camera_core.cpp

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#include <gtest/gtest.h>
#include "camera_core.h"  // NOLINT(build/include)
#include <string>  // Added to satisfy roslint
#include <vector>  // Added to satisfy roslint

using std::string;
using std::stringstream;
using std::vector;

using realsense_camera::CAMERA_FORCE_POWER_SERVICE;
using realsense_camera::CAMERA_IS_POWERED_SERVICE;
using realsense_camera::CAMERA_SET_POWER_SERVICE;
using realsense_camera::COLOR_NAMESPACE;
using realsense_camera::COLOR_TOPIC;
using realsense_camera::DEFAULT_BASE_FRAME_ID;
using realsense_camera::DEFAULT_COLOR_FRAME_ID;
using realsense_camera::DEFAULT_COLOR_OPTICAL_FRAME_ID;
using realsense_camera::DEFAULT_DEPTH_FRAME_ID;
using realsense_camera::DEFAULT_DEPTH_OPTICAL_FRAME_ID;
using realsense_camera::DEFAULT_FISHEYE_FRAME_ID;
using realsense_camera::DEFAULT_FISHEYE_OPTICAL_FRAME_ID;
using realsense_camera::DEFAULT_IMU_FRAME_ID;
using realsense_camera::DEFAULT_IMU_OPTICAL_FRAME_ID;
using realsense_camera::DEFAULT_IR2_FRAME_ID;
using realsense_camera::DEFAULT_IR2_OPTICAL_FRAME_ID;
using realsense_camera::DEFAULT_IR_FRAME_ID;
using realsense_camera::DEFAULT_IR_OPTICAL_FRAME_ID;
using realsense_camera::DEPTH_NAMESPACE;
using realsense_camera::DEPTH_TOPIC;
using realsense_camera::FISHEYE_NAMESPACE;
using realsense_camera::FISHEYE_TOPIC;
using realsense_camera::IMU_NAMESPACE;
using realsense_camera::IMU_TOPIC;
using realsense_camera::IR2_NAMESPACE;
using realsense_camera::IR2_TOPIC;
using realsense_camera::IR_NAMESPACE;
using realsense_camera::IR_TOPIC;
using realsense_camera::PC_TOPIC;
using realsense_camera::ROTATION_IDENTITY;
using realsense_camera::SETTINGS_SERVICE;

void getMsgInfo(rs_stream stream, const sensor_msgs::ImageConstPtr &msg)
{
  g_encoding_recv[stream] = msg->encoding;
  g_width_recv[stream] = msg->width;
  g_height_recv[stream] = msg->height;
  g_step_recv[stream] = msg->step;
}

void getCameraInfo(rs_stream stream, const sensor_msgs::CameraInfoConstPtr &info_msg)
{
  g_caminfo_height_recv[stream] = info_msg->height;
  g_caminfo_width_recv[stream] = info_msg->width;

  g_dmodel_recv[stream] = info_msg->distortion_model;

  // copy rotation matrix
  for (unsigned int i = 0; i < sizeof(info_msg->R)/sizeof(double); i++)
  {
    g_caminfo_rotation_recv[stream][i] = info_msg->R[i];
  }

  // copy projection matrix
  for (unsigned int i = 0; i < sizeof(info_msg->P)/sizeof(double); i++)
  {
    g_caminfo_projection_recv[stream][i] = info_msg->P[i];
  }
}

void imageInfrared1Callback(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
{
  cv::Mat image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::TYPE_8UC1)->image;

  uchar *infrared1_data = image.data;

  double infrared1_total = 0.0;
  int infrared1_count = 1;
  for (unsigned int i = 0; i < msg->height * msg->width; i++)
  {
    if (*infrared1_data > 0 && *infrared1_data < 255)
    {
      infrared1_total += *infrared1_data;
      infrared1_count++;
    }
    infrared1_data++;
  }
  if (infrared1_count != 1)
  {
    g_infrared1_avg = static_cast<float>(infrared1_total / infrared1_count);
  }

  getMsgInfo(RS_STREAM_INFRARED, msg);
  getCameraInfo(RS_STREAM_INFRARED, info_msg);

  for (unsigned int i = 0; i < 5; i++)
  {
    g_infrared1_caminfo_D_recv[i] = info_msg->D[i];
  }

  g_infrared1_recv = true;
}

void imageInfrared2Callback(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
{
  cv::Mat image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::TYPE_8UC1)->image;

