Migrate rosbag tests to db3 and deflake align_depth

realsense2_camera/test/post_processing_filters/test_align_depth.py

@@ -31,9 +31,11 @@
 sys.path.append(os.path.abspath(os.path.dirname(__file__)+"/../utils"))
 import pytest_rs_utils
 from pytest_rs_utils import launch_descr_with_yaml
-from pytest_rs_utils import get_rosbag_file_path
+from pytest_rs_utils import get_db3_file_path
 from pytest_rs_utils import get_node_heirarchy
 
+BAG = "outdoors_1color.bag"
+
 '''
 This test imitates the ros2 launch rs_launch.py realsense2_camera with the given parameters below
 Full command to reproduce locally
@@ -49,7 +51,7 @@
 Also we check that the recieved frames of each topic are in the right width and height
 '''
 test_params = {
-    "rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+    "rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'camera_1',
     'enable_color': 'true',
     'enable_depth': 'true',
@@ -78,6 +80,7 @@ def test_align_depth_on(self, launch_descr_with_yaml):
             initialize, run and check the data 
             '''
             self.init_test('RsTest'+params['camera_name'])
+            self.wait_for_node(params['camera_name'])
             ret = self.run_test(themes)
             assert ret[0], ret[1]
             assert self.process_data(themes)

realsense2_camera/test/rosbag/test_rosbag_all_topics_test.py

@@ -39,10 +39,13 @@
 
 from pytest_rs_utils import delayed_launch_descr_with_parameters
 from pytest_rs_utils import get_rosbag_file_path
+from pytest_rs_utils import get_db3_file_path
 from pytest_rs_utils import get_node_heirarchy
 
+BAG = "outdoors_1color.bag"
 
-test_params_all_topics = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+
+test_params_all_topics = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'AllTopics',
     'enable_infra1':'true',
     'enable_infra2':'true',
@@ -66,7 +69,7 @@ class TestAllTopics(pytest_rs_utils.RsTestBaseClass):
     def test_all_topics(self,delayed_launch_descr_with_parameters):
 
         params = delayed_launch_descr_with_parameters[1]
-        self.rosbag = params["rosbag_filename"]
+        self.rosbag = get_rosbag_file_path(BAG)
 
         depth_to_infra_extrinsics_data = msg_Extrinsics()
         depth_to_infra_extrinsics_data.rotation = [1., 0., 0., 0., 1., 0., 0., 0., 1.]
@@ -76,7 +79,7 @@ def test_all_topics(self,delayed_launch_descr_with_parameters):
         depth_to_color_extrinsics_data.rotation=array('f',[ 0.99999666,  0.00166541,  0.00198587, -0.00166956,  0.99999642,
                         0.00208678, -0.00198239, -0.00209009,  0.99999583])
         depth_to_color_extrinsics_data.translation=array('f',[ 0.01484134, -0.00020221,  0.00013059])
-        data = pytest_rs_utils.ImageColorGetData(params["rosbag_filename"])
+        data = pytest_rs_utils.ImageColorGetData(get_rosbag_file_path(BAG))
         themes = [
         {
          'topic':get_node_heirarchy(params)+'/extrinsics/depth_to_color',
@@ -110,7 +113,7 @@ def test_all_topics(self,delayed_launch_descr_with_parameters):
     def process_data(self, themes):
         return super().process_data(themes)
 
-test_params_metadata_topics = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+test_params_metadata_topics = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'MetadataTopics',
     'color_width': '0',
     'color_height': '0',
@@ -135,7 +138,7 @@ def test_metadata_topics(self,delayed_launch_descr_with_parameters):
         current rosbag file doesn't have color data 
         '''
         params = delayed_launch_descr_with_parameters[1]
-        self.rosbag = params["rosbag_filename"]
+        self.rosbag = get_rosbag_file_path(BAG)
 
         color_metadata = msg_Metadata()
         color_metadata.json_data = '{"frame_number":39,"clock_domain":"system_time","frame_timestamp":1508282881033.132324,"frame_counter":-8134432827560165376,"time_of_arrival":1508282881033}'
@@ -178,7 +181,7 @@ def test_metadata_topics(self,delayed_launch_descr_with_parameters):
     def process_data(self, themes):
         return super().process_data(themes)
 
-test_params_camera_info_topics = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+test_params_camera_info_topics = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'CameraInfoTopics',
     'color_width': '0',
     'color_height': '0',
@@ -202,7 +205,7 @@ def test_camera_info_topics(self,delayed_launch_descr_with_parameters):
         current rosbag file doesn't have color data 
         '''
         params = delayed_launch_descr_with_parameters[1]
-        self.rosbag = params["rosbag_filename"]
+        self.rosbag = get_rosbag_file_path(BAG)
         '''
         The test is hardwired to ensure the rosbag file is not changed.
         The function CameraInfoColorGetData requires changes to adapt to the changes

realsense2_camera/test/rosbag/test_rosbag_basic_tests.py

@@ -32,9 +32,12 @@
 from pytest_rs_utils import launch_descr_with_parameters
 from pytest_rs_utils import delayed_launch_descr_with_parameters
 from pytest_rs_utils import get_rosbag_file_path
+from pytest_rs_utils import get_db3_file_path
 from pytest_rs_utils import get_node_heirarchy
 
