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hight-level-robotics-congni.../librealsense/unit-tests/unit-tests-live.cpp

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2015 Intel Corporation. All Rights Reserved.
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
// This set of tests is valid for any number and combination of RealSense cameras, including R200 and F200 //
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
#include <cmath>
#include "unit-tests-common.h"
#include <librealsense2/rs_advanced_mode.hpp>
#include <librealsense2/hpp/rs_types.hpp>
#include <librealsense2/hpp/rs_frame.hpp>
#include <iostream>
#include <chrono>
#include <ctime>
#include <algorithm>
#include <librealsense2/rsutil.h>
using namespace rs2;
TEST_CASE("Sync sanity", "[live][mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size());
auto dev = list[0];
disable_sensitive_options_for(dev);
int fps = is_usb3(dev) ? 30 : 15; // In USB2 Mode the devices will switch to lower FPS rates
rs2::syncer sync;
auto profiles = configure_all_supported_streams(dev, 640, 480, fps);
for (auto s : dev.query_sensors())
{
s.start(sync);
}
for (auto i = 0; i < 30; i++)
{
auto frames = sync.wait_for_frames(500);
}
std::vector<std::vector<double>> all_timestamps;
auto actual_fps = float( fps );
for (auto i = 0; i < 200; i++)
{
auto frames = sync.wait_for_frames(5000);
REQUIRE(frames.size() > 0);
std::vector<double> timestamps;
for (auto&& f : frames)
{
bool hw_timestamp_domain = false;
bool system_timestamp_domain = false;
bool global_timestamp_domain = false;
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
if (f.get_frame_timestamp_domain() == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK)
{
hw_timestamp_domain = true;
}
if (f.get_frame_timestamp_domain() == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
{
system_timestamp_domain = true;
}
if (f.get_frame_timestamp_domain() == RS2_TIMESTAMP_DOMAIN_GLOBAL_TIME)
{
global_timestamp_domain = true;
}
CAPTURE(hw_timestamp_domain);
CAPTURE(system_timestamp_domain);
CAPTURE(global_timestamp_domain);
REQUIRE(int(hw_timestamp_domain) + int(system_timestamp_domain) + int(global_timestamp_domain) == 1);
timestamps.push_back(f.get_timestamp());
}
all_timestamps.push_back(timestamps);
}
size_t num_of_partial_sync_sets = 0;
for (auto set_timestamps : all_timestamps)
{
if (set_timestamps.size() < profiles.second.size())
num_of_partial_sync_sets++;
if (set_timestamps.size() <= 1)
continue;
std::sort(set_timestamps.begin(), set_timestamps.end());
REQUIRE(set_timestamps[set_timestamps.size() - 1] - set_timestamps[0] <= 1000.f / actual_fps);
}
CAPTURE(num_of_partial_sync_sets);
CAPTURE(all_timestamps.size());
// Require some coherent framesets, no KPI
REQUIRE((float(num_of_partial_sync_sets) / all_timestamps.size()) < 1.f);
for (auto s : dev.query_sensors())
{
s.stop();
}
}
}
TEST_CASE("Sync different fps", "[live][mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size());
auto dev = list[0];
list = ctx.query_devices();
REQUIRE(list.size());
dev = list[0];
syncer syncer;
disable_sensitive_options_for(dev);
auto sensors = dev.query_sensors();
for (auto s : sensors)
{
if (s.supports(RS2_OPTION_EXPOSURE))
{
auto range = s.get_option_range(RS2_OPTION_EXPOSURE);
REQUIRE_NOTHROW(s.set_option(RS2_OPTION_EXPOSURE, range.min));
}
}
std::map<rs2_stream, rs2::sensor*> profiles_sensors;
std::map<rs2::sensor*, rs2_stream> sensors_profiles;
int fps_step = is_usb3(dev) ? 30 : 15; // USB2 Mode
std::vector<int> fps(sensors.size(), 0);
// The heuristic for FPS selection need to be better explained and probably refactored
for (auto i = 0; i < fps.size(); i++)
{
fps[i] = (fps.size() - i - 1) * fps_step % 90 + fps_step;
}
std::vector<std::vector<rs2::sensor*>> streams_groups(fps.size());
for (auto i = 0; i < sensors.size(); i++)
{
auto profs = configure_all_supported_streams(sensors[i], 640, 480, fps[i]);
for (auto p : profs)
{
profiles_sensors[p.stream] = &sensors[i];
sensors_profiles[&sensors[i]] = p.stream;
}
if (profs.size() > 0)
sensors[i].start(syncer);
}
for (auto i = 0; i < sensors.size(); i++)
{
for (auto j = 0; j < sensors.size(); j++)
{
if ((float)fps[j] / (float)fps[i] >= 1)
{
streams_groups[i].push_back(&sensors[j]);
}
}
}
std::vector<std::vector<rs2_stream>> frames_arrived;
for (auto i = 0; i < 200; i++)
{
auto frames = syncer.wait_for_frames(5000);
REQUIRE(frames.size() > 0);
std::vector<rs2_stream> streams_arrived;
for (auto&& f : frames)
{
auto s = f.get_profile().stream_type();
streams_arrived.push_back(s);
}
frames_arrived.push_back(streams_arrived);
}
std::vector<int> streams_groups_arrrived(streams_groups.size(), 0);