  uchar *infrared2_data = image.data;

  double infrared2_total = 0.0;
  int infrared2_count = 1;
  for (unsigned int i = 0; i < msg->height * msg->width; i++)
  {
    if (*infrared2_data > 0 && *infrared2_data < 255)
    {
      infrared2_total += *infrared2_data;
      infrared2_count++;
    }
    infrared2_data++;
  }
  if (infrared2_count != 0)
  {
    g_infrared2_avg = static_cast<float>(infrared2_total / infrared2_count);
  }

  getMsgInfo(RS_STREAM_INFRARED2, msg);
  getCameraInfo(RS_STREAM_INFRARED2, info_msg);

  for (unsigned int i = 0; i < 5; i++)
  {
    g_infrared2_caminfo_D_recv[i] = info_msg->D[i];
  }

  g_infrared2_recv = true;
}

void imageDepthCallback(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
{
  cv::Mat image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::TYPE_16UC1)->image;
  uint16_t *image_data = reinterpret_cast<uint16_t *>(image.data);

  double depth_total = 0;
  int depth_count = 0;
  for (unsigned int i = 0; i < msg->height * msg->width; ++i)
  {
    if ((0 < *image_data) && (*image_data <= g_max_z))
    {
      depth_total += *image_data;
      depth_count++;
    }
    image_data++;
  }
  if (depth_count != 0)
  {
    g_depth_avg = static_cast<float>(depth_total / depth_count);
  }

  getMsgInfo(RS_STREAM_DEPTH, msg);
  getCameraInfo(RS_STREAM_DEPTH, info_msg);

  for (unsigned int i = 0; i < 5; i++)
  {
    g_depth_caminfo_D_recv[i] = info_msg->D[i];
  }

  g_depth_recv = true;
}

void imageColorCallback(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
{
  cv::Mat image = cv_bridge::toCvShare(msg, "rgb8")->image;

  uchar *color_data = image.data;
  int64 color_total = 0;
  int color_count = 1;
  for (unsigned int i = 0; i < msg->height * msg->width * 3; i++)
  {
    if (*color_data > 0 && *color_data < 255)
    {
      color_total += *color_data;
      color_count++;
    }
    color_data++;
  }
  if (color_count != 0)
  {
    g_color_avg = static_cast<float>(color_total / color_count);
  }

  getMsgInfo(RS_STREAM_COLOR, msg);
  getCameraInfo(RS_STREAM_COLOR, info_msg);

  for (unsigned int i = 0; i < 5; i++)
  {
    g_color_caminfo_D_recv[i] = info_msg->D[i];
  }

  g_color_recv = true;
}

void imageFisheyeCallback(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
{
  cv::Mat image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::TYPE_8UC1)->image;

  uchar *fisheye_data = image.data;

  double fisheye_total = 0.0;
  int fisheye_count = 1;
  for (unsigned int i = 0; i < msg->height * msg->width; i++)
  {
    if (*fisheye_data > 0 && *fisheye_data < 255)
    {
      fisheye_total += *fisheye_data;
      fisheye_count++;
    }
    fisheye_data++;
  }
  if (fisheye_count != 0)
  {
    g_fisheye_avg = static_cast<float>(fisheye_total / fisheye_count);
  }

  getMsgInfo(RS_STREAM_FISHEYE, msg);
  getCameraInfo(RS_STREAM_FISHEYE, info_msg);

  for (unsigned int i = 0; i < 5; i++)
  {
    g_fisheye_caminfo_D_recv[i] = info_msg->D[i];
  }

  g_fisheye_recv = true;
}

void imuCallback(const sensor_msgs::ImuConstPtr &imu)
{
  g_imu_recv = false;
  if (imu->angular_velocity_covariance[0] != -1.0)
  {
    if ((imu->angular_velocity.x != 0.0) ||
        (imu->angular_velocity.y != 0.0) ||
        (imu->angular_velocity.z != 0.0))
    {
      g_imu_recv = true;
    }
  }
  else if (imu->linear_acceleration_covariance[0] != -1.0)
  {
    if ((imu->linear_acceleration.x != 0.000) ||
        (imu->linear_acceleration.y != 0.000) ||
        (imu->linear_acceleration.z != 0.000))
    {
      g_imu_recv = true;
    }
  }
}

void pcCallback(const sensor_msgs::PointCloud2ConstPtr pc)
{
  pcl::PointCloud < pcl::PointXYZRGB > pointcloud;
  pcl::fromROSMsg(*pc, pointcloud);

