You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
123 lines
4.9 KiB
123 lines
4.9 KiB
2 months ago
|
# License: Apache 2.0. See LICENSE file in root directory.
|
||
|
|
# Copyright(c) 2021 Intel Corporation. All Rights Reserved.
|
||
|
|
|
||
|
|
#test:device D455
|
||
|
|
#test:donotrun
|
||
|
|
|
||
|
|
import time
|
||
|
|
import threading
|
||
|
|
from queue import Queue
|
||
|
|
from rspy import test
|
||
|
|
import pyrealsense2 as rs
|
||
|
|
|
||
|
|
# Run RGB stream in D455 with 90 fps and find frame drops by checking HW timestamp of each frame
|
||
|
|
|
||
|
|
if __name__ == '__main__':
|
||
|
|
ctx = rs.context()
|
||
|
|
device = ctx.query_devices()[0]
|
||
|
|
product_line = device.get_info(rs.camera_info.product_line)
|
||
|
|
sn = device.get_info(rs.camera_info.serial_number)
|
||
|
|
fw = device.get_info(rs.camera_info.firmware_version)
|
||
|
|
print ('found device {}, fw {}'.format(sn, fw))
|
||
|
|
sensors = device.query_sensors()
|
||
|
|
depth_ir_sensor = next(s for s in sensors if s.get_info(rs.camera_info.name) == 'Stereo Module')
|
||
|
|
rgb_sensor = next(s for s in sensors if s.get_info(rs.camera_info.name) == 'RGB Camera')
|
||
|
|
|
||
|
|
rgb_profiles = rgb_sensor.profiles
|
||
|
|
rgb_profile = next(p for p in
|
||
|
|
rgb_profiles if p.fps() == 90
|
||
|
|
and p.stream_type() == rs.stream.color
|
||
|
|
and p.format() == rs.format.yuyv
|
||
|
|
and ((p.as_video_stream_profile().width() == 424 and p.as_video_stream_profile().height() == 240)
|
||
|
|
or (p.as_video_stream_profile().width() == 480 and p.as_video_stream_profile().height() == 270)
|
||
|
|
or (p.as_video_stream_profile().width() == 640 and p.as_video_stream_profile().height() == 360) )
|
||
|
|
)
|
||
|
|
class Test:
|
||
|
|
def __init__(self, rgb_sensor):
|
||
|
|
self._stop = False
|
||
|
|
self.frames = []
|
||
|
|
self.count_drops = 0
|
||
|
|
self.frame_drops_info = {}
|
||
|
|
self.prev_hw_timestamp = 0.0
|
||
|
|
self.prev_fnum = 0
|
||
|
|
self.first_frame = True
|
||
|
|
self.lrs_queue = rs.frame_queue(capacity=100000, keep_frames=True)
|
||
|
|
self.post_process_queue = Queue(maxsize=1000000)
|
||
|
|
self.rgb_sensor = rgb_sensor
|
||
|
|
|
||
|
|
def start_rgb_sensor(self):
|
||
|
|
self.rgb_sensor.start(self.lrs_queue)
|
||
|
|
def stop(self):
|
||
|
|
self._stop = True
|
||
|
|
|
||
|
|
def produce_frames(self, timeout=1):
|
||
|
|
while not self._stop:
|
||
|
|
try:
|
||
|
|
lrs_frame = self.lrs_queue.wait_for_frame(timeout_ms=timeout * 1000)
|
||
|
|
except Exception as e:
|
||
|
|
print
|
||
|
|
str(e)
|
||
|
|
continue
|
||
|
|
self.post_process_queue.put(lrs_frame, block=True, timeout=timeout)
|
||
|
|
|
||
|
|
def consume_frames(self):
|
||
|
|
while not self._stop:
|
||
|
|
element = self.post_process_queue.get(block=True)
|
||
|
|
lrs_frame = element
|
||
|
|
self.my_process(lrs_frame)
|
||
|
|
del lrs_frame
|
||
|
|
self.post_process_queue.task_done()
|
||
|
|
|
||
|
|
def my_process(self, f):
|
||
|
|
if not f:
|
||
|
|
return
|
||
|
|
delta_tolerance_percent = 95.
|
||
|
|
ideal_delta = round(1000000.0 / 90, 2)
|
||
|
|
delta_tolerance_in_us = ideal_delta * delta_tolerance_percent / 100.0
|
||
|
|
if self.first_frame:
|
||
|
|
self.prev_hw_timestamp = f.get_frame_metadata(rs.frame_metadata_value.frame_timestamp)
|
||
|
|
self.prev_fnum = f.get_frame_number()
|
||
|
|
self.first_frame = False
|
||
|
|
return
|
||
|
|
curr_hw_timestamp = f.get_frame_metadata(rs.frame_metadata_value.frame_timestamp)
|
||
|
|
delta = curr_hw_timestamp - self.prev_hw_timestamp
|
||
|
|
fnum = f.get_frame_number()
|
||
|
|
if delta > ideal_delta + delta_tolerance_in_us:
|
||
|
|
self.count_drops += 1
|
||
|
|
self.frame_drops_info[fnum] = fnum - self.prev_fnum
|
||
|
|
self.prev_hw_timestamp = curr_hw_timestamp
|
||
|
|
self.prev_fnum = fnum
|
||
|
|
#print("* frame drops = ", self.count_drops)
|
||
|
|
|
||
|
|
def analysis(self):
|
||
|
|
print ("Number of frame drops is {}".format(self.count_drops))
|
||
|
|
for k, v in self.frame_drops_info:
|
||
|
|
print("Number of dropped frame before frame ", k, ", is :", v)
|
||
|
|
|
||
|
|
test.check(self.count_drops == 0)
|
||
|
|
test.finish()
|
||
|
|
|
||
|
|
|
||
|
|
test.start("Testing D455 frame drops on " + product_line + " device ")
|
||
|
|
for ii in range(60):
|
||
|
|
print("================ Iteration {} ================".format(ii))
|
||
|
|
test = Test(rgb_sensor)
|
||
|
|
rgb_sensor.set_option(rs.option.global_time_enabled, 0)
|
||
|
|
rgb_sensor.open([rgb_profile])
|
||
|
|
|
||
|
|
producer_thread = threading.Thread(target=test.produce_frames, name="producer_thread")
|
||
|
|
producer_thread.start()
|
||
|
|
consumer_thread = threading.Thread(target=test.consume_frames, name="consumer_thread")
|
||
|
|
consumer_thread.start()
|
||
|
|
|
||
|
|
test.start_rgb_sensor()
|
||
|
|
time.sleep(30)
|
||
|
|
test.stop() # notify to stop producing-consuming frames
|
||
|
|
|
||
|
|
producer_thread.join(timeout=60)
|
||
|
|
consumer_thread.join(timeout=60)
|
||
|
|
|
||
|
|
test.analysis()
|
||
|
|
rgb_sensor.stop()
|
||
|
|
rgb_sensor.close()
|