for (auto streams : frames_arrived)
{
std::set<rs2::sensor*> sensors;
for (auto s : streams)
{
sensors.insert(profiles_sensors[s]);
}
std::vector<rs2::sensor*> sensors_vec(sensors.size());
std::copy(sensors.begin(), sensors.end(), sensors_vec.begin());
auto it = std::find(streams_groups.begin(), streams_groups.end(), sensors_vec);
if (it != streams_groups.end())
{
auto ind = std::distance(streams_groups.begin(), it);
streams_groups_arrrived[ind]++;
}
}
for (auto i = 0; i < streams_groups_arrrived.size(); i++)
{
for (auto j = 0; j < streams_groups_arrrived.size(); j++)
{
REQUIRE(streams_groups_arrrived[j]);
auto num1 = streams_groups_arrrived[i];
auto num2 = streams_groups_arrrived[j];
CAPTURE(sensors_profiles[&sensors[i]]);
CAPTURE(num1);
CAPTURE(sensors_profiles[&sensors[j]]);
CAPTURE(num2);
REQUIRE((float)num1 / (float)num2 <= 5 * (float)fps[i] / (float)fps[j]);
}
}
}
}
bool get_mode(rs2::device& dev, stream_profile* profile, int mode_index = 0)
{
auto sensors = dev.query_sensors();
REQUIRE(sensors.size() > 0);
for (auto i = 0; i < sensors.size(); i++)
{
auto modes = sensors[i].get_stream_profiles();
REQUIRE(modes.size() > 0);
if (mode_index >= modes.size())
continue;
*profile = modes[mode_index];
return true;
}
return false;
}
TEST_CASE("Sync start stop", "[live][mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size() > 0);
auto dev = list[0];
disable_sensitive_options_for(dev);
syncer sync;
rs2::stream_profile mode;
auto mode_index = 0;
bool usb3_device = is_usb3(dev);
int fps = usb3_device ? 30 : 15; // In USB2 Mode the devices will switch to lower FPS rates
int req_fps = usb3_device ? 60 : 30; // USB2 Mode has only a single resolution for 60 fps which is not sufficient to run the test
do
{
REQUIRE(get_mode(dev, &mode, mode_index));
mode_index++;
} while (mode.fps() != req_fps);
auto video = mode.as<rs2::video_stream_profile>();
auto res = configure_all_supported_streams(dev, video.width(), video.height(), mode.fps());
for (auto s : res.first)
{
REQUIRE_NOTHROW(s.start(sync));
}
rs2::frameset frames;
for (auto i = 0; i < 30; i++)
{
frames = sync.wait_for_frames(10000);
REQUIRE(frames.size() > 0);
}
frameset old_frames;
while (sync.poll_for_frames(&old_frames));
stream_profile other_mode;
mode_index = 0;
REQUIRE(get_mode(dev, &other_mode, mode_index));
auto other_video = other_mode.as<rs2::video_stream_profile>();
while ((other_video.height() == video.height() && other_video.width() == video.width()) || other_video.fps() != req_fps)
{
CAPTURE(mode_index);
CAPTURE(video.format());
CAPTURE(video.width());
CAPTURE(video.height());
CAPTURE(video.fps());
CAPTURE(other_video.format());
CAPTURE(other_video.width());
CAPTURE(other_video.height());
CAPTURE(other_video.fps());
REQUIRE(get_mode(dev, &other_mode, mode_index));
mode_index++;
other_video = other_mode.as<rs2::video_stream_profile>();
REQUIRE(other_video);
}
for (auto s : res.first)
{
REQUIRE_NOTHROW(s.stop());
REQUIRE_NOTHROW(s.close());
}
res = configure_all_supported_streams(dev, other_video.width(), other_video.height(), other_mode.fps());
for (auto s : res.first)
{
REQUIRE_NOTHROW(s.start(sync));
}
for (auto i = 0; i < 10; i++)
frames = sync.wait_for_frames(10000);
REQUIRE(frames.size() > 0);
auto f = frames[0];
auto image = f.as<rs2::video_frame>();
REQUIRE(image);
REQUIRE(image.get_width() == other_video.width());
REQUIRE(image.get_height() == other_video.height());
}
}
TEST_CASE("Device metadata enumerates correctly", "[live]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{ // Require at least one device to be plugged in
std::vector<rs2::device> list;
REQUIRE_NOTHROW(list = ctx.query_devices());
REQUIRE(list.size() > 0);
// For each device
for (auto&& dev : list)
{
SECTION("supported device metadata strings are nonempty, unsupported ones throw")
{
for (auto j = 0; j < RS2_CAMERA_INFO_COUNT; ++j) {
auto is_supported = false;
REQUIRE_NOTHROW(is_supported = dev.supports(rs2_camera_info(j)));
if (is_supported) REQUIRE(dev.get_info(rs2_camera_info(j)) != nullptr);
else REQUIRE_THROWS(dev.get_info(rs2_camera_info(j)));
}
}
}
}
}
////////////////////////////////////////////
////// Test basic streaming functionality //
////////////////////////////////////////////
TEST_CASE("Start-Stop stream sequence", "[live][using_pipeline]")
{
// Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
pipeline pipe(ctx);
device dev;
// Configure all supported streams to run at 30 frames per second
for (auto i = 0; i < 5; i++)
{
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
// Test sequence
REQUIRE_NOTHROW(pipe.start(cfg));
REQUIRE_NOTHROW(pipe.stop());
}
}