-test_params = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+BAG = "outdoors_1color.bag"
+
+test_params = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Vis2_Cam',
     'color_width': '0',
     'color_height': '0',
@@ -53,7 +56,7 @@
 class TestVis2(pytest_rs_utils.RsTestBaseClass):
     def test_vis_2(self,delayed_launch_descr_with_parameters):
         params = delayed_launch_descr_with_parameters[1]
-        data = pytest_rs_utils.ImageColorGetData(params["rosbag_filename"])
+        data = pytest_rs_utils.ImageColorGetData(get_rosbag_file_path(BAG))
         themes = [
         {'topic':get_node_heirarchy(params)+'/color/image_raw',
          'msg_type':msg_Image,
@@ -75,7 +78,7 @@ def process_data(self, themes):
         return super().process_data(themes)
 
 
-test_params_depth = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+test_params_depth = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Depth_W_Cloud',
     'color_width': '0',
     'color_height': '0',
@@ -95,7 +98,7 @@ def process_data(self, themes):
 class TestDepthWCloud(pytest_rs_utils.RsTestBaseClass):
     def test_depth_w_cloud_1(self,launch_descr_with_parameters):
         params = launch_descr_with_parameters[1]
-        data = pytest_rs_utils.ImageDepthGetData(params["rosbag_filename"])
+        data = pytest_rs_utils.ImageDepthGetData(get_rosbag_file_path(BAG))
         themes = [
         {'topic':get_node_heirarchy(params)+'/depth/image_rect_raw',
          'msg_type':msg_Image,
@@ -117,7 +120,7 @@ def process_data(self, themes):
         return super().process_data(themes)
 
 
-test_params_depth_avg_1 = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+test_params_depth_avg_1 = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Depth_Avg_1',
     'color_width': '0',
     'color_height': '0',
@@ -136,7 +139,7 @@ def process_data(self, themes):
 class TestDepthAvg1(pytest_rs_utils.RsTestBaseClass):
     def test_depth_avg_1(self,launch_descr_with_parameters):
         params = launch_descr_with_parameters[1]
-        data = pytest_rs_utils.ImageDepthGetData(params["rosbag_filename"])
+        data = pytest_rs_utils.ImageDepthGetData(get_rosbag_file_path(BAG))
         themes = [
         {'topic':get_node_heirarchy(params)+'/depth/image_rect_raw',
          'msg_type':msg_Image,

realsense2_camera/test/rosbag/test_rosbag_dec_point_tests.py

@@ -32,10 +32,13 @@
 from pytest_rs_utils import launch_descr_with_parameters
 from pytest_rs_utils import delayed_launch_descr_with_parameters
 from pytest_rs_utils import get_rosbag_file_path
+from pytest_rs_utils import get_db3_file_path
 from pytest_rs_utils import get_node_heirarchy
 
+BAG = "outdoors_1color.bag"
 
-test_params_depth_avg_decimation_1 = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+
+test_params_depth_avg_decimation_1 = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Align_Depth_Color_1',
     'color_width': '0',
     'color_height': '0',
@@ -55,7 +58,7 @@
 class TestDepthAvgDecimation1(pytest_rs_utils.RsTestBaseClass):
     def test_depth_avg_decimation_1(self,launch_descr_with_parameters):
         params = launch_descr_with_parameters[1]
-        data = pytest_rs_utils.ImageDepthGetData_decimation(params["rosbag_filename"])
+        data = pytest_rs_utils.ImageDepthGetData_decimation(get_rosbag_file_path(BAG))
         themes = [
         {'topic':get_node_heirarchy(params)+'/depth/image_rect_raw',
          'msg_type':msg_Image,
@@ -77,7 +80,7 @@ def process_data(self, themes):
         return super().process_data(themes)
 
 
-test_params_depth_avg_1 = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+test_params_depth_avg_1 = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Depth_Avg_1',
     'color_width': '0',
     'color_height': '0',
@@ -96,7 +99,7 @@ def process_data(self, themes):
 class TestDepthAvg1(pytest_rs_utils.RsTestBaseClass):
     def test_depth_avg_1(self,launch_descr_with_parameters):
         params = launch_descr_with_parameters[1]
-        data = pytest_rs_utils.ImageDepthGetData(params["rosbag_filename"])
+        data = pytest_rs_utils.ImageDepthGetData(get_rosbag_file_path(BAG))
         themes = [
         {'topic':get_node_heirarchy(params)+'/depth/image_rect_raw',
          'msg_type':msg_Image,
@@ -118,7 +121,7 @@ def process_data(self, themes):
         return super().process_data(themes)
 