  double pc_depth_total = 0.0;
  int pc_depth_count = 0;
  for (unsigned int i = 0; i < pointcloud.width * pointcloud.height; ++i)
  {
    pcl::PointXYZRGB point = pointcloud.points[i];
    double pc_depth = std::ceil(point.z);
    if ((0.0 < pc_depth) && (pc_depth <= g_max_z))
    {
      pc_depth_total += pc_depth;
      pc_depth_count++;
    }
  }
  if (pc_depth_count != 0)
  {
    g_pc_depth_avg = static_cast<float>(pc_depth_total / pc_depth_count);
  }

  g_pc_recv = true;
}

TEST(RealsenseTests, testColorStream)
{
  if (g_enable_color)
  {
    EXPECT_GT(g_color_avg, 0);
    EXPECT_TRUE(g_color_recv);

    if (!g_color_encoding_exp.empty ())
    {
      EXPECT_EQ(g_color_encoding_exp, g_encoding_recv[RS_STREAM_COLOR]);
    }
    if (g_color_step_exp > 0)
    {
      EXPECT_EQ(g_color_step_exp, g_step_recv[RS_STREAM_COLOR]);
    }
  }
  else
  {
    EXPECT_FALSE(g_color_recv);
  }
}

TEST(RealsenseTests, testColorResolution)
{
  if (g_enable_color)
  {
    if (g_color_height_exp > 0)
    {
      EXPECT_EQ(g_color_height_exp, g_height_recv[RS_STREAM_COLOR]);
    }
    if (g_color_width_exp > 0)
    {
      EXPECT_EQ(g_color_width_exp, g_width_recv[RS_STREAM_COLOR]);
    }
  }
}

TEST(RealsenseTests, testColorCameraInfo)
{
  if (g_enable_color)
  {
    EXPECT_EQ(g_width_recv[RS_STREAM_COLOR], g_caminfo_width_recv[RS_STREAM_COLOR]);
    EXPECT_EQ(g_height_recv[RS_STREAM_COLOR], g_caminfo_height_recv[RS_STREAM_COLOR]);
    EXPECT_STREQ(g_dmodel_recv[RS_STREAM_COLOR].c_str(), "plumb_bob");

    // verify rotation is equal to identity matrix
    for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++)
    {
      EXPECT_EQ(ROTATION_IDENTITY[i], g_caminfo_rotation_recv[RS_STREAM_COLOR][i]);
    }

    // check projection matrix values are set
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_COLOR][0] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][1], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_COLOR][2] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][3], 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][4], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_COLOR][5] != 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_COLOR][6] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][7], 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][8], 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][9], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_COLOR][10] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_COLOR][11], 0.0);

    // R200 and ZR300 cameras have Color distortion parameters
    if ((g_camera_type == "R200") || (g_camera_type == "ZR300"))
    {
      bool any_are_zero = false;
      // Ignoring the 5th value since it always appears to be 0.0
      for (unsigned int i = 0; i < 4; i++)
      {
        if (g_color_caminfo_D_recv[i] == 0.0)
        {
          any_are_zero = true;
        }
      }
      EXPECT_FALSE(any_are_zero);
    }
  }
}

TEST(RealsenseTests, testIsDepthStreamEnabled)
{
  if (g_enable_depth)
  {
    EXPECT_TRUE(g_depth_recv);
  }
  else
  {
    EXPECT_FALSE(g_depth_recv);
  }
}

TEST(RealsenseTests, testDepthStream)
{
  if (g_enable_depth)
  {
    ROS_INFO_STREAM("RealSense Camera - depth_avg: " << g_depth_avg << " mm");
    EXPECT_GT(g_depth_avg, 0);
    EXPECT_TRUE(g_depth_recv);
    if (!g_depth_encoding_exp.empty ())
    {
      EXPECT_EQ(g_depth_encoding_exp, g_encoding_recv[RS_STREAM_DEPTH]);
    }
    if (g_depth_step_exp > 0)
    {
      EXPECT_EQ(g_depth_step_exp, g_step_recv[RS_STREAM_DEPTH]);
    }
  }
  else
  {
    EXPECT_FALSE(g_depth_recv);
  }
}

