initial commit

event_camera_simulator/esim_unrealcv_bridge/test/test_unrealcv_bridge.cpp

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+#include <esim/unrealcv_bridge/unrealcv_bridge.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+using boost::asio::ip::tcp;
+using namespace std;
+
+int main() {
+  event_camera_simulator::UnrealCvClient client("localhost", "9000");
+
+  cv::namedWindow("Image", cv::WINDOW_AUTOSIZE );
+  cv::namedWindow("Depthmap", cv::WINDOW_AUTOSIZE );
+
+  for(double y = 0.0; y<100.0; y+=10.0)
+  {
+    event_camera_simulator::CameraData test = {0,
+                                               0.0,
+                                               0.0,
+                                               0.0,
+                                               0.0,
+                                               y,
+                                               100.0};
+
+    client.setCamera(test);
+    cv::Mat img = client.getImage(0);
+    cv::imshow("Image", img);
+
+    cv::Mat depthmap = client.getDepth(0);
+    cv::normalize(depthmap, depthmap, 0, 255, cv::NORM_MINMAX, CV_8U);
+    cv::imshow("Depthmap", depthmap);
+
+    cv::waitKey(10);
+  }
+
+  return 0;
+}