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90 lines
2.9 KiB
90 lines
2.9 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 = 30
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sw.init( syncer_matcher = rs.matchers.dic_c )
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sw.start()
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#############################################################################################
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#
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test.start( "Init" )
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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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# D C @timestamp comment
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# -- -- ----------- ----------------
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# 0 @0 so next expected frame timestamp is at 0+16.67
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# 0 @0
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#
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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 C yet, so releases right away
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sw.expect( color_frame = 0, nothing_else = True ) # no hope for a match: D@0 is already out, so it's released
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#
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# The syncer now knows about both streams, and is empty -- that was what we wanted
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Go past Color's Next Expected; get a lone Depth frame" )
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# 1 @7952 -> NE=7985; it's released because WAY past C.NE
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#
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sw.generate_depth_frame( 1, 7952 )
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sw.expect( depth_frame = 1, nothing_else = True )
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Generate a Color frame which will wait for Depth" )
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# 2 @7978 will wait, as it's ~= D.NE
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#
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sw.generate_color_frame( 2, 7978 )
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sw.expect_nothing()
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Generate Depth for release BEFORE the waiting Color" )
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# 3 @7952 -> needs to be released BEFORE C2!!
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#
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# NOTE: the timestamp is the SAME AS BEFORE! Imagine that, instead of a Depth frame, this was
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# an Infrared: the matcher would be (TS: (TS: Depth Infra Confidence) Color). But we have no
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# Infra or Confidence mechanism (in sw) so we just generate another D -- it should have the
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# same effect:
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#
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# NOTE: this used to crash (see LRS-289)!
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#
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sw.generate_depth_frame( 3, 7952 )
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sw.expect( depth_frame = 3 )
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test.finish()
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#
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#############################################################################################
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#
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test.start( "And only then get the Color when we generate a matching Depth" )
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sw.expect_nothing() # C is still waiting for D.NE!
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# 4 @7986
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#
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sw.generate_depth_frame( 4, 7986 )
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sw.expect( depth_frame = 4, color_frame = 2, 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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