}
TEST_CASE("Start-Stop streaming - Sensors callbacks API", "[live][using_callbacks]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
for (auto i = 0; i < 5; i++)
{
std::vector<rs2::device> list;
REQUIRE_NOTHROW(list = ctx.query_devices());
REQUIRE(list.size());
auto dev = list[0];
CAPTURE(dev.get_info(RS2_CAMERA_INFO_NAME));
disable_sensitive_options_for(dev);
std::mutex m;
int fps = is_usb3(dev) ? 30 : 15; // In USB2 Mode the devices will switch to lower FPS rates
std::map<std::string, size_t> frames_per_stream{};
auto profiles = configure_all_supported_streams(dev, 640, 480, fps);
for (auto s : profiles.first)
{
REQUIRE_NOTHROW(s.start([&m, &frames_per_stream](rs2::frame f)
{
std::lock_guard<std::mutex> lock(m);
++frames_per_stream[f.get_profile().stream_name()];
}));
}
std::this_thread::sleep_for(std::chrono::seconds(1));
// Stop & flush all active sensors
for (auto s : profiles.first)
{
REQUIRE_NOTHROW(s.stop());
REQUIRE_NOTHROW(s.close());
}
// Verify frames arrived for all the profiles specified
std::stringstream active_profiles, streams_arrived;
active_profiles << "Profiles requested : " << profiles.second.size() << std::endl;
for (auto& pf : profiles.second)
active_profiles << pf << std::endl;
streams_arrived << "Streams recorded : " << frames_per_stream.size() << std::endl;
for (auto& frec : frames_per_stream)
streams_arrived << frec.first << ": frames = " << frec.second << std::endl;
CAPTURE(active_profiles.str().c_str());
CAPTURE(streams_arrived.str().c_str());
REQUIRE(profiles.second.size() == frames_per_stream.size());
}
}
}
////////////////////////////////////////////
////// Test basic streaming functionality //
////////////////////////////////////////////
// This test is postponed for later review and refactoring
//TEST_CASE("Frame drops", "[live][using_pipeline]")
//{
// // Require at least one device to be plugged in
// rs2::context ctx;
// if (make_context(SECTION_FROM_TEST_NAME, &ctx, "2.13.0"))
// {
// std::vector<sensor> list;
// REQUIRE_NOTHROW(list = ctx.query_all_sensors());
// REQUIRE(list.size() > 0);
// pipeline pipe(ctx);
// device dev;
// // Configure all supported streams to run at 30 frames per second
// //std::this_thread::sleep_for(std::chrono::milliseconds(10000));
// for (auto i = 0; i < 5; i++)
// {
// rs2::config cfg;
// rs2::pipeline_profile profile;
// REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
// REQUIRE(profile);
// REQUIRE_NOTHROW(dev = profile.get_device());
// REQUIRE(dev);
// disable_sensitive_options_for(dev);
// // Test sequence
// REQUIRE_NOTHROW(pipe.start(cfg));
// unsigned long long current_depth_frame_number = 0;
// unsigned long long prev_depth_frame_number = 0;
// unsigned long long current_color_frame_number = 0;
// unsigned long long prev_color_frame_number = 0;
// // Capture 30 frames to give autoexposure, etc. a chance to settle
// for (auto i = 0; i < 30; ++i)
// {
// auto frame = pipe.wait_for_frames();
// prev_depth_frame_number = frame.get_depth_frame().get_frame_number();
// prev_color_frame_number = frame.get_color_frame().get_frame_number();
// }
// // Checking for frame drops on depth+color
// for (auto i = 0; i < 1000; ++i)
// {
// auto frame = pipe.wait_for_frames();
// current_depth_frame_number = frame.get_depth_frame().get_frame_number();
// current_color_frame_number = frame.get_color_frame().get_frame_number();
// printf("User got %zd frames: depth %d, color %d\n", frame.size(), current_depth_frame_number, current_color_frame_number);
// REQUIRE(current_depth_frame_number == (prev_depth_frame_number+1));
// REQUIRE(current_color_frame_number == (prev_color_frame_number + 1));
// prev_depth_frame_number = current_depth_frame_number;
// prev_color_frame_number = current_color_frame_number;
// }
// REQUIRE_NOTHROW(pipe.stop());
// }
// }
//}
/////////////////////////////////////////
//////// Calibration information tests //
/////////////////////////////////////////
TEST_CASE("No extrinsic transformation between a stream and itself", "[live]")
{
// Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
const size_t device_count = list.size();
REQUIRE(device_count > 0);
// For each device
for (auto&& snr : list)
{
std::vector<rs2::stream_profile> profs;
REQUIRE_NOTHROW(profs = snr.get_stream_profiles());
REQUIRE(profs.size()>0);
rs2_extrinsics extrin;
try {
auto prof = profs[0];
extrin = prof.get_extrinsics_to(prof);
}
catch (error &e) {
// if device isn't calibrated, get_extrinsics must error out (according to old comment. Might not be true under new API)
WARN(e.what());
continue;
}
require_identity_matrix(extrin.rotation);
require_zero_vector(extrin.translation);
