added new object to recognition test to see if objects perpendicular to

camera, which are only partially visible are recognized

tests/api/controllers/camera_recognition/camera_recognition.c

@@ -9,15 +9,15 @@
 #include "../../../lib/ts_utils.h"
 
 #define TIME_STEP 32
-#define VISIBLE_SOLID_NUMBER 6
+#define VISIBLE_SOLID_NUMBER 7
 
 // This test is mainly testing the functionalities for a planar camera.
 // Some basic tests for spherical and cylindrical cameras are also performed checking mainly
 // the number of visible objects and the position on camera.
 
 // objects visible in planar camera
 static const char *visible_solid_models[VISIBLE_SOLID_NUMBER] = {
-  "visible sphere", "visible box", "sub solid", "visible capsule", "composed solid", "visible sphere without BO"};
+  "visible sphere", "visible box", "sub solid", "visible capsule", "composed solid", "visible sphere without BO", "perpendicular box"};
 
 static const char *occcluded_solid_model = "occluded box";
 
@@ -45,12 +45,14 @@ int main(int argc, char **argv) {
                       VISIBLE_SOLID_NUMBER + 1, object_number);
 
   object_number = wb_camera_recognition_get_number_of_objects(camera_spherical);
-  ts_assert_int_equal(object_number, 10, "The spherical camera should initially see %d objects and not %d (with occlusion).", 9,
-                      object_number);
+  ts_assert_int_equal(object_number, VISIBLE_SOLID_NUMBER + 4,
+    "The spherical camera should initially see %d objects and not %d (with occlusion).", VISIBLE_SOLID_NUMBER + 4,
+    object_number);
 
   object_number = wb_camera_recognition_get_number_of_objects(camera_cylindrical);
-  ts_assert_int_equal(object_number, 8, "The cylindrical camera should initially see %d objects and not %d (with occlusion).",
-                      7, object_number);
+  ts_assert_int_equal(object_number, VISIBLE_SOLID_NUMBER + 2,
+    "The cylindrical camera should initially see %d objects and not %d (with occlusion).",
+    VISIBLE_SOLID_NUMBER + 2, object_number);
 
   // enable occlusion
   WbNodeRef recognition_node = wb_supervisor_node_get_from_def("RECOGNITION");

tests/api/worlds/camera_recognition.wbt

@@ -288,6 +288,28 @@ Solid {
     0 0 1
   ]
 }
+Solid {
+  translation -1.0 1.6 -2.25
+  rotation 0.599079 0.531234 0.599078 -2.82327
+  children [
+    Shape {
+      appearance Appearance {
+        material Material {
+          diffuseColor 0.756863 0.207843 0.207843
+        }
+      }
+      geometry DEF BOX Box {
+        size 0.9 1.9 0.1
+      }
+    }
+  ]
+  name "solid(10)"
+  model "perpendicular box"
+  boundingObject USE BOX
+  recognitionColors [
+    0.756863 0.207843 0.207843
+  ]
+}
 Robot {
   translation -0.116489 0.196931 -0.132093
   rotation 0.6457879227325559 0.5398879322844559 0.5398879322844559 1.36968