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PR #3098 from kadiredd: ROS live cam test fixes
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@SamerKhshiboun
SamerKhshiboun authored May 14, 2024
2 parents 622ea2a + 21efc80 commit f5a1ca5
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Showing 5 changed files with 59 additions and 37 deletions.
26 changes: 13 additions & 13 deletions realsense2_camera/test/live_camera/test_camera_aligned_tests.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,17 @@
'device_type': 'D455',
'enable_color':'true',
'enable_depth':'true',
'depth_module.profile':'848x480x30',
'rgb_camera.profile':'640x480x30',
'depth_module.depth_profile':'848x480x30',
'rgb_camera.color_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',
'depth_module.depth_profile':'848x480x30',
'rgb_camera.color_profile':'640x480x30',
'align_depth.enable':'true'
}
'''
Expand Down Expand Up @@ -112,7 +112,7 @@ def test_camera_align_depth_color(self,launch_descr_with_parameters):
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_string_param('rgb_camera.color_profile', '1280x720x30')
self.set_bool_param('enable_color', True)
themes[0]['width'] = 1280
themes[0]['height'] = 720
Expand All @@ -132,26 +132,26 @@ def test_camera_align_depth_color(self,launch_descr_with_parameters):
'device_type': 'D455',
'enable_color':'true',
'enable_depth':'true',
'depth_module.profile':'848x480x30',
'rgb_camera.profile':'640x480x30',
'depth_module.depth_profile':'848x480x30',
'rgb_camera.color_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',
'depth_module.depth_profile':'848x480x30',
'rgb_camera.color_profile':'640x480x30',
'align_depth.enable':'true'
}
test_params_all_profiles_d435i = {
'camera_name': 'D435I',
'device_type': 'D435I',
'enable_color':'true',
'enable_depth':'true',
'depth_module.profile':'848x480x30',
'rgb_camera.profile':'640x480x30',
'depth_module.depth_profile':'848x480x30',
'rgb_camera.color_profile':'640x480x30',
'align_depth.enable':'true'
}

Expand Down Expand Up @@ -236,8 +236,8 @@ def test_camera_all_align_depth_color(self,launch_descr_with_parameters):
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_string_param('rgb_camera.color_profile', color_profile)
self.set_string_param('depth_module.depth_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)
Expand Down
13 changes: 10 additions & 3 deletions realsense2_camera/test/live_camera/test_camera_fps_tests.py
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Original file line number Diff line number Diff line change
Expand Up @@ -93,13 +93,17 @@ def test_camera_test_fps(self,launch_descr_with_parameters):
}
]
profiles = test_profiles[params['camera_name']]['depth_test_profiles']
self.spin_for_time(wait_time=0.5)
assert self.set_bool_param('enable_color', False)
self.spin_for_time(wait_time=0.5)

for profile in profiles:
print("Testing profile: ", profile)
themes[0]['expected_fps_in_hz'] = float(profile.split('x')[2])
assert self.set_string_param('depth_module.profile', profile)
assert self.set_string_param('depth_module.depth_profile', profile)
self.spin_for_time(wait_time=0.5)
assert self.set_bool_param('enable_depth', True)
self.spin_for_time(0.5)
self.spin_for_time(wait_time=0.5)
ret = self.run_test(themes, timeout=25.0)
assert ret[0], ret[1]
assert self.process_data(themes)
Expand All @@ -111,12 +115,15 @@ def test_camera_test_fps(self,launch_descr_with_parameters):
}
]
assert self.set_bool_param('enable_depth', False)
self.spin_for_time(wait_time=0.5)
profiles = test_profiles[params['camera_name']]['color_test_profiles']
for profile in profiles:
print("Testing profile: ", profile)
themes[0]['expected_fps_in_hz'] = float(profile.split('x')[2])
assert self.set_string_param('rgb_camera.profile', profile)
assert self.set_string_param('rgb_camera.color_profile', profile)
self.spin_for_time(wait_time=0.5)
assert self.set_bool_param('enable_color', True)
self.spin_for_time(wait_time=0.5)
ret = self.run_test(themes, timeout=25.0)
assert ret[0], ret[1]
assert self.process_data(themes)
Expand Down
37 changes: 24 additions & 13 deletions realsense2_camera/test/live_camera/test_d415_basic_tests.py
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Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,6 @@ def test_D415_Change_Resolution(self,launch_descr_with_parameters):
config["Infrared2"]["default_profile2"] = "1280x720x6"

cap = [
#['Infrared1', '1920x1080x25', 'Y8'],
#['Infrared1', '1920x1080x15', 'Y16'],
['Infrared', '848x100x100', 'BGRA8'],
['Infrared', '848x480x60', 'RGBA8'],
['Infrared', '640x480x60', 'RGBA8'],
Expand All @@ -89,16 +87,23 @@ def test_D415_Change_Resolution(self,launch_descr_with_parameters):
['Infrared', '480x270x60', 'BGRA8'],
['Infrared', '480x270x60', 'RGB8'],
['Infrared', '424x240x60', 'BGRA8'],