}
}
}
TEST_CASE("Extrinsic transformation between two streams is a rigid transform", "[live]")
{
// Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
const size_t device_count = list.size();
REQUIRE(device_count > 0);
// For each device
for (int i = 0; i < device_count; ++i)
{
auto dev = list[i];
auto adj_devices = ctx.get_sensor_parent(dev).query_sensors();
//REQUIRE(dev != nullptr);
// For every pair of streams
for (auto j = 0; j < adj_devices.size(); ++j)
{
for (size_t k = j + 1; k < adj_devices.size(); ++k)
{
std::vector<rs2::stream_profile> profs_a, profs_b;
REQUIRE_NOTHROW(profs_a = adj_devices[j].get_stream_profiles());
REQUIRE(profs_a.size()>0);
REQUIRE_NOTHROW(profs_b = adj_devices[k].get_stream_profiles());
REQUIRE(profs_b.size()>0);
// Extrinsics from A to B should have an orthonormal 3x3 rotation matrix and a translation vector of magnitude less than 10cm
rs2_extrinsics a_to_b;
try {
a_to_b = profs_a[0].get_extrinsics_to(profs_b[0]);
}
catch (error &e) {
WARN(e.what());
continue;
}
require_rotation_matrix(a_to_b.rotation);
REQUIRE(vector_length(a_to_b.translation) < 0.1f);
// Extrinsics from B to A should be the inverse of extrinsics from A to B
rs2_extrinsics b_to_a;
REQUIRE_NOTHROW(b_to_a = profs_b[0].get_extrinsics_to(profs_a[0]));
require_transposed(a_to_b.rotation, b_to_a.rotation);
REQUIRE(b_to_a.rotation[0] * a_to_b.translation[0] + b_to_a.rotation[3] * a_to_b.translation[1] + b_to_a.rotation[6] * a_to_b.translation[2] == approx(-b_to_a.translation[0]));
REQUIRE(b_to_a.rotation[1] * a_to_b.translation[0] + b_to_a.rotation[4] * a_to_b.translation[1] + b_to_a.rotation[7] * a_to_b.translation[2] == approx(-b_to_a.translation[1]));
REQUIRE(b_to_a.rotation[2] * a_to_b.translation[0] + b_to_a.rotation[5] * a_to_b.translation[1] + b_to_a.rotation[8] * a_to_b.translation[2] == approx(-b_to_a.translation[2]));
}
}
}
}
}
TEST_CASE("Extrinsic transformations are transitive", "[live]")
{
// Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
// For each device
for (auto&& dev : list)
{
auto adj_devices = ctx.get_sensor_parent(dev).query_sensors();
// For every set of subdevices
for (auto a = 0UL; a < adj_devices.size(); ++a)
{
for (auto b = 0UL; b < adj_devices.size(); ++b)
{
for (auto c = 0UL; c < adj_devices.size(); ++c)
{
std::vector<rs2::stream_profile> profs_a, profs_b, profs_c ;
REQUIRE_NOTHROW(profs_a = adj_devices[a].get_stream_profiles());
REQUIRE(profs_a.size()>0);
REQUIRE_NOTHROW(profs_b = adj_devices[b].get_stream_profiles());
REQUIRE(profs_b.size()>0);
REQUIRE_NOTHROW(profs_c = adj_devices[c].get_stream_profiles());
REQUIRE(profs_c.size()>0);
// Require that the composition of a_to_b and b_to_c is equal to a_to_c
rs2_extrinsics a_to_b, b_to_c, a_to_c;
try {
a_to_b = profs_a[0].get_extrinsics_to(profs_b[0]);
b_to_c = profs_b[0].get_extrinsics_to(profs_c[0]);
a_to_c = profs_a[0].get_extrinsics_to(profs_c[0]);
}
catch (error &e)
{
WARN(e.what());
continue;
}
// a_to_c.rotation == a_to_b.rotation * b_to_c.rotation
auto&& epsilon = 0.0001;
REQUIRE(a_to_c.rotation[0] == approx((float)(a_to_b.rotation[0] * b_to_c.rotation[0] + a_to_b.rotation[3] * b_to_c.rotation[1] + a_to_b.rotation[6] * b_to_c.rotation[2])).epsilon(epsilon));
REQUIRE(a_to_c.rotation[2] == approx(a_to_b.rotation[2] * b_to_c.rotation[0] + a_to_b.rotation[5] * b_to_c.rotation[1] + a_to_b.rotation[8] * b_to_c.rotation[2]).epsilon(epsilon));
REQUIRE(a_to_c.rotation[1] == approx(a_to_b.rotation[1] * b_to_c.rotation[0] + a_to_b.rotation[4] * b_to_c.rotation[1] + a_to_b.rotation[7] * b_to_c.rotation[2]).epsilon(epsilon));
REQUIRE(a_to_c.rotation[3] == approx(a_to_b.rotation[0] * b_to_c.rotation[3] + a_to_b.rotation[3] * b_to_c.rotation[4] + a_to_b.rotation[6] * b_to_c.rotation[5]).epsilon(epsilon));
REQUIRE(a_to_c.rotation[4] == approx(a_to_b.rotation[1] * b_to_c.rotation[3] + a_to_b.rotation[4] * b_to_c.rotation[4] + a_to_b.rotation[7] * b_to_c.rotation[5]).epsilon(epsilon));
REQUIRE(a_to_c.rotation[5] == approx(a_to_b.rotation[2] * b_to_c.rotation[3] + a_to_b.rotation[5] * b_to_c.rotation[4] + a_to_b.rotation[8] * b_to_c.rotation[5]).epsilon(epsilon));
REQUIRE(a_to_c.rotation[6] == approx(a_to_b.rotation[0] * b_to_c.rotation[6] + a_to_b.rotation[3] * b_to_c.rotation[7] + a_to_b.rotation[6] * b_to_c.rotation[8]).epsilon(epsilon));
REQUIRE(a_to_c.rotation[7] == approx(a_to_b.rotation[1] * b_to_c.rotation[6] + a_to_b.rotation[4] * b_to_c.rotation[7] + a_to_b.rotation[7] * b_to_c.rotation[8]).epsilon(epsilon));
REQUIRE(a_to_c.rotation[8] == approx(a_to_b.rotation[2] * b_to_c.rotation[6] + a_to_b.rotation[5] * b_to_c.rotation[7] + a_to_b.rotation[8] * b_to_c.rotation[8]).epsilon(epsilon));
