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94 lines
3.5 KiB
94 lines
3.5 KiB
2 months ago
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# License: Apache 2.0. See LICENSE file in root directory.
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# Copyright(c) 2021 Intel Corporation. All Rights Reserved.
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import pyrealsense2 as rs
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from rspy import log, test
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import sw
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# The timestamp jumps are closely correlated to the FPS passed to the video streams:
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# syncer expects frames to arrive every 1000/FPS milliseconds!
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sw.fps_c = sw.fps_d = 60
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sw.init()
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sw.start()
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#############################################################################################
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#
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test.start( "Wait for framesets" )
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# It can take a few frames for the syncer to actually produce a matched frameset (it doesn't
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# know what to match to in the beginning)
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sw.generate_depth_and_color( frame_number = 0, timestamp = 0 )
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sw.expect( depth_frame = 0 ) # syncer doesn't know about color yet
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sw.expect( color_frame = 0, nothing_else = True ) # less than next expected of D
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#
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# NOTE: if the syncer queue wasn't 100 (see above) then we'd only get the color frame!
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#
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sw.generate_depth_and_color( 1, sw.gap_d * 1 )
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sw.expect( depth_frame = 1, color_frame = 1, nothing_else = True ) # frameset 1
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Keep going" )
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sw.generate_depth_and_color( 2, sw.gap_d * 2 )
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sw.expect( depth_frame = 2, color_frame = 2, nothing_else = True ) # frameset 2
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sw.generate_depth_and_color( 3, sw.gap_d * 3 )
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sw.generate_depth_and_color( 4, sw.gap_d * 4 )
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sw.expect( depth_frame = 3, color_frame = 3 ) # frameset 3
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sw.expect( depth_frame = 4, color_frame = 4, nothing_else = True ) # frameset 4
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Stop giving color; wait_for_frames() should throw (after 5s)" )
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sw.generate_depth_frame( 5, sw.gap_d * 5 )
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# We expect the syncer to try and wait for a Color frame to fit the Depth we just gave it.
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# The syncer relies on frame inputs to actually run -- and, if we wait for a frame, we're
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# not feeding it frames so can't get back any, either.
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try:
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fs = sw.syncer.wait_for_frames()
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except RuntimeError as e:
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test.check_exception( e, RuntimeError, "Frame did not arrive in time!" )
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else:
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test.info( "Unexpected frameset", fs )
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test.unreachable()
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test.finish()
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#
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#############################################################################################
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#
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test.start( "try_wait_for_frames() allows us to keep feeding frames; eventually we get one" )
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# The syncer will not immediately release framesets because it's still waiting for a color frame to
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# match Depth #10. But, if we advance the timestamp sufficiently, it should eventually release it
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# as it deems Color "inactive".
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# The last color frame we sent was at gap*4, so it's next expected at gap*5 plus a buffer of gap*7
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# (see the code in the syncer)... so we expect depth frame 5 to be released only when we're past gap*12
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sw.generate_depth_frame( 6, sw.gap_d * 6 )
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sw.expect( nothing_else = True )
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sw.generate_depth_frame( 7, sw.gap_d * 11.5 )
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sw.expect( nothing_else = True )
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sw.generate_depth_frame( 8, sw.gap_d * 12.5 )
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#
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# We'll get all frames in a burst. Again, if the syncer queue was 1, we'd only get the last!
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#
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sw.expect( depth_frame = 5 )
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sw.expect( depth_frame = 6 )
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sw.expect( depth_frame = 7 )
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sw.expect( depth_frame = 8, nothing_else = True )
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test.finish()
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#
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#############################################################################################
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test.print_results_and_exit()
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