['Infrared1', '848x100x100', 'Y8'],
['Infrared1', '848x480x6', 'Y8'],
['Infrared1', '1920x1080x25', 'Y16'],
['Infrared2', '848x100x100', 'Y8'],
['Infrared2', '848x480x6', 'Y8'],
['Infrared2', '1920x1080x25', 'Y16'],
]

try:
'''
initialize, run and check the data
'''
self.init_test("RsTest"+params['camera_name'])
self.spin_for_time(wait_time=1.0)
self.create_param_ifs(get_node_heirarchy(params))

self.spin_for_time(wait_time=1.0)

for key in cap:
profile_type = key[0]
profile = key[1]
Expand All @@ -108,21 +113,22 @@ def test_D415_Change_Resolution(self,launch_descr_with_parameters):
themes[0]['width'] = int(profile.split('x')[0])
themes[0]['height'] = int(profile.split('x')[1])
#'''
self.disable_all_streams()
if themes[0]['width'] == int(config[profile_type]["default_profile2"].split('x')[0]):
self.set_string_param(config[profile_type]["profile"], config[profile_type]["default_profile1"])
else:
self.set_string_param(config[profile_type]["profile"], config[profile_type]["default_profile2"])
self.set_bool_param(config[profile_type]["param"], True)
self.disable_all_params()
#self.set_string_param("depth_profile", "640x480x6")
#self.set_bool_param("enable_depth", True)
#'''
self.spin_for_time(wait_time=0.2)
self.spin_for_time(wait_time=1.0)

self.set_string_param(config[profile_type]["profile"], profile)
self.spin_for_time(wait_time=1.0)
self.set_string_param(config[profile_type]["format"], format)
self.spin_for_time(wait_time=1.0)
self.set_bool_param(config[profile_type]["param"], True)
self.spin_for_time(wait_time=1.0)
try:
ret = self.run_test(themes, timeout=5.0)
ret = self.run_test(themes, timeout=10.0)
assert ret[0], ret[1]
assert self.process_data(themes), " ".join(key) + " failed"
num_passed += 1
Expand All @@ -144,13 +150,18 @@ def test_D415_Change_Resolution(self,launch_descr_with_parameters):
assert False, " Tests failed"


def disable_all_params(self):
'''
def disable_all_streams(self):

self.set_bool_param('enable_color', False)
self.spin_for_time(wait_time=1.0)
self.set_bool_param('enable_depth', False)
self.spin_for_time(wait_time=1.0)
self.set_bool_param('enable_infra', False)
self.spin_for_time(wait_time=1.0)
self.set_bool_param('enable_infra1', False)
self.spin_for_time(wait_time=1.0)
self.set_bool_param('enable_infra2', False)
'''
self.spin_for_time(wait_time=1.0)

pass

10 changes: 7 additions & 3 deletions realsense2_camera/test/live_camera/test_d455_basic_tests.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,13 +78,17 @@ def test_D455_Change_Resolution(self,launch_descr_with_parameters):
self.init_test("RsTest"+params['camera_name'])
self.wait_for_node(params['camera_name'])
self.create_param_ifs(get_node_heirarchy(params))
#assert self.set_bool_param('enable_color', False)
assert self.set_string_param('rgb_camera.profile', '640x480x30')
self.spin_for_time(0.5)
assert self.set_bool_param('enable_color', False)
self.spin_for_time(0.5)
assert self.set_string_param('rgb_camera.color_profile', '640x480x30')
self.spin_for_time(0.5)
assert self.set_bool_param('enable_color', True)
self.spin_for_time(0.5)
ret = self.run_test(themes)
assert ret[0], ret[1]
assert self.process_data(themes)
self.set_string_param('rgb_camera.profile', '1280x800x5')
self.set_string_param('rgb_camera.color_profile', '1280x800x5')
self.set_bool_param('enable_color', True)
themes[0]['width'] = 1280
themes[0]['height'] = 800
Expand Down
10 changes: 5 additions & 5 deletions realsense2_camera/test/utils/pytest_live_camera_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,11 +24,11 @@

def get_profile_config(camera_name):
config = {
"Color":{"profile":"rgb_camera.profile", "format":'rgb_camera.color_format', "param":"enable_color", "topic":camera_name+'/color/image_raw',},
"Depth":{"profile":"depth_module.profile", "format":'depth_module.depth_format', "param":"enable_depth", 'topic':camera_name+'/depth/image_rect_raw'},
"Infrared":{"profile":"depth_module.profile", "format":'depth_module.infra_format', "param":"enable_infra", 'topic':camera_name+'/infra/image_rect_raw'},
"Infrared1":{"profile":"depth_module.profile", "format":'depth_module.infra1_format',"param":"enable_infra1", 'topic':camera_name+'/infra/image_rect_raw'},
"Infrared2":{"profile":"depth_module.profile", "format":'depth_module.infra2_format',"param":"enable_infra2", 'topic':camera_name+'/infra/image_rect_raw'},
"Color":{"profile":"rgb_camera.color_profile", "format":'rgb_camera.color_format', "param":"enable_color", "topic":camera_name+'/color/image_raw',},
"Depth":{"profile":"depth_module.depth_profile", "format":'depth_module.depth_format', "param":"enable_depth", 'topic':camera_name+'/depth/image_rect_raw'},
"Infrared":{"profile":"depth_module.infra_profile", "format":'depth_module.infra_format', "param":"enable_infra", 'topic':camera_name+'/infra/image_rect_raw'},
"Infrared1":{"profile":"depth_module.infra_profile", "format":'depth_module.infra1_format',"param":"enable_infra1", 'topic':camera_name+'/infra1/image_rect_raw'},
"Infrared2":{"profile":"depth_module.infra_profile", "format":'depth_module.infra2_format',"param":"enable_infra2", 'topic':camera_name+'/infra2/image_rect_raw'},
}
return config

Expand Down

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