Source code for base.semantic_camera_relative_testing

#! /usr/bin/env python
"""
This script tests the Semantic Camera sensor and its 'relative' property in MORSE.
"""

import sys
import math
from morse.testing.testing import MorseTestCase
from pymorse import Morse

# Include this import to be able to use your test file as a regular 
# builder script, ie, usable with: 'morse [run|exec] base_testing.py
try:
    from morse.builder import *
except ImportError:
    pass

[docs]def send_dest(s, morse, x, y, yaw): s.publish({'x' : x, 'y' : y, 'z' : 0, \ 'yaw' : yaw, 'pitch' : 0.0, 'roll' : 0.0}) morse.sleep(0.5)
[docs]class Semantic_Camera_Test(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ robot = ATRV() camera = SemanticCamera() camera.properties(relative=True) robot.append(camera) camera.translate(x=0.3, z=0.762) #camera.rotate(x=math.pi/2.0) camera.add_stream('socket') motion = Teleport() robot.append(motion) motion.add_stream('socket') env = Environment('indoors-1/boxes') env.add_service('socket')
[docs] def test_semantic_camera(self): """ This test is guaranteed to be started only when the simulator is ready. """ with Morse() as morse: semantic_stream = morse.robot.camera teleport_client = morse.robot.motion o = semantic_stream.get() objects= o['visible_objects'] self.assertEqual(objects, []) # Change the orientation of the robot using the v_w socket send_dest(teleport_client, morse, -5.0, 0.0, math.pi) # Second test for the sensor, with objects in front o = semantic_stream.get() objects= o['visible_objects'] self.assertEqual(len(objects), 1) self.assertEqual(objects[0]['name'],'RedBox') # RedBox in camera frame: position = [0, -0.2, 2.2] quaternion = {'x':0.5, 'y':0.5, 'z':-0.5, 'w':0.5} # quaternion is equal to euler (pi, pi, 0) in XYZ mode for i in [0,1,2]: self.assertAlmostEqual(objects[0]['position'][i], position[i], delta=0.1) for i in ['x', 'y', 'z', 'w']: self.assertAlmostEqual(objects[0]['orientation'][i], quaternion[i], delta=.1) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(Semantic_Camera_Test)