test_camera.TestCamera Class Reference

Inheritance diagram for test_camera.TestCamera:

Public Member Functions
def	__init__ (self, args)
def	compute_cartesian (self)
def	extrinsics_cb (self, data, args)
def	image_cb (self, data, args)
def	test_camera (self)

Public Attributes
	bridge_
	cloud_
	cloud_sub_
	conf_
	conf_sub_
	extrinsics_
	extrinsics_sub_
	rdis_
	rdis_sub_
	success_
	uvec_
	uvec_sub_

Detailed Description

TP: 14 May 2018 - heavily adapted from my old o3d3xx-ros test of the same
name.

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 truth, the computed cartesian data
    must be transformed, to do that we use the tf2 API. It follows that
    this indirectly is testing our tf2 static publisher which is publishing
    the transform between the optical and camera frames

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

Definition at line 36 of file test_camera.py.

Constructor & Destructor Documentation

def test_camera.TestCamera.__init__	(		self,
			args
	)

Definition at line 52 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 138 of file test_camera.py.

def test_camera.TestCamera.extrinsics_cb	(		self,
			data,
			args
	)

Definition at line 119 of file test_camera.py.

def test_camera.TestCamera.image_cb	(		self,
			data,
			args
	)

Definition at line 123 of file test_camera.py.

def test_camera.TestCamera.test_camera

(

self

)

Definition at line 62 of file test_camera.py.

Member Data Documentation

test_camera.TestCamera.bridge_

Definition at line 66 of file test_camera.py.

test_camera.TestCamera.cloud_

Definition at line 56 of file test_camera.py.

test_camera.TestCamera.cloud_sub_

Definition at line 70 of file test_camera.py.

test_camera.TestCamera.conf_

Definition at line 60 of file test_camera.py.

test_camera.TestCamera.conf_sub_

Definition at line 79 of file test_camera.py.

test_camera.TestCamera.extrinsics_

Definition at line 59 of file test_camera.py.

test_camera.TestCamera.extrinsics_sub_

Definition at line 76 of file test_camera.py.

test_camera.TestCamera.rdis_

Definition at line 57 of file test_camera.py.

test_camera.TestCamera.rdis_sub_

Definition at line 67 of file test_camera.py.

test_camera.TestCamera.success_

Definition at line 54 of file test_camera.py.

test_camera.TestCamera.uvec_

Definition at line 58 of file test_camera.py.

test_camera.TestCamera.uvec_sub_

Definition at line 73 of file test_camera.py.

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The documentation for this class was generated from the following file:

• test_camera.py