test_calib_chest.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-

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# Author: Isaac I.Y. Saito

import numpy
import unittest

import time
import rospy
import tf
from tf.transformations import quaternion_from_euler

class TestNxoCalib(unittest.TestCase):

    def setUp(self):
        rospy.init_node('test_calib')
        self.tflistener = tf.TransformListener()
        # wait for tf
        time.sleep(2) # need to wait to initialize listener
        while len(self.tflistener.getFrameStrings()) < 10:
            time.sleep(2) # need to wait to initialize listener
            rospy.loginfo(self.tflistener.getFrameStrings())
        rospy.loginfo(self.tflistener.getFrameStrings())

    def tearDown(self):
        True  #TODO impl something meaningful

    def test_tf_head_checkerboard_chest(self):
        '''
        @summary: Check if the translation between 2 frames, head and
                  the camera mounted on top of the head, fall into the intended
                  range. See the image if you want to get an idea of these 2
                  frames: https://cloud.githubusercontent.com/assets/3119480/22644078/8858459c-eca4-11e6-9fb5-4b624d79d499.png
        '''
        FRAME_CAMERA = "/camera_link"
        FRAME_HEAD = "/HEAD_JOINT1_Link"
        TRANS_EXPECTED = [0.103, -0.023, 0.171]
        QUARTERNION_EXPECTED = [0.002, 0.706, -0.002, 0.708]

        # frameExisits does not work with tf_static?
        #self.assertTrue(self.tflistener.frameExists(FRAME_HEAD))
        rospy.loginfo("Check if {} exists".format(FRAME_HEAD))
        self.assertTrue(self.tflistener.lookupTransform(FRAME_HEAD, FRAME_HEAD, rospy.Time(0)), "Frame {} does not exists".format(FRAME_HEAD))
        rospy.loginfo("Check if {} exists".format(FRAME_CAMERA))
        self.assertTrue(self.tflistener.lookupTransform(FRAME_CAMERA, FRAME_CAMERA, rospy.Time(0)), "Frame {} does not exists".format(FRAME_CAMERA))

        return True
        # TODO need to find checker board within travis
        t = None
        while t == None:
            try :
                time.sleep(2) # need to wait to initialize listener
                rospy.loginfo("Get common time between {} and {}".format(FRAME_HEAD, FRAME_CAMERA))
                t = self.tflistener.getLatestCommonTime(FRAME_HEAD, FRAME_CAMERA)
                rospy.loginfo(t)
            except:
                pass
        # These tests are too difficult
        pos, quaternion = self.tflistener.lookupTransform(FRAME_HEAD, FRAME_CAMERA, t)
        numpy.testing.assert_almost_equal(pos, TRANS_EXPECTED, 2)
        numpy.testing.assert_almost_equal(quaternion, QUARTERNION_EXPECTED, 2)

if __name__ == '__main__':
    import rostest
    rostest.rosrun('nextage_calibration', 'test_calib', TestNxoCalib)