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191 lines
7.8 KiB
191 lines
7.8 KiB
2 months ago
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# License: Apache 2.0. See LICENSE file in root directory.
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# Copyright(c) 2023 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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def frame_metadata_values():
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return [rs.frame_metadata_value.__getattribute__( rs.frame_metadata_value, k )
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for k, v in rs.frame_metadata_value.__dict__.items()
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if str(v).startswith('frame_metadata_value.')]
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#############################################################################################
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#
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test.start( "Nothing supported by default" )
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try:
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with sw.sensor( "Stereo Module" ) as sensor:
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depth = sensor.video_stream( "Depth", rs.stream.depth, rs.format.z16 )
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#ir = sensor.video_stream( "Infrared", rs.stream.infrared, rs.format.y8 )
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sensor.start( depth )
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# Publish a frame
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f = sensor.publish( depth.frame() )
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for md in frame_metadata_values():
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test.check_false( f.supports_frame_metadata( md ))
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except:
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test.unexpected_exception()
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Set one value" )
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try:
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with sw.sensor( "Stereo Module" ) as sensor:
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depth = sensor.video_stream( "Depth", rs.stream.depth, rs.format.z16 )
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sensor.start( depth )
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# Metadata is set on the sensor, not the software frame
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sensor.set( rs.frame_metadata_value.white_balance, 0xbaad )
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# Publish the frame
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f = sensor.publish( depth.frame() )
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# Frame should have received the metadata from the sensor
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test.check( f.supports_frame_metadata( rs.frame_metadata_value.white_balance ))
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test.check_equal( f.get_frame_metadata( rs.frame_metadata_value.white_balance ), 0xbaad )
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except:
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test.unexpected_exception()
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Post-frame metadata does not affect frame" )
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try:
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with sw.sensor( "Stereo Module" ) as sensor:
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depth = sensor.video_stream( "Depth", rs.stream.depth, rs.format.z16 )
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sensor.start( depth )
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sensor.set( rs.frame_metadata_value.white_balance, 0xbaad )
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f = sensor.publish( depth.frame() )
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sensor.set( rs.frame_metadata_value.white_balance, 0xf00d )
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test.check_equal( f.get_frame_metadata( rs.frame_metadata_value.white_balance ), 0xbaad )
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except:
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test.unexpected_exception()
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Metadata is kept from frame to frame" )
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try:
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with sw.sensor( "Stereo Module" ) as sensor:
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depth = sensor.video_stream( "Depth", rs.stream.depth, rs.format.z16 )
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sensor.start( depth )
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sensor.set( rs.frame_metadata_value.white_balance, 0xbaad )
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f1 = sensor.publish( depth.frame() )
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test.check_equal( f1.get_frame_metadata( rs.frame_metadata_value.white_balance ), 0xbaad )
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f2 = sensor.publish( depth.frame() )
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test.check_equal( f2.get_frame_metadata( rs.frame_metadata_value.white_balance ), 0xbaad )
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except:
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test.unexpected_exception()
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Prev frame does not pick up new data from new frame" )
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try:
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with sw.sensor( "Stereo Module" ) as sensor:
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depth = sensor.video_stream( "Depth", rs.stream.depth, rs.format.z16 )
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sensor.start( depth )
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sensor.set( rs.frame_metadata_value.white_balance, 0xbaad )
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f1 = sensor.publish( depth.frame() )
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sensor.set( rs.frame_metadata_value.actual_fps, 0xf00d )
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f2 = sensor.publish( depth.frame() )
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test.check_equal( f2.get_frame_metadata( rs.frame_metadata_value.white_balance ), 0xbaad )
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test.check_equal( f2.get_frame_metadata( rs.frame_metadata_value.actual_fps ), 0xf00d )
