[face_detector][test] Detection using rgbd works with this config.

wg-perception · Feb 17, 2017 · e5e2ab4 · e5e2ab4
1 parent 94ae102
commit e5e2ab4
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Showing 3 changed files with 21 additions and 4 deletions.
diff --git a/face_detector/test/common_rtest.xml b/face_detector/test/common_rtest.xml
@@ -4,6 +4,7 @@
   <arg name="hz_error" default="29.9" />
   <arg name="RETRY_TEST" default="5" />
   <arg name="testnode_name" default="hztest1" />
+  <arg name="topicname_hztest" default="face_detector/people_tracker_measurements_array" />
 
   <param name ="use_sim_time" value="true" />
 
@@ -19,8 +20,8 @@
   <group if="$(arg expected_success)">
     <node pkg="rosbag" type="play" name="play" args="-r 0.5 $(find face_detector)/test/face_detector_withface_test_diamondback.bag"/>
 
-    <test test-name="hztest_withface_$(arg testnode_name)" pkg="rostest" type="hztest" name="$(arg testnode_name)" retry="$(arg RETRY_TEST)">
-      <param name="topic" value="face_detector/people_tracker_measurements_array" />
+    <test test-name="hztest_withface_$(arg topicname_hztest)" pkg="rostest" type="hztest" name="$(arg testnode_name)" retry="$(arg RETRY_TEST)">
+      <param name="topic" value="$(arg expected_success)" />
       <param name="hz" value="$(arg hz)" />
       <param name="hzerror" value="$(arg hz_error)" />    
       <param name="test_duration" value="15.0" />

diff --git a/face_detector/test/rgbd_false_rtest.xml b/face_detector/test/rgbd_false_rtest.xml
@@ -1,10 +1,17 @@
 <launch>
   <arg name="expected_success" value="false" />
   <arg name="testnode_name" default="hztest_rgbd_false" />
+  <arg name="topicname_hztest" default="/face_detector/faces_cloud" />  
 
   <node ns="wide_stereo" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo" />
 
-  <include file="$(find face_detector)/launch/face_detector.rgbd.launch"/> 
+  <include file="$(find face_detector)/launch/face_detector.rgbd.launch">
+    <arg name="camera" value="wide_stereo" />
+    <arg name="rgb_ns" value="right" />
+    <arg name="image_topic" value="image_raw" />
+    <arg name="depth_ns" value="right" />
+    <arg name="depth_topic" value="image_raw" />
+  </include> 
 
   <include file="$(find face_detector)/test/common_rtest.xml" pass_all_args="true" />
 </launch>
diff --git a/face_detector/test/rgbd_true_rtest.xml b/face_detector/test/rgbd_true_rtest.xml
@@ -1,9 +1,18 @@
 <launch>
+  <arg name="hz" default="500.0" />
+  <arg name="hz_error" default="499.9" />
   <arg name="testnode_name" default="hztest_rgbd_true" />
+  <arg name="topicname_hztest" default="/face_detector/faces_cloud" />
 
   <node ns="wide_stereo" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo" />
 
-  <include file="$(find face_detector)/launch/face_detector.rgbd.launch"/> 
+  <include file="$(find face_detector)/launch/face_detector.rgbd.launch">
+    <arg name="camera" value="wide_stereo" />
+    <arg name="rgb_ns" value="right" />
+    <arg name="image_topic" value="image_raw" />
+    <arg name="depth_ns" value="right" />
+    <arg name="depth_topic" value="image_raw" />
+  </include> 
 
   <include file="$(find face_detector)/test/common_rtest.xml" pass_all_args="true" />
 </launch>