Public Member Functions
def	__init__
def	compute_cartesian
def	extrinsics_cb
def	image_cb
def	test_camera
Public Attributes
	bridge_
	cloud_
	cloud_sub_
	extrinsics_
	extrinsics_sub_
	rdis_
	rdis_sub_
	success
	uvec_
	uvec_sub_

Detailed Description

This class tests the following:
  - Getting data from the camera
  - Computing the Cartesian data and comparing it to ground truth
  - To do the comparison to ground truther, the computed cartesian data
    must also be transformed, to do that we use the tf2 API and hence The
    transform from the optical frame to the camera frame that we are
    publishing is also tested.

NOTE: The camera h/w is needed to run this test.

Definition at line 17 of file test_camera.py.

Constructor & Destructor Documentation

def test_camera.TestCamera.__init__	(	self,
		args
	)

Definition at line 30 of file test_camera.py.

Member Function Documentation

def test_camera.TestCamera.compute_cartesian ( self )

Computes the Cartesian data from the radial distance image, unit
vectors, and extrinsics. Then transforms it to the camera frame using
the tf2 api. Once transformed, it will do a pixel-by-pixel comparision
to ground truth.

Returns a bool indicating the the success of the computation.

Definition at line 100 of file test_camera.py.