_alt}, {}}, kShowWindow};
{"n/a", ref_intrinsics, {n_alt, f_alt}, {}}, FLAGS_show_window};
// Set depth range to clipping range so we don't take a chance with the
// depth range lying outside the clipping range.
const DepthRenderCamera depth_camera{
Expand All @@ -2070,7 +2074,7 @@ TEST_F(RenderEngineVtkTest, IntrinsicsAndRenderProperties) {
const double n_alt = expected_object_depth_ + 2.1;
const double f_alt = expected_object_depth_ + 4.1;
const ColorRenderCamera color_camera{
{"n/a", ref_intrinsics, {n_alt, f_alt}, {}}, kShowWindow};
{"n/a", ref_intrinsics, {n_alt, f_alt}, {}}, FLAGS_show_window};
// Set depth range to clipping range so we don't take a chance with the
// depth range lying outside the clipping range.
const DepthRenderCamera depth_camera{
Expand Down

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