TEST(RealsenseTests, testDepthResolution)
{
  if (g_enable_depth)
  {
    if (g_depth_height_exp > 0)
    {
      EXPECT_EQ(g_depth_height_exp, g_height_recv[RS_STREAM_DEPTH]);
    }
    if (g_depth_width_exp > 0)
    {
      EXPECT_EQ(g_depth_width_exp, g_width_recv[RS_STREAM_DEPTH]);
    }
  }
}

TEST(RealsenseTests, testDepthCameraInfo)
{
  if (g_enable_depth)
  {
    EXPECT_EQ(g_width_recv[RS_STREAM_DEPTH], g_caminfo_width_recv[RS_STREAM_DEPTH]);
    EXPECT_EQ(g_height_recv[RS_STREAM_DEPTH], g_caminfo_height_recv[RS_STREAM_DEPTH]);
    EXPECT_STREQ(g_dmodel_recv[RS_STREAM_DEPTH].c_str(), "plumb_bob");

    // verify rotation is equal to identity matrix
    for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++)
    {
      EXPECT_EQ(ROTATION_IDENTITY[i], g_caminfo_rotation_recv[RS_STREAM_DEPTH][i]);
    }

    // check projection matrix values are set
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][0] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_DEPTH][1], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][2] != 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][3] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_DEPTH][4], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][5] != 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][6] != 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][7] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_DEPTH][8], 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_DEPTH][9], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][10] != 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_DEPTH][11] != 0.0);

    // F200 and SR300 cameras have Depth distortion parameters
    if ((g_camera_type == "F200") || (g_camera_type == "SR300"))
    {
      bool any_are_zero = false;
      for (unsigned int i = 0; i < 5; i++)
      {
        if (g_depth_caminfo_D_recv[i] == 0.0)
        {
          any_are_zero = true;
        }
      }
      EXPECT_FALSE(any_are_zero);
    }
  }
}

TEST(RealsenseTests, testInfrared1Stream)
{
  if (g_enable_ir)
  {
    EXPECT_GT(g_infrared1_avg, 0);
    EXPECT_TRUE(g_infrared1_recv);
    if (!g_infrared1_encoding_exp.empty ())
    {
      EXPECT_EQ(g_infrared1_encoding_exp, g_encoding_recv[RS_STREAM_INFRARED]);
    }
    if (g_infrared1_step_exp > 0)
    {
      EXPECT_EQ(g_infrared1_step_exp, g_step_recv[RS_STREAM_INFRARED]);
    }
  }
  else
  {
    EXPECT_FALSE(g_infrared1_recv);
  }
}

TEST(RealsenseTests, testInfrared1Resolution)
{
  if (g_enable_ir)
  {
    if (g_depth_width_exp > 0)
    {
      EXPECT_EQ(g_depth_width_exp, g_width_recv[RS_STREAM_INFRARED]);
    }
    if (g_depth_height_exp > 0)
    {
      EXPECT_EQ(g_depth_height_exp, g_height_recv[RS_STREAM_INFRARED]);
    }
  }
}

TEST(RealsenseTests, testInfrared1CameraInfo)
{
  if (g_enable_ir)
  {
    EXPECT_EQ(g_width_recv[RS_STREAM_INFRARED], g_caminfo_width_recv[RS_STREAM_INFRARED]);
    EXPECT_EQ(g_height_recv[RS_STREAM_INFRARED], g_caminfo_height_recv[RS_STREAM_INFRARED]);
    EXPECT_STREQ(g_dmodel_recv[RS_STREAM_INFRARED].c_str(), "plumb_bob");

    // verify rotation is equal to identity matrix
    for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++)
    {
      EXPECT_EQ(ROTATION_IDENTITY[i], g_caminfo_rotation_recv[RS_STREAM_INFRARED][i]);
    }

    // check projection matrix values are set
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED][0] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][1], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED][2] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][3], 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][4], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED][5] != 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED][6] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][7], 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][8], 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][9], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED][10] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED][11], 0.0);

    // F200 and SR300 cameras have IR distortion parameters
    if ((g_camera_type == "F200") || (g_camera_type == "SR300"))
    {
      bool any_are_zero = false;
      for (unsigned int i = 0; i < 5; i++)
      {
        if (g_infrared1_caminfo_D_recv[i] == 0.0)
        {
          any_are_zero = true;
        }
      }
      EXPECT_FALSE(any_are_zero);
    }
  }
}