 
-test_params_depth_avg_decimation_1 = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+test_params_depth_avg_decimation_1 = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Align_Depth_Color_1',
     'color_width': '0',
     'color_height': '0',
@@ -138,7 +141,7 @@ def process_data(self, themes):
 class TestDepthAvgDecimation1(pytest_rs_utils.RsTestBaseClass):
     def test_depth_avg_decimation_1(self,launch_descr_with_parameters):
         params = launch_descr_with_parameters[1]
-        data = pytest_rs_utils.ImageDepthGetData_decimation(params["rosbag_filename"])
+        data = pytest_rs_utils.ImageDepthGetData_decimation(get_rosbag_file_path(BAG))
         themes = [
         {'topic':get_node_heirarchy(params)+'/depth/image_rect_raw',
          'msg_type':msg_Image,
@@ -160,7 +163,7 @@ def process_data(self, themes):
         return super().process_data(themes)
 
 
-test_params_points_cloud_1 = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+test_params_points_cloud_1 = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Points_cloud_1',
     'color_width': '0',
     'color_height': '0',
@@ -180,7 +183,7 @@ def process_data(self, themes):
 class TestPointsCloud1(pytest_rs_utils.RsTestBaseClass):
     def test_points_cloud_1(self,delayed_launch_descr_with_parameters):
         params = delayed_launch_descr_with_parameters[1]
-        self.rosbag = params["rosbag_filename"]
+        self.rosbag = get_rosbag_file_path(BAG)
         themes = [
         {'topic':get_node_heirarchy(params)+'/depth/color/points',
          'msg_type':msg_PointCloud2,

realsense2_camera/test/rosbag/test_rosbag_depth_tests.py

@@ -36,10 +36,13 @@
 from pytest_rs_utils import launch_descr_with_parameters
 from pytest_rs_utils import delayed_launch_descr_with_parameters
 from pytest_rs_utils import get_rosbag_file_path
+from pytest_rs_utils import get_db3_file_path
 from pytest_rs_utils import get_node_heirarchy
 
+BAG = "outdoors_1color.bag"
 
-test_params_depth_points_cloud_1 = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+
+test_params_depth_points_cloud_1 = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Points_cloud_1',
     'color_width': '0',
     'color_height': '0',
@@ -70,8 +73,8 @@ def test_depth_points_cloud_1(self,delayed_launch_descr_with_parameters):
         since there are two callbacks, the initial few frames/data gets lost.
         '''
         params = delayed_launch_descr_with_parameters[1]
-        self.rosbag = params["rosbag_filename"]
-        data2 = pytest_rs_utils.ImageDepthGetData(params["rosbag_filename"])
+        self.rosbag = get_rosbag_file_path(BAG)
+        data2 = pytest_rs_utils.ImageDepthGetData(get_rosbag_file_path(BAG))
         data1 = {'width': [660353, 3300], 
                 'height': [1], 
                 'avg': [np.array([ 1.28251814, -0.15839984, 4.82235184, 80, 160, 240])], 
@@ -97,7 +100,7 @@ def process_data(self, themes):
         return super().process_data(themes)
 
 
-test_params_static_tf_1 = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+test_params_static_tf_1 = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Static_tf1',
     'color_width': '0',
     'color_height': '0',
@@ -116,7 +119,7 @@ def process_data(self, themes):
 class TestStaticTf1(pytest_rs_utils.RsTestBaseClass):
     def test_static_tf_1(self,delayed_launch_descr_with_parameters):
         self.params = delayed_launch_descr_with_parameters[1]
-        self.rosbag = self.params["rosbag_filename"]
+        self.rosbag = get_rosbag_file_path(BAG)
         themes = [
         {'topic':get_node_heirarchy(self.params)+'/color/image_raw',
          'msg_type':msg_Image,
@@ -156,7 +159,7 @@ def process_data(self, themes):
         return ret[0]
 
 
-test_params_non_existing_rosbag = {"rosbag_filename":"non_existent.bag",
+test_params_non_existing_rosbag = {"rosbag_filename":"non_existent.db3",
     'camera_name': 'non_existing_rosbag',
     }
 '''
@@ -181,7 +184,7 @@ def test_non_existing_rosbag(self,delayed_launch_descr_with_parameters):
 
 
 
