def do_ecto(bagname, msg_counts, Scheduler):
sub_rgb = ImageSub("image_sub",
topic_name='/camera/rgb/image_color',
queue_size=0)
sub_depth = ImageSub("depth_sub",
topic_name='/camera/depth/image',
queue_size=0)
im2mat_rgb = ecto_ros.Image2Mat()
im2mat_depth = ecto_ros.Image2Mat()
counter_rgb = ecto.Counter(every=10)
counter_depth = ecto.Counter()
graph = [
sub_rgb["output"] >> im2mat_rgb["image"],
sub_depth["output"] >> im2mat_depth["image"],
im2mat_rgb[:] >> counter_rgb[:], im2mat_depth[:] >> counter_depth[:]
]
plasm = ecto.Plasm()
plasm.connect(graph)
sched = Scheduler(plasm)
sched.execute_async()
rosbag = play_bag(bagname, delay=1,
rate=0.5) #rate hack for fidelity in message count FIXME
wait_bag(rosbag)
time.sleep(0.1)
sched.stop()
print "expecting RGB count:", msg_counts['/camera/rgb/image_color']
print "RGB count:", counter_rgb.outputs.count
print "expecting Depth count:", msg_counts['/camera/depth/image']
print "Depth count:", counter_depth.outputs.count
assert msg_counts['/camera/rgb/image_color'] >= counter_rgb.outputs.count
assert msg_counts['/camera/rgb/image_color'] >= counter_depth.outputs.count
assert counter_rgb.outputs.count != 0
assert counter_depth.outputs.count != 0
def test_bag(self):
bagname = os.path.join(
find_in_workspaces(search_dirs=['share'], project='ecto_ros')[0],
'tests', 't01.bag')
counts = bag_counts(bagname)
#test that the counts are the same.
print counts
self.assertEqual(counts['/camera/rgb/image_color'],
counts['/camera/depth/image'])
self.assertNotEqual(counts['/camera/rgb/image_color'], 0)
baggers = dict(
image=ImageBagger(topic_name='/camera/rgb/image_color'),
depth=ImageBagger(topic_name='/camera/depth/image'),
)
bagreader = BagReader(
'Bag Ripper',
baggers=baggers,
bag=bagname,
)
im2mat_rgb = Image2Mat()
im2mat_depth = Image2Mat()
counter_rgb = ecto.Counter()
counter_depth = ecto.Counter()
graph = [
bagreader["image"] >> im2mat_rgb["image"],
bagreader["depth"] >> im2mat_depth["image"],
im2mat_rgb[:] >> counter_rgb[:],
im2mat_depth[:] >> counter_depth[:]
]
plasm = ecto.Plasm()
plasm.connect(graph)
#ecto.view_plasm(plasm)
plasm.execute(niter=0)
print "expecting count:", counts['/camera/rgb/image_color']
print "RGB count:", counter_rgb.outputs.count
print "Depth count:", counter_depth.outputs.count
assert counts['/camera/rgb/image_color'] == counter_rgb.outputs.count
assert counts['/camera/depth/image'] == counter_depth.outputs.count
def do_ecto():
bagname = sys.argv[1]
counts = bag_counts(bagname)
#test that the counts are the same.
assert counts['/camera/rgb/image_color'] == counts['/camera/depth/image']
assert counts['/camera/rgb/image_color'] != 0
baggers = dict(
image=ImageBagger(topic_name='/camera/rgb/image_color'),
depth=ImageBagger(topic_name='/camera/depth/image'),
)
bagreader = BagReader(
'Bag Ripper',
baggers=baggers,
bag=bagname,
)
im2mat_rgb = Image2Mat()
im2mat_depth = Image2Mat()
counter_rgb = ecto.Counter()
counter_depth = ecto.Counter()
graph = [
bagreader["image"] >> im2mat_rgb["image"],
bagreader["depth"] >> im2mat_depth["image"],
im2mat_rgb[:] >> counter_rgb[:], im2mat_depth[:] >> counter_depth[:]
]
plasm = ecto.Plasm()
plasm.connect(graph)
#ecto.view_plasm(plasm)
plasm.execute(niter=0)
print "expecting count:", counts['/camera/rgb/image_color']
print "RGB count:", counter_rgb.outputs.count
print "Depth count:", counter_depth.outputs.count
assert counts['/camera/rgb/image_color'] == counter_rgb.outputs.count
assert counts['/camera/depth/image'] == counter_depth.outputs.count
def do_ecto(bagname, msg_counts, Scheduler):
ecto_ros.init(sys.argv, "image_sub_node")
sub_rgb = ImageSub("image_sub",
topic_name='/camera/rgb/image_color',
queue_size=0)
im2mat_rgb = ecto_ros.Image2Mat()
counter_rgb = ecto.Counter()
graph = [
sub_rgb["output"] >> im2mat_rgb["image"],
im2mat_rgb[:] >> counter_rgb[:],
]
plasm = ecto.Plasm()
plasm.connect(graph)
sched = Scheduler(plasm)
sched.execute_async()
rosbag = play_bag(bagname, delay=0.5)
wait_bag(rosbag)
sched.stop()
print "expecting RGB count:", msg_counts['/camera/rgb/image_color']
print "RGB count:", counter_rgb.outputs.count
assert msg_counts['/camera/rgb/image_color'] >= counter_rgb.outputs.count
assert counter_rgb.outputs.count != 0
from ecto_ros import Synchronizer
import ecto_ros.ecto_sensor_msgs as ecto_sensor_msgs
ImageSub = ecto_sensor_msgs.Subscriber_Image
CameraInfoSub = ecto_sensor_msgs.Subscriber_CameraInfo
subs = dict(
image=ImageSub(topic_name='/camera/rgb/image_color', queue_size=0),
depth=ImageSub(topic_name='/camera/depth/image', queue_size=0),
depth_info=CameraInfoSub(topic_name='/camera/depth/camera_info',
queue_size=0),
image_info=CameraInfoSub(topic_name='/camera/rgb/camera_info',
queue_size=0),
)
sync = Synchronizer('Synchronizator', subs=subs)
counter_rgb = ecto.Counter()
counter_depth = ecto.Counter()
counter_rgb_info = ecto.Counter()
counter_depth_info = ecto.Counter()
graph = [
sync["image"] >> counter_rgb[:],
sync["depth"] >> counter_depth[:],
sync["image_info"] >> counter_rgb_info[:],
sync["depth_info"] >> counter_depth_info[:],
]
plasm = ecto.Plasm()
plasm.connect(graph)
print(plasm)
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. import ecto import ecto.ecto_test as ecto_test # run the generator 10 times gen = ecto_test.Generate(start=0, step=1, stop=9) # break on every second iteration breaker = ecto_test.BreakEveryN(n=2) cnt = ecto.Counter() plasm = ecto.Plasm() plasm.connect([gen[:] >> breaker[:], breaker[:] >> cnt[:]]) plasm.execute(niter=0) # as cnt depends on breaker it will only be processed every second iteration result = cnt.outputs.count print "Counter ran " + str(result) + " times" assert (result == 5)