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test.check_false( f1.supports_frame_metadata( rs.frame_metadata_value.actual_fps ))
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except:
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test.unexpected_exception()
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Multiple streams per sensor should share metadata" )
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try:
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with sw.sensor( "Stereo Module" ) as sensor:
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depth = sensor.video_stream( "Depth", rs.stream.depth, rs.format.z16 )
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ir = sensor.video_stream( "Infrared", rs.stream.infrared, rs.format.y8 )
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sensor.start( depth, ir )
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sensor.set( rs.frame_metadata_value.white_balance, 0xbaad )
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d1 = sensor.publish( depth.frame() )
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sensor.set( rs.frame_metadata_value.actual_fps, 0xf00d )
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ir1 = sensor.publish( ir.frame() )
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sensor.set( rs.frame_metadata_value.saturation, 0x1eaf )
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d2 = sensor.publish( depth.frame() )
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sensor.set( rs.frame_metadata_value.contrast, 0xfee1 )
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ir2 = sensor.publish( ir.frame() )
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sensor.set( rs.frame_metadata_value.contrast, 0x600d )
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d3 = sensor.publish( depth.frame() )
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ir3 = sensor.publish( ir.frame() )
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test.check_equal( d1.get_frame_metadata( rs.frame_metadata_value.white_balance ), 0xbaad )
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test.check( ir1.supports_frame_metadata( rs.frame_metadata_value.white_balance ))
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test.check_equal( d2.get_frame_metadata( rs.frame_metadata_value.actual_fps ), 0xf00d )
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test.check_equal( ir2.get_frame_metadata( rs.frame_metadata_value.saturation ), 0x1eaf )
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test.check_equal( ir2.get_frame_metadata( rs.frame_metadata_value.contrast ), 0xfee1 )
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test.check_equal( d3.get_frame_metadata( rs.frame_metadata_value.contrast ), 0x600d )
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test.check_equal( ir3.get_frame_metadata( rs.frame_metadata_value.contrast ), 0x600d )
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except:
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test.unexpected_exception()
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test.finish()
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#
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#############################################################################################
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#
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test.start( "Two sensors, intermixed frames" )
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try:
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with sw.sensor( "Stereo Module" ) as stereo:
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depth = stereo.video_stream( "Depth", rs.stream.depth, rs.format.z16 )
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stereo.start( depth )
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with sw.sensor( "RGB Camera" ) as rgb:
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color = sensor.video_stream( "Color", rs.stream.color, rs.format.yuyv )
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rgb.start( color )
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stereo.set( rs.frame_metadata_value.white_balance, 0xbaad )
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d1 = stereo.publish( depth.frame() )
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test.check_equal( d1.get_frame_metadata( rs.frame_metadata_value.white_balance ), 0xbaad )
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rgb.set( rs.frame_metadata_value.actual_fps, 0xf00d )
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stereo.set( rs.frame_metadata_value.actual_fps, 0xbaad )
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c1 = rgb.publish( color.frame() )
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test.check_false( d1.supports_frame_metadata( rs.frame_metadata_value.actual_fps ))
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test.check_false( c1.supports_frame_metadata( rs.frame_metadata_value.white_balance ))
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test.check_equal( c1.get_frame_metadata( rs.frame_metadata_value.actual_fps ), 0xf00d )
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stereo.set( rs.frame_metadata_value.saturation, 0x1eaf )
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rgb.set( rs.frame_metadata_value.saturation, 0xfeed )
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d2 = stereo.publish( depth.frame() )
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test.check_false( c1.supports_frame_metadata( rs.frame_metadata_value.saturation ))
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test.check_equal( d2.get_frame_metadata( rs.frame_metadata_value.saturation ), 0x1eaf )
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stereo.set( rs.frame_metadata_value.contrast, 0xdeaf )
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rgb.set( rs.frame_metadata_value.sharpness, 0xface )
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d3 = stereo.publish( depth.frame() )
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c2 = rgb.publish( color.frame() )
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test.check_false( c2.supports_frame_metadata( rs.frame_metadata_value.contrast ))
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test.check_false( d3.supports_frame_metadata( rs.frame_metadata_value.sharpness ))
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except:
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test.unexpected_exception()
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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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