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Merge PR #2865 from PrasRsRos: add live camera tests
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realsense2_camera/test/live_camera/test_camera_aligned_tests.py
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| # Copyright 2023 Intel Corporation. All Rights Reserved. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
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| import os | ||
| import sys | ||
| import itertools | ||
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| import pytest | ||
| import rclpy | ||
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| from sensor_msgs.msg import Image as msg_Image | ||
| from sensor_msgs.msg import Imu as msg_Imu | ||
| from sensor_msgs.msg import PointCloud2 as msg_PointCloud2 | ||
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| import numpy as np | ||
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| sys.path.append(os.path.abspath(os.path.dirname(__file__)+"/../utils")) | ||
| import pytest_rs_utils | ||
| from pytest_rs_utils import launch_descr_with_parameters | ||
| from pytest_rs_utils import delayed_launch_descr_with_parameters | ||
| from pytest_rs_utils import get_rosbag_file_path | ||
| from pytest_rs_utils import get_node_heirarchy | ||
| import pytest_live_camera_utils | ||
| from rclpy.parameter import Parameter | ||
| from rcl_interfaces.msg import ParameterValue | ||
| from rcl_interfaces.srv import SetParameters, GetParameters, ListParameters | ||
| from pytest_live_camera_utils import debug_print | ||
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| test_params_align_depth_color_d455 = { | ||
| 'camera_name': 'D455', | ||
| 'device_type': 'D455', | ||
| 'enable_color':'true', | ||
| 'enable_depth':'true', | ||
| 'depth_module.profile':'848x480x30', | ||
| 'rgb_camera.profile':'640x480x30', | ||
| 'align_depth.enable':'true' | ||
| } | ||
| test_params_align_depth_color_d415 = { | ||
| 'camera_name': 'D415', | ||
| 'device_type': 'D415', | ||
| 'enable_color':'true', | ||
| 'enable_depth':'true', | ||
| 'depth_module.profile':'848x480x30', | ||
| 'rgb_camera.profile':'640x480x30', | ||
| 'align_depth.enable':'true' | ||
| } | ||
| ''' | ||
| This test was implemented as a template to set the parameters and run the test. | ||
| This directory is not added to the CMakeLists.txt so as to avoid the colcon failure in the | ||
| machines that don't have the D455 connected. | ||
| 1. Only a subset of parameter types are implemented in py_rs_utils, it has to be extended for others | ||
| 2. After setting the param, rclpy.spin_once may be needed.Test passes even without this though. | ||
| ''' | ||
|
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| @pytest.mark.parametrize("launch_descr_with_parameters",[ | ||
| pytest.param(test_params_align_depth_color_d455, marks=pytest.mark.d455), | ||
| pytest.param(test_params_align_depth_color_d415, marks=pytest.mark.d415), | ||
| #pytest.param(test_params_align_depth_color_d435, marks=pytest.mark.d435), | ||
| ] | ||
| ,indirect=True) | ||
| @pytest.mark.launch(fixture=launch_descr_with_parameters) | ||
| class TestCamera_AlignDepthColor(pytest_rs_utils.RsTestBaseClass): | ||
| def test_camera_align_depth_color(self,launch_descr_with_parameters): | ||
| params = launch_descr_with_parameters[1] | ||
| if pytest_live_camera_utils.check_if_camera_connected(params['device_type']) == False: | ||
| print("Device not found? : " + params['device_type']) | ||
| return | ||
| themes = [ | ||
| {'topic':get_node_heirarchy(params)+'/color/image_raw', | ||
| 'msg_type':msg_Image, | ||
| 'expected_data_chunks':1, | ||
| 'width':640, | ||
| 'height':480, | ||
| }, | ||
| {'topic':get_node_heirarchy(params)+'/depth/image_rect_raw', | ||
| 'msg_type':msg_Image, | ||
| 'expected_data_chunks':1, | ||
| 'width':848, | ||
| 'height':480, | ||
| }, | ||
