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 24 of file test_camera.py.

Constructor & Destructor Documentation

◆ init()

def test_camera.TestCamera.__init__	(	self,
		args
	)

Definition at line 40 of file test_camera.py.

Member Function Documentation

◆ compute_cartesian()

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 126 of file test_camera.py.

◆ extrinsics_cb()

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

Definition at line 107 of file test_camera.py.

◆ image_cb()

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

Definition at line 111 of file test_camera.py.

◆ test_camera()

def test_camera.TestCamera.test_camera ( self )

Definition at line 50 of file test_camera.py.

Member Data Documentation

◆ bridge_

test_camera.TestCamera.bridge_

Definition at line 54 of file test_camera.py.

◆ cloud_

test_camera.TestCamera.cloud_

Definition at line 44 of file test_camera.py.

◆ cloud_sub_

test_camera.TestCamera.cloud_sub_

Definition at line 58 of file test_camera.py.

◆ conf_

test_camera.TestCamera.conf_

Definition at line 48 of file test_camera.py.

◆ conf_sub_

test_camera.TestCamera.conf_sub_

Definition at line 67 of file test_camera.py.

◆ extrinsics_

test_camera.TestCamera.extrinsics_

Definition at line 47 of file test_camera.py.

◆ extrinsics_sub_

test_camera.TestCamera.extrinsics_sub_

Definition at line 64 of file test_camera.py.

◆ rdis_

test_camera.TestCamera.rdis_

Definition at line 45 of file test_camera.py.

◆ rdis_sub_

test_camera.TestCamera.rdis_sub_

Definition at line 55 of file test_camera.py.

◆ success_

test_camera.TestCamera.success_

Definition at line 42 of file test_camera.py.

◆ uvec_

test_camera.TestCamera.uvec_

Definition at line 46 of file test_camera.py.

◆ uvec_sub_

test_camera.TestCamera.uvec_sub_

Definition at line 61 of file test_camera.py.

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

test_camera.py

Public Member Functions

Public Attributes