TEST(RealsenseTests, testInfrared2Stream)
{
  // R200 and ZR300 cameras have IR2
  if ((g_camera_type == "R200") || (g_camera_type == "ZR300"))
  {
    if (g_enable_ir2)
    {
      EXPECT_GT(g_infrared2_avg, 0);
      EXPECT_TRUE(g_infrared2_recv);
    }
    else
    {
      EXPECT_FALSE(g_infrared2_recv);
    }
  }
}

TEST(RealsenseTests, testInfrared2Resolution)
{
  // R200 and ZR300 cameras have IR2
  if ((g_camera_type == "R200") || (g_camera_type == "ZR300"))
  {
    if (g_enable_ir2)
    {
      if (g_depth_width_exp > 0)
      {
        EXPECT_EQ(g_depth_width_exp, g_width_recv[RS_STREAM_INFRARED2]);
      }
      if (g_depth_height_exp > 0)
      {
        EXPECT_EQ(g_depth_height_exp, g_height_recv[RS_STREAM_INFRARED2]);
      }
    }
  }
}

TEST(RealsenseTests, testInfrared2CameraInfo)
{
  // R200 and ZR300 cameras have IR2
  if ((g_camera_type == "R200") || (g_camera_type == "ZR300"))
  {
    if (g_enable_ir2)
    {
      EXPECT_EQ(g_width_recv[RS_STREAM_INFRARED2], g_caminfo_width_recv[RS_STREAM_INFRARED2]);
      EXPECT_EQ(g_height_recv[RS_STREAM_INFRARED2], g_caminfo_height_recv[RS_STREAM_INFRARED2]);
      EXPECT_STREQ(g_dmodel_recv[RS_STREAM_INFRARED2].c_str(), "plumb_bob");

      // verify rotation is equal to identity matrix
      for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++)
      {
        EXPECT_EQ(ROTATION_IDENTITY[i], g_caminfo_rotation_recv[RS_STREAM_INFRARED2][i]);
      }

      // check projection matrix values are set
      EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED2][0] != 0.0);
      EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][1], 0.0);
      EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED2][2] != 0.0);
      EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][3], 0.0);
      EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][4], 0.0);
      EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED2][5] != 0.0);
      EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED2][6] != 0.0);
      EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][7], 0.0);
      EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][8], 0.0);
      EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][9], 0.0);
      EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_INFRARED2][10] != 0.0);
      EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_INFRARED2][11], 0.0);
    }
  }
}

TEST(RealsenseTests, testFisheyeStream)
{
  if (g_enable_fisheye)
  {
    ROS_INFO_STREAM("RealSense Camera - fisheye_avg: " << g_fisheye_avg);
    EXPECT_GT(g_fisheye_avg, 0);
    EXPECT_TRUE(g_fisheye_recv);
  }
  else
  {
    EXPECT_FALSE(g_fisheye_recv);
  }
}

TEST(RealsenseTests, testFisheyeCameraInfo)
{
  if (g_enable_fisheye)
  {
    EXPECT_EQ(g_width_recv[RS_STREAM_FISHEYE], g_caminfo_width_recv[RS_STREAM_FISHEYE]);
    EXPECT_EQ(g_height_recv[RS_STREAM_FISHEYE], g_caminfo_height_recv[RS_STREAM_FISHEYE]);
    EXPECT_STREQ(g_dmodel_recv[RS_STREAM_FISHEYE].c_str(), "plumb_bob");

    // verify rotation is equal to identity matrix
    for (unsigned int i = 0; i < sizeof(ROTATION_IDENTITY)/sizeof(double); i++)
    {
      EXPECT_EQ(ROTATION_IDENTITY[i], g_caminfo_rotation_recv[RS_STREAM_FISHEYE][i]);
    }

    // check projection matrix values are set
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_FISHEYE][0] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_FISHEYE][1], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_FISHEYE][2] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_FISHEYE][3], 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_FISHEYE][4], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_FISHEYE][5] != 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_FISHEYE][6] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_FISHEYE][7], 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_FISHEYE][8], 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_FISHEYE][9], 0.0);
    EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_FISHEYE][10] != 0.0);
    EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_FISHEYE][11], 0.0);

    // ZR300 cameras have Fisheye distortion parameters
    // Only the first coefficient is used/valid
    if (g_camera_type == "ZR300")
    {
      bool any_are_zero = false;
      for (unsigned int i = 0; i < 1; i++)
      {
        if (g_fisheye_caminfo_D_recv[i] == 0.0)
        {
          any_are_zero = true;
        }
      }
      EXPECT_FALSE(any_are_zero);
    }
  }
}

