Merge pull request #143 from mdhorn/rostest-fix-zr300

Fix ROS Camera Tests
IntelRealSense · Oct 27, 2016 · 78a7716 · 78a7716
2 parents 5dc178f + f69749f
commit 78a7716
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Showing 3 changed files with 17 additions and 11 deletions.
diff --git a/realsense_camera/test/camera_core.cpp b/realsense_camera/test/camera_core.cpp
@@ -608,6 +608,7 @@ TEST(RealsenseTests, testFisheyeStream)
 {
   if (g_enable_fisheye)
   {
+    ROS_INFO_STREAM("RealSense Camera - fisheye_avg: " << g_fisheye_avg);
     EXPECT_TRUE(g_fisheye_avg > 0);
     EXPECT_TRUE(g_fisheye_recv);
   }
@@ -619,7 +620,7 @@ TEST(RealsenseTests, testFisheyeStream)
 
 TEST(RealsenseTests, testFisheyeCameraInfo)
 {
-  if (g_enable_imu)
+  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]);
@@ -645,11 +646,12 @@ TEST(RealsenseTests, testFisheyeCameraInfo)
     EXPECT_TRUE(g_caminfo_projection_recv[RS_STREAM_FISHEYE][10] != 0.0);
     EXPECT_EQ(g_caminfo_projection_recv[RS_STREAM_FISHEYE][11], 0.0);
 
-    // SR300 cameras have Fisheye distortion parameters
-    if (g_camera_type == "SR300")
+    // 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 < 5; i++)
+      for (unsigned int i = 0; i < 1; i++)
       {
         if (g_fisheye_caminfo_D_recv[i] == 0.0)
         {

diff --git a/realsense_camera/test/camera_core.h b/realsense_camera/test/camera_core.h
@@ -71,8 +71,8 @@ uint32_t g_infrared1_step_exp; // Expected infrared1 step.
 
 bool g_enable_color = true;
 bool g_enable_depth = true;
-bool g_enable_fisheye = true;
-bool g_enable_imu = true;
+bool g_enable_fisheye = false;
+bool g_enable_imu = false;
 bool g_enable_pointcloud = false;
 
 std::string g_depth_encoding_exp; // Expected depth encoding.

diff --git a/realsense_camera/test/zr300_nodelet_default.test b/realsense_camera/test/zr300_nodelet_default.test
@@ -1,14 +1,18 @@
 <launch>
-  <arg name="camera"       value="camera" />
-  <arg name="camera_type"  default="ZR300" />
+  <arg name="camera"          value="camera" />
+  <arg name="camera_type"     default="ZR300" />
+  <arg name="enable_fisheye"  default="true" />
+  <arg name="enable_imu"      default="true" />
 
   <!-- Start camera -->
   <include file="$(find realsense_camera)/launch/zr300_nodelet_default.launch">
-    <arg name="camera"      value="$(arg camera)" />
-    <arg name="camera_type" value="$(arg camera_type)" />
+    <arg name="camera"          value="$(arg camera)" />
+    <arg name="camera_type"     value="$(arg camera_type)" />
   </include>
 
   <!-- Start test -->
   <test pkg="realsense_camera" type="tests_camera_core" test-name="realsense_camera_test"
-    args="camera_type $(arg camera_type)" />
+    args="camera_type $(arg camera_type)
+    enable_fisheye $(arg enable_fisheye)
+    enable_imu $(arg enable_imu)" />
 </launch>