// a_to_c.translation = a_to_b.transform(b_to_c.translation)
REQUIRE(a_to_c.translation[0] == approx(a_to_b.rotation[0] * b_to_c.translation[0] + a_to_b.rotation[3] * b_to_c.translation[1] + a_to_b.rotation[6] * b_to_c.translation[2] + a_to_b.translation[0]).epsilon(epsilon));
REQUIRE(a_to_c.translation[1] == approx(a_to_b.rotation[1] * b_to_c.translation[0] + a_to_b.rotation[4] * b_to_c.translation[1] + a_to_b.rotation[7] * b_to_c.translation[2] + a_to_b.translation[1]).epsilon(epsilon));
REQUIRE(a_to_c.translation[2] == approx(a_to_b.rotation[2] * b_to_c.translation[0] + a_to_b.rotation[5] * b_to_c.translation[1] + a_to_b.rotation[8] * b_to_c.translation[2] + a_to_b.translation[2]).epsilon(epsilon));
}
}
}
}
}
}
TEST_CASE("Toggle Advanced Mode", "[live][AdvMd][mayfail]") {
for (int i = 0; i < 3; ++i)
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
device_list list;
REQUIRE_NOTHROW(list = ctx.query_devices());
REQUIRE(list.size() > 0);
auto dev = std::make_shared<device>(list.front());
disable_sensitive_options_for(*dev);
std::string serial;
REQUIRE_NOTHROW(serial = dev->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
if (dev->is<rs400::advanced_mode>())
{
auto advanced = dev->as<rs400::advanced_mode>();
if (!advanced.is_enabled())
{
dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
{
REQUIRE_NOTHROW(advanced.toggle_advanced_mode(true));
});
}
disable_sensitive_options_for(*dev);
advanced = dev->as<rs400::advanced_mode>();
REQUIRE(advanced.is_enabled());
dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
{
REQUIRE_NOTHROW(advanced.toggle_advanced_mode(false));
});
advanced = dev->as<rs400::advanced_mode>();
REQUIRE(!advanced.is_enabled());
}
}
}
}
TEST_CASE("Advanced Mode presets", "[live][AdvMd][mayfail]")
{
const std::vector< res_type > resolutions = { low_resolution, medium_resolution, high_resolution };
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
device_list list;
REQUIRE_NOTHROW(list = ctx.query_devices());
REQUIRE(list.size() > 0);
auto dev = std::make_shared<device>(list.front());
disable_sensitive_options_for(*dev);
std::string serial;
REQUIRE_NOTHROW(serial = dev->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
if (dev->is<rs400::advanced_mode>())
{
auto advanced = dev->as<rs400::advanced_mode>();
if (!advanced.is_enabled())
{
dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
{
REQUIRE_NOTHROW(advanced.toggle_advanced_mode(true));
});
}
disable_sensitive_options_for(*dev);
advanced = dev->as<rs400::advanced_mode>();
REQUIRE(advanced.is_enabled());
auto sensors = dev->query_sensors();
sensor presets_sensor;
for (sensor& elem : sensors)
{
auto supports = false;
REQUIRE_NOTHROW(supports = elem.supports(RS2_OPTION_VISUAL_PRESET));
if (supports)
{
presets_sensor = elem;
break;
}
}
for (auto& res : resolutions)
{
std::vector<rs2::stream_profile> sp = {get_profile_by_resolution_type(presets_sensor, res)};
if (presets_sensor.supports(RS2_OPTION_VISUAL_PRESET))
{
presets_sensor.open(sp);
presets_sensor.start([](rs2::frame) {});
for (auto i = 0; i < RS2_RS400_VISUAL_PRESET_COUNT; ++i)
{
auto preset = (rs2_rs400_visual_preset)i;
CAPTURE(res);
CAPTURE(preset);
try
{
presets_sensor.set_option(RS2_OPTION_VISUAL_PRESET, (float)preset);
}
catch (...)
{
// preset is not supported
continue;
}
float ret_preset;
REQUIRE_NOTHROW(ret_preset = presets_sensor.get_option(RS2_OPTION_VISUAL_PRESET));
REQUIRE(preset == (rs2_rs400_visual_preset)((int)ret_preset));
}
presets_sensor.stop();
presets_sensor.close();
}
}
dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
{
REQUIRE_NOTHROW(advanced.toggle_advanced_mode(false));
});
disable_sensitive_options_for(*dev);
advanced = dev->as<rs400::advanced_mode>();
REQUIRE(!advanced.is_enabled());
}
}
}
TEST_CASE("Advanced Mode JSON", "[live][AdvMd][mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
device_list list;
REQUIRE_NOTHROW(list = ctx.query_devices());
REQUIRE(list.size() > 0);
auto dev = std::make_shared<device>(list.front());
disable_sensitive_options_for(*dev);
std::string serial;
REQUIRE_NOTHROW(serial = dev->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
if (dev->is<rs400::advanced_mode>())
{
auto advanced = dev->as<rs400::advanced_mode>();
if (!advanced.is_enabled())
{
dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
{
REQUIRE_NOTHROW(advanced.toggle_advanced_mode(true));
});
}
disable_sensitive_options_for(*dev);
advanced = dev->as<rs400::advanced_mode>();
REQUIRE(advanced.is_enabled());
auto sensors = dev->query_sensors();
sensor presets_sensor;
for (sensor& elem : sensors)
{