-test_params_align_depth_color_1 = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+test_params_align_depth_color_1 = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Align_Depth_Color_1',
     'color_width': '0',
     'color_height': '0',
@@ -201,7 +204,7 @@ def test_non_existing_rosbag(self,delayed_launch_descr_with_parameters):
 class TestAlignDepthColor(pytest_rs_utils.RsTestBaseClass):
     def test_align_depth_color_1(self,delayed_launch_descr_with_parameters):
         params = delayed_launch_descr_with_parameters[1]
-        data = pytest_rs_utils.ImageDepthInColorShapeGetData(params["rosbag_filename"])
+        data = pytest_rs_utils.ImageDepthInColorShapeGetData(get_rosbag_file_path(BAG))
         themes = [
         {'topic':get_node_heirarchy(params)+'/aligned_depth_to_color/image_raw',
          'msg_type':msg_Image,
@@ -223,7 +226,7 @@ def process_data(self, themes):
         return super().process_data(themes)
 
 
-test_params_align_depth_infra_1 = {"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
+test_params_align_depth_infra_1 = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Align_Depth_Infra_1',
     'color_width': '0',
     'color_height': '0',
@@ -256,8 +259,8 @@ def process_data(self, themes):
 class TestAlignDepthInfra1(pytest_rs_utils.RsTestBaseClass):
     def test_align_depth_infra_1(self,delayed_launch_descr_with_parameters):
         params = delayed_launch_descr_with_parameters[1]
-        self.rosbag = params["rosbag_filename"]
-        #data = pytest_rs_utils.ImageDepthInColorShapeGetData(params["rosbag_filename"])
+        self.rosbag = get_rosbag_file_path(BAG)
+        #data = pytest_rs_utils.ImageDepthInColorShapeGetData(get_rosbag_file_path(BAG))
         themes = [
         {'topic':get_node_heirarchy(params)+'/aligned_depth_to_infra1/image_raw',
          'msg_type':msg_Image,

realsense2_camera/test/rosbag/test_rosbag_imu_test.py

@@ -38,10 +38,13 @@
 
 from pytest_rs_utils import delayed_launch_descr_with_parameters
 from pytest_rs_utils import get_rosbag_file_path
+from pytest_rs_utils import get_db3_file_path
 from pytest_rs_utils import get_node_heirarchy
 
+BAG = "D435i_Depth_and_IMU_Stands_still.bag"
 
-test_params_accel = {"rosbag_filename":get_rosbag_file_path("D435i_Depth_and_IMU_Stands_still.bag"),
+
+test_params_accel = {"rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'Accel_Cam',
     'color_width': '0',
     'color_height': '0',
@@ -62,7 +65,7 @@
 class TestAccelUp1(pytest_rs_utils.RsTestBaseClass):
     def test_accel_up_1(self,delayed_launch_descr_with_parameters):
         params = delayed_launch_descr_with_parameters[1]
-        data = pytest_rs_utils.AccelGetDataDeviceStandStraight(params["rosbag_filename"])
+        data = pytest_rs_utils.AccelGetDataDeviceStandStraight(get_rosbag_file_path(BAG))
         themes = [
         {'topic':get_node_heirarchy(params)+'/accel/sample',
          'msg_type':msg_Imu,
@@ -84,7 +87,7 @@ def process_data(self, themes):
         return super().process_data(themes)
 
 test_params_imu_topics = {#"rosbag_filename":get_rosbag_file_path("outdoors_1color.bag"),
-                          "rosbag_filename":get_rosbag_file_path("D435i_Depth_and_IMU_Stands_still.bag"),
+                          "rosbag_filename":get_db3_file_path(BAG),
     'camera_name': 'ImuTopics',
     'color_width': '0',
     'color_height': '0',
@@ -106,7 +109,7 @@ def test_imu_topics(self,delayed_launch_descr_with_parameters):
         current rosbag file doesn't have color data 
         '''
         params = delayed_launch_descr_with_parameters[1]
-        self.rosbag = params["rosbag_filename"]
+        self.rosbag = get_rosbag_file_path(BAG)
         themes = [{
          'topic':get_node_heirarchy(params)+'/imu',
          'msg_type':msg_Imu,

realsense2_camera/test/utils/pytest_rs_utils.py

@@ -123,6 +123,15 @@ def get_rosbag_file_path(filename):
     return path
 get_rosbag_file_path.rosbagMgr = None
 
+def get_db3_file_path(bag_filename):
+    bag = get_rosbag_file_path(bag_filename)
+    db3 = os.path.splitext(bag)[0] + ".db3"
+    if os.path.isfile(db3):
+        return db3
+    subprocess.run(["rs-convert", "-i", bag, "-D", db3],
+                   check=True, capture_output=True, timeout=180)
+    return db3
+
 def CameraInfoGetData(rec_filename, topic):
     data = importRosbag(rec_filename, importTopics=[topic], log='ERROR', disable_bar=True)[topic]
     data =  {k.lower(): v for k, v in data.items()}