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#! /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
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)
class Semantic_Camera_Test(MorseTestCase):
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')
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)
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