auto supports = false;
REQUIRE_NOTHROW(supports = elem.supports(RS2_OPTION_VISUAL_PRESET));
if (supports)
{
presets_sensor = elem;
break;
}
}
std::string json1, json2;
REQUIRE_NOTHROW(json1 = advanced.serialize_json());
REQUIRE_NOTHROW(presets_sensor.set_option(RS2_OPTION_VISUAL_PRESET, RS2_RS400_VISUAL_PRESET_COUNT - 1));
REQUIRE_NOTHROW(advanced.load_json(json1));
REQUIRE_NOTHROW(json2 = advanced.serialize_json());
REQUIRE(json1 == json2);
dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
{
REQUIRE_NOTHROW(advanced.toggle_advanced_mode(false));
});
disable_sensitive_options_for(*dev);
advanced = dev->as<rs400::advanced_mode>();
REQUIRE(!advanced.is_enabled());
}
}
}
TEST_CASE("Advanced Mode controls", "[live][AdvMd][mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
device_list list;
REQUIRE_NOTHROW(list = ctx.query_devices());
REQUIRE(list.size() > 0);
std::shared_ptr<device> dev = std::make_shared<device>(list.front());
if (dev->is<rs400::advanced_mode>())
{
disable_sensitive_options_for(*dev);
auto info = dev->get_info(RS2_CAMERA_INFO_NAME);
CAPTURE(info);
std::string serial;
REQUIRE_NOTHROW(serial = dev->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
auto advanced = dev->as<rs400::advanced_mode>();
if (!advanced.is_enabled())
{
dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
{
REQUIRE_NOTHROW(advanced.toggle_advanced_mode(true));
});
}
disable_sensitive_options_for(*dev);
advanced = dev->as<rs400::advanced_mode>();
REQUIRE(advanced.is_enabled());
{
STDepthControlGroup ctrl_curr{};
REQUIRE_NOTHROW(ctrl_curr = advanced.get_depth_control(0));
STDepthControlGroup ctrl_min{};
REQUIRE_NOTHROW(ctrl_min = advanced.get_depth_control(1));
STDepthControlGroup ctrl_max{};
REQUIRE_NOTHROW(ctrl_max = advanced.get_depth_control(2));
REQUIRE_NOTHROW(advanced.set_depth_control(ctrl_min));
REQUIRE_NOTHROW(ctrl_curr = advanced.get_depth_control(0));
REQUIRE(ctrl_curr == ctrl_min);
}
{
STRsm ctrl_curr{};
REQUIRE_NOTHROW(ctrl_curr = advanced.get_rsm(0));
STRsm ctrl_min{};
REQUIRE_NOTHROW(ctrl_min = advanced.get_rsm(1));
STRsm ctrl_max{};
REQUIRE_NOTHROW(ctrl_max = advanced.get_rsm(2));
REQUIRE_NOTHROW(advanced.set_rsm(ctrl_min));
REQUIRE_NOTHROW(ctrl_curr = advanced.get_rsm(0));
REQUIRE(ctrl_curr == ctrl_min);
}
{
STRauSupportVectorControl ctrl_curr{};
REQUIRE_NOTHROW(ctrl_curr = advanced.get_rau_support_vector_control(0));
STRauSupportVectorControl ctrl_min{};
REQUIRE_NOTHROW(ctrl_min = advanced.get_rau_support_vector_control(1));
STRauSupportVectorControl ctrl_max{};
REQUIRE_NOTHROW(ctrl_max = advanced.get_rau_support_vector_control(2));
REQUIRE_NOTHROW(advanced.set_rau_support_vector_control(ctrl_min));
REQUIRE_NOTHROW(ctrl_curr = advanced.get_rau_support_vector_control(0));
REQUIRE(ctrl_curr == ctrl_min);
}
{
STColorControl ctrl_curr{};
REQUIRE_NOTHROW(ctrl_curr = advanced.get_color_control(0));
STColorControl ctrl_min{};
REQUIRE_NOTHROW(ctrl_min = advanced.get_color_control(1));
STColorControl ctrl_max{};
REQUIRE_NOTHROW(ctrl_max = advanced.get_color_control(2));
REQUIRE_NOTHROW(advanced.set_color_control(ctrl_min));
REQUIRE_NOTHROW(ctrl_curr = advanced.get_color_control(0));
REQUIRE(ctrl_curr == ctrl_min);
}
{
STRauColorThresholdsControl ctrl_curr{};
REQUIRE_NOTHROW(ctrl_curr = advanced.get_rau_thresholds_control(0));
STRauColorThresholdsControl ctrl_min{};
REQUIRE_NOTHROW(ctrl_min = advanced.get_rau_thresholds_control(1));
STRauColorThresholdsControl ctrl_max{};
REQUIRE_NOTHROW(ctrl_max = advanced.get_rau_thresholds_control(2));
REQUIRE_NOTHROW(advanced.set_rau_thresholds_control(ctrl_min));
REQUIRE_NOTHROW(ctrl_curr = advanced.get_rau_thresholds_control(0));
REQUIRE(ctrl_curr == ctrl_min);
}
{
STSloColorThresholdsControl ctrl_curr{};
REQUIRE_NOTHROW(ctrl_curr = advanced.get_slo_color_thresholds_control(0));
STSloColorThresholdsControl ctrl_min{};
REQUIRE_NOTHROW(ctrl_min = advanced.get_slo_color_thresholds_control(1));
STSloColorThresholdsControl ctrl_max{};
REQUIRE_NOTHROW(ctrl_max = advanced.get_slo_color_thresholds_control(2));
REQUIRE_NOTHROW(advanced.set_slo_color_thresholds_control(ctrl_min));
REQUIRE_NOTHROW(ctrl_curr = advanced.get_slo_color_thresholds_control(0));
REQUIRE(ctrl_curr == ctrl_min);
}
{
STSloPenaltyControl ctrl_curr{};
REQUIRE_NOTHROW(ctrl_curr = advanced.get_slo_penalty_control(0));
STSloPenaltyControl ctrl_min{};
REQUIRE_NOTHROW(ctrl_min = advanced.get_slo_penalty_control(1));
STSloPenaltyControl ctrl_max{};
REQUIRE_NOTHROW(ctrl_max = advanced.get_slo_penalty_control(2));
REQUIRE_NOTHROW(advanced.set_slo_penalty_control(ctrl_min));
REQUIRE_NOTHROW(ctrl_curr = advanced.get_slo_penalty_control(0));
