Go to the documentation of this file.00001
00002
00003 #include <ros/ros.h>
00004 #include <sensor_msgs/CameraInfo.h>
00005 #include <sensor_msgs/Image.h>
00006 #include <gtest/gtest.h>
00007
00008 sensor_msgs::Image g_image;
00009 sensor_msgs::CameraInfo g_camera_info;
00010
00011 void ImageCallback(const sensor_msgs::Image::ConstPtr& image)
00012 {
00013 g_image = *image;
00014 }
00015
00016 void InfoCallback(const sensor_msgs::CameraInfo::ConstPtr& info)
00017 {
00018 g_camera_info = *info;
00019 }
00020
00021 TEST(CvCameraNode, getImage)
00022 {
00023 ros::NodeHandle node;
00024 ros::Subscriber sub = node.subscribe("/cv_camera_no_yaml/image_raw",
00025 1,
00026 &ImageCallback);
00027 ros::Rate r(10.0);
00028 while (sub.getNumPublishers() == 0) {
00029 r.sleep();
00030 }
00031 while (g_image.header.frame_id == "") {
00032 ros::spinOnce();
00033 r.sleep();
00034 }
00035 EXPECT_EQ("camera2", g_image.header.frame_id);
00036 EXPECT_EQ(480, g_image.height);
00037 EXPECT_EQ(640, g_image.width);
00038 EXPECT_EQ("bgr8", g_image.encoding);
00039 }
00040
00041 TEST(CvCameraNode, getCameraInfo)
00042 {
00043 ros::NodeHandle node;
00044 ros::Subscriber sub = node.subscribe("/cv_camera_no_yaml/camera_info",
00045 1,
00046 &InfoCallback);
00047 ros::Rate r(10.0);
00048 while (sub.getNumPublishers() == 0) {
00049 r.sleep();
00050 }
00051 while (g_camera_info.header.frame_id == "") {
00052 ros::spinOnce();
00053 r.sleep();
00054 }
00055 EXPECT_EQ("camera2", g_camera_info.header.frame_id);
00056
00057 EXPECT_EQ(9, g_camera_info.K.size());
00058 EXPECT_NEAR(0.0, g_camera_info.K.at(0), 0.001);
00059 EXPECT_NEAR(0.0, g_camera_info.K.at(1), 0.001);
00060 EXPECT_NEAR(0.0, g_camera_info.K.at(2), 0.001);
00061
00062 EXPECT_EQ(0, g_camera_info.D.size());
00063
00064 EXPECT_EQ("", g_camera_info.distortion_model);
00065
00066
00067 EXPECT_EQ(640, g_camera_info.width);
00068 EXPECT_EQ(480, g_camera_info.height);
00069 }
00070
00071 int main(int argc, char **argv)
00072 {
00073 ros::init(argc, argv, "test_cv_camera_no_yaml");
00074 testing::InitGoogleTest(&argc, argv);
00075 return RUN_ALL_TESTS();
00076 }