Fix ROS Camera Tests

Enabling ZR300 incorrectly enabled IMU and FishEye camera tests to all of the cameras. Change default to disable for these tests and enable only for ZR300. Correct ZR300 to only check for 1st coefficient in FishEye distortion model.
IntelRealSense · Oct 27, 2016 · f69749f · f69749f
1 parent 5dc178f
commit f69749f
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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>