| {'topic':get_node_heirarchy(params)+'/aligned_depth_to_color/image_raw', | ||
| 'msg_type':msg_Image, | ||
| 'expected_data_chunks':1, | ||
| 'width':640, | ||
| 'height':480, | ||
| }, | ||
| ] | ||
| try: | ||
| ''' | ||
| initialize, run and check the data | ||
| ''' | ||
| print("Starting camera test...") | ||
| self.init_test("RsTest"+params['camera_name']) | ||
| self.wait_for_node(params['camera_name']) | ||
| self.create_param_ifs(get_node_heirarchy(params)) | ||
| ret = self.run_test(themes) | ||
| assert ret[0], ret[1] | ||
| assert self.process_data(themes) | ||
| self.set_string_param('rgb_camera.profile', '1280x720x30') | ||
| self.set_bool_param('enable_color', True) | ||
| themes[0]['width'] = 1280 | ||
| themes[0]['height'] = 720 | ||
| themes[2]['width'] = 1280 | ||
| themes[2]['height'] = 720 | ||
|
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| ret = self.run_test(themes) | ||
| assert ret[0], ret[1] | ||
| assert self.process_data(themes) | ||
| finally: | ||
| #this step is important because the test will fail next time | ||
| pytest_rs_utils.kill_realsense2_camera_node() | ||
| self.shutdown() | ||
|
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| test_params_all_profiles_d455 = { | ||
| 'camera_name': 'D455', | ||
| 'device_type': 'D455', | ||
| 'enable_color':'true', | ||
| 'enable_depth':'true', | ||
| 'depth_module.profile':'848x480x30', | ||
| 'rgb_camera.profile':'640x480x30', | ||
| 'align_depth.enable':'true' | ||
| } | ||
| test_params_all_profiles_d415 = { | ||
| 'camera_name': 'D415', | ||
| 'device_type': 'D415', | ||
| 'enable_color':'true', | ||
| 'enable_depth':'true', | ||
| 'depth_module.profile':'848x480x30', | ||
| 'rgb_camera.profile':'640x480x30', | ||
| 'align_depth.enable':'true' | ||
| } | ||
| test_params_all_profiles_d435 = { | ||
| 'camera_name': 'D435', | ||
| 'device_type': 'D435', | ||
| 'enable_color':'true', | ||
| 'enable_depth':'true', | ||
| 'depth_module.profile':'848x480x30', | ||
| 'rgb_camera.profile':'640x480x30', | ||
| 'align_depth.enable':'true' | ||
| } | ||
|
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||
|
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| ''' | ||
| This test was implemented as a template to set the parameters and run the test. | ||
| This directory is not added to the CMakeLists.txt so as to avoid the colcon failure in the | ||
| machines that don't have the D455 connected. | ||
| 1. Only a subset of parameter types are implemented in py_rs_utils, it has to be extended for others | ||
| 2. After setting the param, rclpy.spin_once may be needed.Test passes even without this though. | ||
| ''' | ||
| @pytest.mark.skipif (os.getenv('RS_ROS_REGRESSION', "not found") == "not found",reason="Regression is not enabled, define RS_ROS_REGRESSION") | ||
| @pytest.mark.parametrize("launch_descr_with_parameters", [ | ||
| pytest.param(test_params_all_profiles_d455, marks=pytest.mark.d455), | ||
| pytest.param(test_params_all_profiles_d415, marks=pytest.mark.d415), | ||
| pytest.param(test_params_all_profiles_d435, marks=pytest.mark.d435),] | ||
| ,indirect=True) | ||
| @pytest.mark.launch(fixture=launch_descr_with_parameters) | ||
| class TestCamera_AllAlignDepthColor(pytest_rs_utils.RsTestBaseClass): | ||
| def test_camera_all_align_depth_color(self,launch_descr_with_parameters): | ||
| skipped_tests = [] | ||
| failed_tests = [] | ||
| num_passed = 0 | ||
| num_failed = 0 | ||
| params = launch_descr_with_parameters[1] | ||
| if pytest_live_camera_utils.check_if_camera_connected(params['device_type']) == False: | ||
| print("Device not found? : " + params['device_type']) | ||
| return | ||
| themes = [ | ||
| {'topic':get_node_heirarchy(params)+'/color/image_raw', | ||
| 'msg_type':msg_Image, | ||
| 'expected_data_chunks':1, | ||
| 'width':640, | ||
| 'height':480, | ||
| }, | ||
| {'topic':get_node_heirarchy(params)+'/depth/image_rect_raw', | ||
| 'msg_type':msg_Image, | ||
