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[Personalrobots-commit] SF.net SVN: personalrobots:[21358] pkg/trunk/stacks
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From: <jl...@us...> - 2009-08-10 08:32:14
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Revision: 21358
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21358&view=rev
Author: jleibs
Date: 2009-08-10 08:32:06 +0000 (Mon, 10 Aug 2009)
Log Message:
-----------
Elaborating on test_stereo_msgs to more fully test RawStereo.
Modified Paths:
--------------
pkg/trunk/stacks/stereo/test_stereo_msgs/manifest.xml
pkg/trunk/stacks/stereo/test_stereo_msgs/test/test_stereo_msgs_migration.py
Added Paths:
-----------
pkg/trunk/stacks/stereo/test_stereo_msgs/test/StereoInfo.saved
Removed Paths:
-------------
pkg/trunk/stacks/common_msgs/test_common_msgs/test/StereoInfo.saved
Deleted: pkg/trunk/stacks/common_msgs/test_common_msgs/test/StereoInfo.saved
===================================================================
--- pkg/trunk/stacks/common_msgs/test_common_msgs/test/StereoInfo.saved 2009-08-10 08:31:38 UTC (rev 21357)
+++ pkg/trunk/stacks/common_msgs/test_common_msgs/test/StereoInfo.saved 2009-08-10 08:32:06 UTC (rev 21358)
@@ -1,30 +0,0 @@
-[image_msgs/StereoInfo]:
-# This message defines meta information for a stereo pair. It should
-# be in a stereo namespace and accompanied by 2 camera namespaces, and
-# a disparity image, named:
-#
-# left, right, and disparity, respectively
-
-Header header
-
-uint32 height
-uint32 width
-
-float64[3] T # Pose of right camera in left camera coords
-float64[3] Om # rotation vector
-float64[16] RP # Reprojection Matrix
-
-================================================================================
-MSG: roslib/Header
-#Standard metadata for higher-level flow data types
-#sequence ID: consecutively increasing ID
-uint32 seq
-#Two-integer timestamp that is expressed as:
-# * stamp.secs: seconds (stamp_secs) since epoch
-# * stamp.nsecs: nanoseconds since stamp_secs
-# time-handling sugar is provided by the client library
-time stamp
-#Frame this data is associated with
-# 0: no frame
-# 1: global frame
-string frame_id
\ No newline at end of file
Modified: pkg/trunk/stacks/stereo/test_stereo_msgs/manifest.xml
===================================================================
--- pkg/trunk/stacks/stereo/test_stereo_msgs/manifest.xml 2009-08-10 08:31:38 UTC (rev 21357)
+++ pkg/trunk/stacks/stereo/test_stereo_msgs/manifest.xml 2009-08-10 08:32:06 UTC (rev 21358)
@@ -13,6 +13,7 @@
<depend package="rosbagmigration"/>
<depend package="sensor_msgs"/>
+ <depend package="stereo_msgs"/>
<url>http://pr.willowgarage.com/wiki/test_stereo_msgs</url>
Copied: pkg/trunk/stacks/stereo/test_stereo_msgs/test/StereoInfo.saved (from rev 21347, pkg/trunk/stacks/common_msgs/test_common_msgs/test/StereoInfo.saved)
===================================================================
--- pkg/trunk/stacks/stereo/test_stereo_msgs/test/StereoInfo.saved (rev 0)
+++ pkg/trunk/stacks/stereo/test_stereo_msgs/test/StereoInfo.saved 2009-08-10 08:32:06 UTC (rev 21358)
@@ -0,0 +1,30 @@
+[image_msgs/StereoInfo]:
+# This message defines meta information for a stereo pair. It should
+# be in a stereo namespace and accompanied by 2 camera namespaces, and
+# a disparity image, named:
+#
+# left, right, and disparity, respectively
+
