test_ar.py

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

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import math
import unittest

from geometry_msgs.msg import Pose
import rospy
import tf
from tf.transformations import quaternion_from_euler

class TestArAlvarRos(unittest.TestCase):
    '''
    Tests are based on http://download.ros.org/data/ar_track_alvar/ar_track_alvar_4markers_tork_2017-01-30-15-03-19.bag
    '''

    def setUp(self):
        rospy.init_node('test_armarker_ros_detect')
        self.tflistener = tf.TransformListener()

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

    def _lookup_tf(self, origin, target):
        '''
        DEPRECATED: This does not return meaningful values for some reason.
        @param origin: lookupTransform's 1st argument.
        @param target: lookupTransform's 2nd argument.
        @rtype: ([str], [str])
        @return: Translation and rotation.
        '''
        while not rospy.is_shutdown():
            try:
                (trans,rot) = self.tflistener.lookupTransform(origin, target, rospy.Time(0))
                break
            except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException) as e:
                rospy.logerr(str(e) + ' target={}'.format(target))
                continue
        return (trans, rot)
        
    def test_markers(self):
        '''
        Aiming the real output taken from a bag file.
        '''
        # The values in this list are ordered in the marker's number. 
        tf_expected = [[[0.04464459977845401, 0.05341412598745035, 0.26796900627543024], [0.6726999185589797, 0.7391474391806558, -0.01739267319701629, -0.028868280906256056]],
                       [[-0.04805772245624329, 0.039528315926071665, 0.26775882622136327], [0.48207151562664247, 0.8758763282975102, -0.016363763970395625, -0.013414118615296202]],
                       [[0.007233278235745441, 0.015615692018491452, 0.26619586686955365], [0.08546919545682985, 0.9959809257461487, -0.0001615529469785548, -0.02677659572186436]],
                       [[0.06223014382428272, 0.014613815037010106, 0.26226145707174475], [-0.46400320825216246, 0.8850390875261293, 0.032644264656690035, -0.018471282241381157]]]
        for i in range (0, len(tf_expected)):
            while not rospy.is_shutdown():
                try:
                    target_frame = '/ar_marker_{}'.format(i)
                    (trans, rot) = self.tflistener.lookupTransform('/camera', target_frame, rospy.Time(0))
                    break
                except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException) as e:
                    rospy.logerr(str(e) + ' target_frame={}'.format(target_frame))
                    continue
            # Compare each translation element (x, y, z) 
            for v_ret, v_expected in zip(trans, tf_expected[i][0]):
                self.assertAlmostEqual(v_ret, v_expected, 2)
            # Compare each orientation element (x, y, z, w) 
            for v_ret, v_expected in zip(rot, tf_expected[i][1]):
                self.assertAlmostEqual(v_ret, v_expected, 2)

if __name__ == '__main__':
    import rostest
    rostest.rosrun('ar_track_alvar', 'test_ar_alvar_ros', TestArAlvarRos)