REQUIRE(ctrl_curr == ctrl_min);
}
{
STHdad ctrl_curr1{};
REQUIRE_NOTHROW(ctrl_curr1 = advanced.get_hdad(0));
REQUIRE_NOTHROW(advanced.set_hdad(ctrl_curr1));
STHdad ctrl_curr2{};
REQUIRE_NOTHROW(ctrl_curr2 = advanced.get_hdad(0));
REQUIRE(ctrl_curr1 == ctrl_curr2);
}
{
STColorCorrection ctrl_curr{};
REQUIRE_NOTHROW(ctrl_curr = advanced.get_color_correction(0));
STColorCorrection ctrl_min{};
REQUIRE_NOTHROW(ctrl_min = advanced.get_color_correction(1));
STColorCorrection ctrl_max{};
REQUIRE_NOTHROW(ctrl_max = advanced.get_color_correction(2));
REQUIRE_NOTHROW(advanced.set_color_correction(ctrl_min));
REQUIRE_NOTHROW(ctrl_curr = advanced.get_color_correction(0));
REQUIRE(ctrl_curr == ctrl_min);
}
{
STAEControl ctrl_curr1{};
REQUIRE_NOTHROW(ctrl_curr1 = advanced.get_ae_control(0));
REQUIRE_NOTHROW(advanced.set_ae_control(ctrl_curr1));
STAEControl ctrl_curr2{};
REQUIRE_NOTHROW(ctrl_curr2 = advanced.get_ae_control(0));
REQUIRE(ctrl_curr1 == ctrl_curr2);
}
{
STDepthTableControl ctrl_curr{};
REQUIRE_NOTHROW(ctrl_curr = advanced.get_depth_table(0));
STDepthTableControl ctrl_min{};
REQUIRE_NOTHROW(ctrl_min = advanced.get_depth_table(1));
STDepthTableControl ctrl_max{};
REQUIRE_NOTHROW(ctrl_max = advanced.get_depth_table(2));
REQUIRE_NOTHROW(advanced.set_depth_table(ctrl_min));
REQUIRE_NOTHROW(ctrl_curr = advanced.get_depth_table(0));
REQUIRE(ctrl_curr == ctrl_min);
}
{
STCensusRadius ctrl_curr{};
REQUIRE_NOTHROW(ctrl_curr = advanced.get_census(0));
STCensusRadius ctrl_min{};
REQUIRE_NOTHROW(ctrl_min = advanced.get_census(1));
STCensusRadius ctrl_max{};
REQUIRE_NOTHROW(ctrl_max = advanced.get_census(2));
REQUIRE_NOTHROW(advanced.set_census(ctrl_min));
REQUIRE_NOTHROW(ctrl_curr = advanced.get_census(0));
REQUIRE(ctrl_curr == ctrl_min);
}
dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
{
REQUIRE_NOTHROW(advanced.toggle_advanced_mode(false));
});
disable_sensitive_options_for(*dev);
advanced = dev->as<rs400::advanced_mode>();
REQUIRE(!advanced.is_enabled());
}
}
}
// the tests may incorrectly interpret changes to librealsense-core, namely default profiles selections
TEST_CASE("Streaming modes sanity check", "[live][mayfail]")
{
// Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
// For each device
for (auto&& dev : list)
{
disable_sensitive_options_for(dev);
std::string PID;
REQUIRE_NOTHROW(PID = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID));
// make sure they provide at least one streaming mode
std::vector<rs2::stream_profile> stream_profiles;
REQUIRE_NOTHROW(stream_profiles = dev.get_stream_profiles());
REQUIRE(stream_profiles.size() > 0);
SECTION("check stream profile settings are sane")
{
// for each stream profile provided:
for (auto profile : stream_profiles) {
// require that the settings are sane
REQUIRE(profile.format() > RS2_FORMAT_ANY);
REQUIRE(profile.format() < RS2_FORMAT_COUNT);
REQUIRE(profile.fps() >= 2);
REQUIRE(profile.fps() <= 300);
// require that we can start streaming this mode
REQUIRE_NOTHROW(dev.open({ profile }));
// TODO: make callback confirm stream format/dimensions/framerate
REQUIRE_NOTHROW(dev.start([](rs2::frame fref) {}));
// Require that we can disable the stream afterwards
REQUIRE_NOTHROW(dev.stop());
REQUIRE_NOTHROW(dev.close());
}
}
SECTION("check stream intrinsics are sane")
{
for (auto profile : stream_profiles)
{
if (auto video = profile.as<video_stream_profile>())
{
rs2_intrinsics intrin;
CAPTURE(video.stream_type());
CAPTURE(video.format());
CAPTURE(video.width());
CAPTURE(video.height());
bool calib_format = (
(RS2_FORMAT_Y16 == video.format()) &&
(RS2_STREAM_INFRARED == video.stream_type()));
if (!calib_format) // intrinsics are not available for calibration formats
{
REQUIRE_NOTHROW(intrin = video.get_intrinsics());
// Intrinsic width/height must match width/height of streaming mode we requested
REQUIRE(intrin.width == video.width());
REQUIRE(intrin.height == video.height());
// Principal point must be within center 20% of image
REQUIRE(intrin.ppx > video.width() * 0.4f);
REQUIRE(intrin.ppx < video.width() * 0.6f);
REQUIRE(intrin.ppy > video.height() * 0.4f);
REQUIRE(intrin.ppy < video.height() * 0.6f);
// Focal length must be non-negative (todo - Refine requirements based on known expected FOV)
REQUIRE(intrin.fx > 0.0f);
REQUIRE(intrin.fy > 0.0f);
}
else
{
REQUIRE_THROWS(intrin = video.get_intrinsics());
}
}
}
}
}
}
}
TEST_CASE("Motion profiles sanity", "[live]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
// For each device
for (auto&& dev : list)
{
disable_sensitive_options_for(dev);
// make sure they provide at least one streaming mode
std::vector<rs2::stream_profile> stream_profiles;