TEST(RealsenseTests, testImu)
{
  if (g_enable_imu)
  {
    EXPECT_TRUE(g_imu_recv);
  }
  else
  {
    EXPECT_FALSE(g_imu_recv);
  }
}

TEST(RealsenseTests, testPointCloud)
{
  if (g_enable_pointcloud)
  {
    ROS_INFO_STREAM("RealSense Camera - pc_depth_avg: " << g_pc_depth_avg);
    EXPECT_GT(g_pc_depth_avg, 0);
    EXPECT_TRUE(g_pc_recv);
  }
  else
  {
    EXPECT_FALSE(g_pc_recv);
  }
}

TEST(RealsenseTests, testTransforms)
{
  // make sure all transforms are being broadcast as expected
  tf::TransformListener tf_listener;

  EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_DEPTH_FRAME_ID, DEFAULT_BASE_FRAME_ID, ros::Time(0),
      ros::Duration(3.0)));
  EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_DEPTH_OPTICAL_FRAME_ID, DEFAULT_DEPTH_FRAME_ID, ros::Time(0),
      ros::Duration(3.0)));
  EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_COLOR_FRAME_ID, DEFAULT_BASE_FRAME_ID, ros::Time(0),
      ros::Duration(3.0)));
  EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_COLOR_OPTICAL_FRAME_ID, DEFAULT_COLOR_FRAME_ID, ros::Time(0),
      ros::Duration(3.0)));
  EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_IR_FRAME_ID, DEFAULT_BASE_FRAME_ID, ros::Time(0),
      ros::Duration(3.0)));
  EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_IR_OPTICAL_FRAME_ID, DEFAULT_IR_FRAME_ID, ros::Time(0),
      ros::Duration(3.0)));
  if ((g_camera_type == "R200") || (g_camera_type == "ZR300"))
  {
    EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_IR2_FRAME_ID, DEFAULT_BASE_FRAME_ID, ros::Time(0),
        ros::Duration(3.0)));
    EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_IR2_OPTICAL_FRAME_ID, DEFAULT_IR2_FRAME_ID, ros::Time(0),
        ros::Duration(3.0)));
  }
  if (g_camera_type == "ZR300")
  {
    EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_FISHEYE_FRAME_ID, DEFAULT_BASE_FRAME_ID, ros::Time(0),
        ros::Duration(3.0)));
    EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_FISHEYE_OPTICAL_FRAME_ID, DEFAULT_FISHEYE_FRAME_ID, ros::Time(0),
        ros::Duration(3.0)));
    EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_IMU_FRAME_ID, DEFAULT_BASE_FRAME_ID, ros::Time(0),
        ros::Duration(3.0)));
    EXPECT_TRUE(tf_listener.waitForTransform(DEFAULT_IMU_OPTICAL_FRAME_ID, DEFAULT_IMU_FRAME_ID, ros::Time(0),
        ros::Duration(3.0)));
  }
}

TEST(RealsenseTests, testCameraOptions)
{
  g_settings_srv_client.call(g_setting_srv);
  stringstream settings_ss(g_setting_srv.response.configuration_str);
  string setting;
  string setting_name;
  string setting_value;

  while (getline (settings_ss, setting, ';'))
  {
    stringstream setting_ss(setting);
    getline(setting_ss, setting_name, ':');
    setting_value = (setting.substr(setting.rfind(":") + 1));
    if (g_config_args.find(setting_name) != g_config_args.end())
    {
      int option_recv = atoi(setting_value.c_str());
      int option_exp = atoi(g_config_args.at(setting_name).c_str());
      EXPECT_EQ(option_exp, option_recv) << setting_name;
    }
  }
}

TEST(RealsenseTests, testGetSettingsService)
{
  // Verify the service is available
  EXPECT_TRUE(g_settings_srv_client.call(g_setting_srv));
}

TEST(RealsenseTests, testSetPowerOffService)
{
  g_setpower_srv.request.power_on = false;

  EXPECT_FALSE(g_setpower_srv_client.call(g_setpower_srv));
  ros::Duration(5).sleep();

  EXPECT_FALSE(g_setpower_srv.response.success);
}

TEST(RealsenseTests, testSetPowerOnService)
{
  g_setpower_srv.request.power_on = true;

  EXPECT_TRUE(g_setpower_srv_client.call(g_setpower_srv));
  ros::Duration(5).sleep();