| 'expected_data_chunks':1, | ||
| 'width':848, | ||
| 'height':480, | ||
| }, | ||
| {'topic':get_node_heirarchy(params)+'/aligned_depth_to_color/image_raw', | ||
| 'msg_type':msg_Image, | ||
| 'expected_data_chunks':1, | ||
| 'width':640, | ||
| 'height':480, | ||
| }, | ||
| ] | ||
| try: | ||
| ''' | ||
| initialize, run and check the data | ||
| ''' | ||
| self.init_test("RsTest"+params['camera_name']) | ||
| self.spin_for_time(wait_time=1.0) | ||
| cap = pytest_live_camera_utils.get_camera_capabilities(params['device_type']) | ||
| if cap == None: | ||
| debug_print("Device not found? : " + params['device_type']) | ||
| return | ||
| self.create_param_ifs(get_node_heirarchy(params)) | ||
| color_profiles = set([i[1] for i in cap["color_profile"] if i[2] == "RGB8"]) | ||
| depth_profiles = set([i[1] for i in cap["depth_profile"] if i[0] == "Depth"]) | ||
| for color_profile in color_profiles: | ||
| for depth_profile in depth_profiles: | ||
| if depth_profile == color_profile: | ||
| continue | ||
| print("Testing the alignment of Depth:", depth_profile, " and Color:", color_profile) | ||
| self.set_bool_param('enable_color', False) | ||
| self.set_bool_param('enable_color', False) | ||
| self.set_bool_param('align_depth.enable', False) | ||
|
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| themes[0]['width'] = themes[2]['width'] = int(color_profile.split('x')[0]) | ||
| themes[0]['height'] = themes[2]['height'] = int(color_profile.split('x')[1]) | ||
| themes[1]['width'] = int(depth_profile.split('x')[0]) | ||
| themes[1]['height'] = int(depth_profile.split('x')[1]) | ||
| dfps = int(depth_profile.split('x')[2]) | ||
| cfps = int(color_profile.split('x')[2]) | ||
| if dfps > cfps: | ||
| fps = cfps | ||
| else: | ||
| fps = dfps | ||
| timeout=100.0/fps | ||
| #for the changes to take effect | ||
| self.spin_for_time(wait_time=timeout/20) | ||
| self.set_string_param('rgb_camera.profile', color_profile) | ||
| self.set_string_param('depth_module.profile', depth_profile) | ||
| self.set_bool_param('enable_color', True) | ||
| self.set_bool_param('enable_color', True) | ||
| self.set_bool_param('align_depth.enable', True) | ||
| #for the changes to take effect | ||
| self.spin_for_time(wait_time=timeout/20) | ||
| try: | ||
| ret = self.run_test(themes, timeout=timeout) | ||
| assert ret[0], ret[1] | ||
| assert self.process_data(themes), "".join(str(depth_profile) + " " + str(color_profile)) + " failed" | ||
| num_passed += 1 | ||
| except Exception as e: | ||
| exc_type, exc_obj, exc_tb = sys.exc_info() | ||
| fname = os.path.split(exc_tb.tb_frame.f_code.co_filename)[1] | ||
| print("Test failed") | ||
| print("Tested the alignment of Depth:", depth_profile, " and Color:", color_profile, " with timeout ", timeout) | ||
| print(e) | ||
| print(exc_type, fname, exc_tb.tb_lineno) | ||
| num_failed += 1 | ||
| failed_tests.append("".join(str(depth_profile) + " " + str(color_profile))) | ||
|
|
||
| finally: | ||
| #this step is important because the test will fail next time | ||
| pytest_rs_utils.kill_realsense2_camera_node() | ||
| self.shutdown() | ||
| print("Tests passed " + str(num_passed)) | ||
| print("Tests skipped " + str(len(skipped_tests))) | ||
| if len(skipped_tests): | ||
| debug_print("\nSkipped tests:" + params['device_type']) | ||
| debug_print("\n".join(skipped_tests)) | ||
| print("Tests failed " + str(num_failed)) | ||
| if len(failed_tests): | ||
| print("\nFailed tests:" + params['device_type']) | ||
| print("\n".join(failed_tests)) | ||
|
|
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| def disable_all_params(self): | ||
| self.set_bool_param('enable_color', False) | ||
| self.set_bool_param('enable_depth', False) | ||
| self.set_bool_param('enable_infra', False) | ||
| self.set_bool_param('enable_infra1', False) | ||
| self.set_bool_param('enable_infra2', False) | ||
|
|
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