+Header header
+
+uint32 height
+uint32 width
+
+float64[3] T # Pose of right camera in left camera coords
+float64[3] Om # rotation vector
+float64[16] RP # Reprojection Matrix
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
\ No newline at end of file
Property changes on: pkg/trunk/stacks/stereo/test_stereo_msgs/test/StereoInfo.saved
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/stacks/common_msgs/test_common_msgs/test/StereoInfo.saved:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Modified: pkg/trunk/stacks/stereo/test_stereo_msgs/test/test_stereo_msgs_migration.py
===================================================================
--- pkg/trunk/stacks/stereo/test_stereo_msgs/test/test_stereo_msgs_migration.py 2009-08-10 08:31:38 UTC (rev 21357)
+++ pkg/trunk/stacks/stereo/test_stereo_msgs/test/test_stereo_msgs_migration.py 2009-08-10 08:32:06 UTC (rev 21358)
@@ -162,18 +162,84 @@
(722.28197999999998, 0.0, 309.70123000000001, -64.130840000000006,
0.0, 722.28197999999998, 240.53899000000001, 0.0,
0.0, 0.0, 1.0, 0.0)),
- 2,
+ raw_stereo.IMAGE,
right_img,
- raw_stereo.IMAGE,
+ 0,
disparity_info(),
image())
def get_new_raw_stereo(self):
from stereo_msgs.msg import RawStereo
+ from stereo_msgs.msg import StereoInfo
+ from stereo_msgs.msg import CamInfo
+ from sensor_msgs.msg import RegionOfInterest
+ from sensor_msgs.msg import Image
+
+ from sensor_msgs.msg import DisparityInfo
+
+ import random
+ r = random.Random(5678)
- return RawStereo()
+ left_img = Image(None,
+ 'mono8',
+ 640,
+ [r.randint(0,255) for x in xrange(0,307200)],
+ 480,
+ 640,
+ 0)
+ right_img = Image(None,
+ 'mono8',
+ 640,
+ [r.randint(0,255) for x in xrange(0,307200)],
+ 480,
+ 640,
+ 0)
+
+ return RawStereo(None,
+ StereoInfo(None,
+ 480, 640,
+ (-0.088779999999999998, -0.00017000000000000001, 0.0015399999999999999),
+ (-0.00296, 0.01155, 0.00064999999999999997),
+ (1.0, 0.0, 0.0, -309.70123000000001,
+ 0.0, 1.0, 0.0, -240.53899000000001,
+ 0.0, 0.0, 0.0, 722.28197999999998,
+ 0.0, 0.0, 11.262630896461046, -0.0)),
+ CamInfo(None,
+ 480, 640,
+ RegionOfInterest(0,0,480,640),
+ (-0.45795000000000002, 0.29532999999999998, 0.0, 0.0, 0.0),
+ (734.37707999999998, 0.0, 343.25992000000002,
+ 0.0, 734.37707999999998, 229.65119999999999,
+ 0.0, 0.0, 1.0),
+ (0.99997999999999998, 0.0012800000000000001, -0.0057400000000000003,
+ -0.0012700000000000001, 1.0, 0.00148,
+ 0.0057400000000000003, -0.00147, 0.99997999999999998),
+ (722.28197999999998, 0.0, 309.70123000000001, 0.0,
+ 0.0, 722.28197999999998, 240.53899000000001, 0.0,
+ 0.0, 0.0, 1.0, 0.0)),
+ RawStereo.IMAGE,
+ left_img,
+ CamInfo(None,
+ 480, 640,
+ RegionOfInterest(0,0,480,640),
+ (-0.46471000000000001, 0.28405999999999998, 0.0, 0.0, 0.0),
+ (732.43358999999998, 0.0, 330.20074,
+ 0.0, 732.43358999999998, 234.71764999999999,
+ 0.0, 0.0, 1.0),
+ (0.99985000000000002, 0.0019, -0.017299999999999999,
+ -0.0019300000000000001, 1.0, -0.0014599999999999999,
+ 0.017299999999999999, 0.00149, 0.99985000000000002),
+ (722.28197999999998, 0.0, 309.70123000000001, -64.130840000000006,
+ 0.0, 722.28197999999998, 240.53899000000001, 0.0,
+ 0.0, 0.0, 1.0, 0.0)),
+ RawStereo.IMAGE,
+ right_img,
+ 0,
+ DisparityInfo(),
+ Image())
+
def test_raw_stereo(self):
self.do_test('raw_stereo', self.get_old_raw_stereo, self.get_new_raw_stereo)
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