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156 lines
7.0 KiB
156 lines
7.0 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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#test:donotrun:!dds
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#test:retries:gha 2
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from rspy import log, test
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import pyrealsense2 as rs
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import dds
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if log.is_debug_on():
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rs.log_to_console( rs.log_severity.debug )
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log.nested = 'C '
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context = rs.context( { 'dds': { 'enabled': True, 'domain': 123, 'participant': 'test-formats-conversion' }} )
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only_sw_devices = int(rs.product_line.sw_only) | int(rs.product_line.any)
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import os.path
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cwd = os.path.dirname(os.path.realpath(__file__))
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remote_script = os.path.join( cwd, 'formats-conversion-server.py' )
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with test.remote( remote_script, nested_indent=" S" ) as remote:
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remote.wait_until_ready()
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#############################################################################################
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#
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with test.closure( "Test setup", on_fail=test.ABORT ):
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remote.run( 'create_server()' )
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n_devs = 0
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for dev in dds.wait_for_devices( context, only_sw_devices ):
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n_devs += 1
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test.check_equal( n_devs, 1 )
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sensors = {sensor.get_info( rs.camera_info.name ) : sensor for sensor in dev.query_sensors()}
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#
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#############################################################################################
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#
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with test.closure( "Test Y8 conversion"):
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if test.check( 'Y8-sensor' in sensors ):
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sensor = sensors.get('Y8-sensor')
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profiles = sensor.get_stream_profiles()
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test.check_equal( len( profiles ), 1 )
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test.check_equal( profiles[0].format(), rs.format.y8 )
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test.check_equal( profiles[0].stream_index(), 0 )
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#
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#############################################################################################
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#
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with test.closure( "Test YUYV conversion"):
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if test.check( 'YUYV-sensor' in sensors ):
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sensor = sensors.get('YUYV-sensor')
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profiles = sensor.get_stream_profiles()
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test.check_equal( len( profiles ), 6 ) # YUYV -> YUYV/RGB8/RGBA8/BGR8/BGRA8/Y8
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test.check_equal( profiles[0].format(), rs.format.rgb8 )
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test.check_equal( profiles[1].format(), rs.format.y8 )
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test.check_equal( profiles[2].format(), rs.format.bgra8 )
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test.check_equal( profiles[3].format(), rs.format.rgba8 )
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test.check_equal( profiles[4].format(), rs.format.bgr8 )
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test.check_equal( profiles[5].format(), rs.format.yuyv )
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#
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#############################################################################################
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#
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with test.closure( "Test UYVY conversion"):
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if test.check( 'UYVY-sensor' in sensors ):
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sensor = sensors.get('UYVY-sensor')
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profiles = sensor.get_stream_profiles()
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test.check_equal( len( profiles ), 7 ) # UYVY -> UYVY/YUYV/RGB8/RGBA8/BGR8/BGRA8/Y8
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test.check_equal( profiles[0].format(), rs.format.rgb8 )
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test.check_equal( profiles[1].format(), rs.format.uyvy )
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test.check_equal( profiles[2].format(), rs.format.y8 )
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test.check_equal( profiles[3].format(), rs.format.bgra8 )
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test.check_equal( profiles[4].format(), rs.format.rgba8 )
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test.check_equal( profiles[5].format(), rs.format.bgr8 )
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test.check_equal( profiles[6].format(), rs.format.yuyv )
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#
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#############################################################################################
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#
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with test.closure( "Test Z16 conversion"):
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if test.check( 'Z16-sensor' in sensors ):
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sensor = sensors.get('Z16-sensor')
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profiles = sensor.get_stream_profiles()
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test.check_equal( len( profiles ), 1 ) # Z16 stays Z16, for depth stream type
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test.check_equal( profiles[0].format(), rs.format.z16 )
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test.check_equal( profiles[0].stream_type(), rs.stream.depth )
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#
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#############################################################################################
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#
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with test.closure( "Test motion conversion" ):
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if test.check( 'motion-sensor' in sensors ):
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sensor = sensors.get('motion-sensor')
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profiles = sensor.get_stream_profiles()
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test.check_equal( len( profiles ), 1 ) # MXYZ stays MXYZ with type based on the dds_stream type
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test.check_equal( profiles[0].stream_type(), rs.stream.motion )
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#
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#############################################################################################
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#
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with test.closure( "Test multiple motion profiles one stream" ):
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if test.check( 'multiple-motion-sensor' in sensors ):
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sensor = sensors.get('multiple-motion-sensor')
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profiles = sensor.get_stream_profiles()
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test.check_equal( len( profiles ), 4 )
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for i in range( len( profiles ) ):
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test.check_equal( profiles[i].stream_type(), rs.stream.motion )
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#
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#############################################################################################
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#
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with test.closure( "Test multiple color profiles one stream"):
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if test.check( 'multiple-color-sensor' in sensors ):
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sensor = sensors.get('multiple-color-sensor')
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profiles = sensor.get_stream_profiles()
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# Streams are sorted by format then fps:
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# RGB8 @ 30/15/5 Hz
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# BGRA8 @ 30/15/5 Hz
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# RGBA8 @ 30/15/5 Hz
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# BGR8 @ 30/15/5 Hz
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# YUYV @ 30/15/5 Hz
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test.check_equal( len( profiles ), 18 )
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for i,f in zip( range(3), (30,15,5) ):
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test.check_equal( profiles[0 + i].format(), rs.format.rgb8 )
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test.check_equal( profiles[0 + i].fps(), f )
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test.check_equal( profiles[3 + i].format(), rs.format.y8 )
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test.check_equal( profiles[3 + i].fps(), f )
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test.check_equal( profiles[6 + i].format(), rs.format.bgra8 )
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test.check_equal( profiles[6 + i].fps(), f )
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test.check_equal( profiles[9 + i].format(), rs.format.rgba8 )
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test.check_equal( profiles[9 + i].fps(), f )
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test.check_equal( profiles[12 + i].format(), rs.format.bgr8 )
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test.check_equal( profiles[12 + i].fps(), f )
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test.check_equal( profiles[15 + i].format(), rs.format.yuyv )
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test.check_equal( profiles[15 + i].fps(), f )
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#
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#############################################################################################
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#
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with test.closure( "Test multiple depth profiles one stream"):
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if test.check( 'multiple-depth-sensor' in sensors ):
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sensor = sensors.get('multiple-depth-sensor')
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profiles = sensor.get_stream_profiles()
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test.check_equal( len( profiles ), 5 )
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for i in range(5):
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test.check_equal( profiles[i].format(), rs.format.z16 )
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#
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#############################################################################################
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#
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# Tests tear down
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remote.run( 'close_server()' )
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dev = None
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context = None
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test.print_results_and_exit()
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