  EXPECT_TRUE(g_setpower_srv.response.success);
}

TEST(RealsenseTests, testForcePowerOffService)
{
  g_forcepower_srv.request.power_on = false;

  EXPECT_TRUE(g_forcepower_srv_client.call(g_forcepower_srv));
  ros::Duration(5).sleep();
}

TEST(RealsenseTests, testIsPoweredService)
{
  EXPECT_TRUE(g_ispowered_srv_client.call(g_ispowered_srv));
  EXPECT_FALSE(g_ispowered_srv.response.is_powered);
}


TEST(RealsenseTests, testForcePowerOnService)
{
  g_forcepower_srv.request.power_on = true;

  EXPECT_TRUE(g_forcepower_srv_client.call(g_forcepower_srv));
  ros::Duration(5).sleep();
}

void fillConfigMap(int argc, char **argv)
{
  std::vector<std::string> args;

  for (int i = 1; i < argc; ++i)
  {
    args.push_back(argv[i]);
  }
  while (args.size() > 1)
  {
    g_config_args[args[0]] = args[1];

    args.erase(args.begin());
    args.erase(args.begin());
  }

  if (argc > 1)
  {
    if (g_config_args.find("camera_type") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "camera_type", g_config_args.at("camera_type").c_str());
      g_camera_type = g_config_args.at("camera_type").c_str();
    }

    // Set depth arguments.
    if (g_config_args.find("enable_depth") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "enable_depth", g_config_args.at("enable_depth").c_str());
      if (strcmp((g_config_args.at("enable_depth").c_str ()), "true") == 0)
      {
        g_enable_depth = true;
      }
      else
      {
        g_enable_depth = false;
      }
    }

    // Set infrared arguments.
    if (g_config_args.find("enable_ir") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "enable_ir", g_config_args.at("enable_ir").c_str());
      if (strcmp((g_config_args.at("enable_ir").c_str ()), "true") == 0)
      {
        g_enable_ir = true;
      }
      else
      {
        g_enable_ir = false;
      }
    }

    // Set infrared2 arguments.
    if (g_config_args.find("enable_ir2") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "enable_ir2", g_config_args.at("enable_ir2").c_str());
      if (strcmp((g_config_args.at("enable_ir2").c_str ()), "true") == 0)
      {
        g_enable_ir2 = true;
      }
      else
      {
        g_enable_ir2 = false;
      }
    }

    if (g_config_args.find("depth_encoding") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "depth_encoding", g_config_args.at("depth_encoding").c_str());
      g_depth_encoding_exp = g_config_args.at("depth_encoding").c_str();
    }
    if (g_config_args.find("depth_height") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "depth_height", g_config_args.at("depth_height").c_str());
      g_depth_height_exp = atoi(g_config_args.at("depth_height").c_str());
    }
    if (g_config_args.find("depth_width") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "depth_width", g_config_args.at("depth_width").c_str());
      g_depth_width_exp = atoi(g_config_args.at("depth_width").c_str());
    }
    if (g_config_args.find("depth_step") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "depth_step", g_config_args.at("depth_step").c_str());
      g_depth_step_exp = atoi(g_config_args.at("depth_step").c_str());
    }

    // Set color arguments.
    if (g_config_args.find("enable_color") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "enable_color", g_config_args.at("enable_color").c_str());
      if (strcmp((g_config_args.at("enable_color").c_str ()), "true") == 0)
      {
        g_enable_color = true;
      }
      else
      {
        g_enable_color = false;
      }
    }
    if (g_config_args.find("color_encoding") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "color_encoding", g_config_args.at("color_encoding").c_str());
      g_color_encoding_exp = g_config_args.at("color_encoding").c_str();
    }
    if (g_config_args.find("color_height") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "color_height", g_config_args.at("color_height").c_str());
      g_color_height_exp = atoi(g_config_args.at("color_height").c_str());
    }
    if (g_config_args.find("color_width") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "color_width", g_config_args.at("color_width").c_str());
      g_color_width_exp = atoi(g_config_args.at("color_width").c_str());
    }
    if (g_config_args.find("color_step") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "color_step", g_config_args.at("color_step").c_str());
      g_color_step_exp = atoi(g_config_args.at("color_step").c_str());
    }

