jsk_pcl_ros: test_cluster_point_indices_decomposer

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00001 #!/usr/bin/env python
00002 # -*- coding: utf-8 -*-
00003 
00004 import math
00005 import sys
00006 import unittest
00007 
00008 from nose.tools import assert_false
00009 from nose.tools import assert_true
00010 
00011 from jsk_recognition_msgs.msg import BoundingBoxArray
00012 import rospy
00013 import rostest
00014 
00015 
00016 PKG = 'jsk_pcl_ros'
00017 NAME = 'test_cluster_point_indices_decomposer_box'
00018 
00019 
00020 class TestClusterPointIndicesDecomposerBbox(unittest.TestCase):
00021     def __init__(self, *args):
00022         super(TestClusterPointIndicesDecomposerBbox, self).__init__(*args)
00023         rospy.init_node(NAME)
00024         self.check_times = rospy.get_param('~check_times', 1)
00025 
00026     def test_bbox(self):
00027         is_boxes_empty = True
00028         for i in range(self.check_times):
00029             msg = rospy.wait_for_message("~boxes", BoundingBoxArray)
00030             for box in msg.boxes:
00031                 is_boxes_empty = False
00032                 assert_false(math.isnan(box.pose.position.x),
00033                              'pose.position.x is nan')
00034                 assert_false(math.isnan(box.pose.position.y),
00035                              'pose.position.y is nan')
00036                 assert_false(math.isnan(box.pose.position.z),
00037                              'pose.position.z is nan')
00038                 assert_false(math.isnan(box.pose.orientation.x),
00039                              'pose.orientation.x is nan')
00040                 assert_false(math.isnan(box.pose.orientation.y),
00041                              'pose.orientation.y is nan')
00042                 assert_false(math.isnan(box.pose.orientation.z),
00043                              'pose.orientation.z is nan')
00044                 assert_false(math.isnan(box.pose.orientation.w),
00045                              'pose.orientation.w is nan')
00046                 assert_false(math.isnan(box.dimensions.x),
00047                              'dimensions.x is nan')
00048                 assert_false(math.isnan(box.dimensions.y),
00049                              'dimensions.y is nan')
00050                 assert_false(math.isnan(box.dimensions.z),
00051                              'dimensions.z is nan')
00052                 assert_true(box.dimensions.x != 0, 'dimensions.x is 0')
00053                 assert_true(box.dimensions.y != 0, 'dimensions.y is 0')
00054                 assert_true(box.dimensions.z != 0, 'dimensions.z is 0')
00055         assert_true(
00056             not is_boxes_empty,
00057             'Bboxes array is always empty in %d trials' % self.check_times
00058         )
00059 
00060 
00061 if __name__ == '__main__':
00062     rostest.run(PKG, NAME, TestClusterPointIndicesDecomposerBbox, sys.argv)