    // Set fisheye arguments.
    if (g_config_args.find("enable_fisheye") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "enable_fisheye",
          g_config_args.at("enable_fisheye").c_str());
      if (strcmp((g_config_args.at("enable_fisheye").c_str()), "true") == 0)
      {
        g_enable_fisheye = true;
      }
      else
      {
        g_enable_fisheye = false;
      }
    }

    // Set imu arguments.
    if (g_config_args.find("enable_imu") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "enable_imu",
          g_config_args.at("enable_imu").c_str());
      if (strcmp((g_config_args.at("enable_imu").c_str()), "true") == 0)
      {
        g_enable_imu = true;
      }
      else
      {
        g_enable_imu = false;
      }
    }

    // Set pointcloud arguments.
    if (g_config_args.find("enable_pointcloud") != g_config_args.end())
    {
      ROS_INFO("RealSense Camera - Setting %s to %s", "enable_pointcloud",
          g_config_args.at("enable_pointcloud").c_str());
      if (strcmp((g_config_args.at("enable_pointcloud").c_str()), "true") == 0)
      {
        g_enable_pointcloud = true;
      }
      else
      {
        g_enable_pointcloud = false;
      }
    }
  }
}

int main(int argc, char **argv) try
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "utest");
  fillConfigMap(argc, argv);

  ROS_INFO_STREAM("RealSense Camera - Starting Tests...");

  ros::NodeHandle nh_base;
  ros::NodeHandle nh(nh_base, "camera");
  ros::NodeHandle depth_nh(nh, DEPTH_NAMESPACE);
  image_transport::ImageTransport depth_image_transport(depth_nh);
  g_camera_subscriber[0] = depth_image_transport.subscribeCamera(DEPTH_TOPIC, 1, imageDepthCallback, 0);

  ros::NodeHandle color_nh(nh, COLOR_NAMESPACE);
  image_transport::ImageTransport color_image_transport(color_nh);
  g_camera_subscriber[1] = color_image_transport.subscribeCamera(COLOR_TOPIC, 1, imageColorCallback, 0);

  ros::NodeHandle ir_nh(nh, IR_NAMESPACE);
  image_transport::ImageTransport ir_image_transport(ir_nh);
  g_camera_subscriber[2] = ir_image_transport.subscribeCamera(IR_TOPIC, 1, imageInfrared1Callback, 0);

  // R200 and ZR300 cameras have IR2
  if ((g_camera_type == "R200") || (g_camera_type == "ZR300"))
  {
    ros::NodeHandle ir2_nh(nh, IR2_NAMESPACE);
    image_transport::ImageTransport ir2_image_transport(ir2_nh);
    g_camera_subscriber[3] = ir2_image_transport.subscribeCamera(IR2_TOPIC, 1, imageInfrared2Callback, 0);
  }

  // ZR300 cameras have Fisheye and IMU
  if (g_camera_type == "ZR300")
  {
    ros::NodeHandle fisheye_nh(nh, FISHEYE_NAMESPACE);
    image_transport::ImageTransport fisheye_image_transport(fisheye_nh);
    g_camera_subscriber[4] = fisheye_image_transport.subscribeCamera(FISHEYE_TOPIC, 1, imageFisheyeCallback, 0);

    ros::NodeHandle imu_nh(nh, IMU_NAMESPACE);
    g_sub_imu = imu_nh.subscribe<sensor_msgs::Imu>(IMU_TOPIC, 1, imuCallback);
  }

  g_sub_pc = depth_nh.subscribe <sensor_msgs::PointCloud2> (PC_TOPIC, 1, pcCallback);
  g_settings_srv_client =
    nh.serviceClient<realsense_camera::CameraConfiguration>("/camera/driver/" + SETTINGS_SERVICE);
  g_ispowered_srv_client =
    nh.serviceClient<realsense_camera::IsPowered>("/camera/driver/" + CAMERA_IS_POWERED_SERVICE);
  g_setpower_srv_client =
    nh.serviceClient<realsense_camera::SetPower>("/camera/driver/" + CAMERA_SET_POWER_SERVICE);
  g_forcepower_srv_client =
    nh.serviceClient<realsense_camera::ForcePower>("/camera/driver/" + CAMERA_FORCE_POWER_SERVICE);

  ros::Duration duration;
  duration.sec = 10;
  duration.sleep();
  ros::spinOnce();

  return RUN_ALL_TESTS();
}
catch(...) {}  // catch the "testing::internal::<unnamed>::ClassUniqueToAlwaysTrue" from gtest