REQUIRE_NOTHROW(stream_profiles = dev.get_stream_profiles());
REQUIRE(stream_profiles.size() > 0);
// for each stream profile provided:
for (auto profile : stream_profiles)
{
SECTION("check motion intrisics") {
auto stream = profile.stream_type();
rs2_motion_device_intrinsic mm_int;
CAPTURE(stream);
if (stream == RS2_STREAM_ACCEL || stream == RS2_STREAM_GYRO)
{
auto motion = profile.as<motion_stream_profile>();
REQUIRE_NOTHROW(mm_int = motion.get_motion_intrinsics());
for (int j = 0; j < 3; j++)
{
auto scale = mm_int.data[j][j];
CAPTURE(scale);
// Make sure scale value is "sane"
// We don't expect Motion Device to require adjustment of more then 20%
REQUIRE(scale > 0.8);
REQUIRE(scale < 1.2);
auto bias = mm_int.data[0][3];
CAPTURE(bias);
// Make sure bias is "sane"
REQUIRE(bias > -0.5);
REQUIRE(bias < 0.5);
}
}
}
}
}
}
}
TEST_CASE("Check width and height of stream intrinsics", "[live][AdvMd]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<device> devs;
REQUIRE_NOTHROW(devs = ctx.query_devices());
for (auto&& dev : devs)
{
auto shared_dev = std::make_shared<device>(dev);
disable_sensitive_options_for(dev);
std::string serial;
REQUIRE_NOTHROW(serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
std::string PID;
REQUIRE_NOTHROW(PID = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID));
if (shared_dev->is<rs400::advanced_mode>())
{
auto advanced = shared_dev->as<rs400::advanced_mode>();
if (advanced.is_enabled())
{
shared_dev = do_with_waiting_for_camera_connection(ctx, shared_dev, serial, [&]()
{
REQUIRE_NOTHROW(advanced.toggle_advanced_mode(false));
});
}
disable_sensitive_options_for(*shared_dev);
advanced = shared_dev->as<rs400::advanced_mode>();
REQUIRE(advanced.is_enabled() == false);
}
std::vector<sensor> list;
REQUIRE_NOTHROW(list = shared_dev->query_sensors());
REQUIRE(list.size() > 0);
for (auto&& dev : list)
{
disable_sensitive_options_for(dev);
auto module_name = dev.get_info(RS2_CAMERA_INFO_NAME);
// TODO: if FE
std::vector<rs2::stream_profile> stream_profiles;
REQUIRE_NOTHROW(stream_profiles = dev.get_stream_profiles());
REQUIRE(stream_profiles.size() > 0);
// for each stream profile provided:
int i=0;
for (const auto& profile : stream_profiles)
{
i++;
if (auto video = profile.as<video_stream_profile>())
{
rs2_intrinsics intrin;
CAPTURE(video.stream_type());
CAPTURE(video.format());
CAPTURE(video.width());
CAPTURE(video.height());
// Calibration formats does not provide intrinsic data
bool calib_format = (
(RS2_FORMAT_Y16 == video.format()) &&
(RS2_STREAM_INFRARED == video.stream_type()));
if (!calib_format)
REQUIRE_NOTHROW(intrin = video.get_intrinsics());
else
REQUIRE_THROWS(intrin = video.get_intrinsics());
// Intrinsic width/height must match width/height of streaming mode we requested
REQUIRE(intrin.width == video.width());
REQUIRE(intrin.height == video.height());
}
}
}
}
}
}
std::vector<rs2::stream_profile> get_supported_streams(rs2::sensor sensor, std::vector<rs2::stream_profile> profiles) {
std::set<std::pair<rs2_stream, int>> supported_streams;
auto hint = supported_streams.begin();
// get the set of supported stream+index pairs
for (auto& profile : sensor.get_stream_profiles()) {
hint = supported_streams.emplace_hint(hint, profile.stream_type(), profile.stream_index());
}
// all profiles
std::map<std::pair<rs2_stream, int>, rs2::stream_profile> all_profiles;
for (auto& profile : profiles) {
all_profiles.emplace(std::make_pair(profile.stream_type(), profile.stream_index()), profile);
}
std::vector<rs2::stream_profile> output;
for (auto pair : supported_streams) {
auto it = all_profiles.find(pair);
if (it != all_profiles.end()) output.push_back(it->second);
}
return output;
}
TEST_CASE("get_active_streams sanity check", "[live]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
// Require at least one device to be plugged in
REQUIRE_NOTHROW(ctx.query_devices().size() > 0);
// Get device and a stream profile for each stream type it supports
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile pipe_profile;
cfg.enable_all_streams();
REQUIRE_NOTHROW(pipe_profile = cfg.resolve(pipe));
rs2::device dev = pipe_profile.get_device();
std::vector<rs2::stream_profile> streams = pipe_profile.get_streams();
for (auto&& sensor : dev.query_sensors())
{
// find which streams are supported by this specific sensor
auto profiles = get_supported_streams(sensor, streams);
auto n_streams = profiles.size();
// iterate over all possible sets of streams supported by the sensor
for (size_t bits=(1 << n_streams)-1; bits>0; --bits) {
std::vector<rs2::stream_profile> opened_profiles;
for (int i = 0; i < n_streams; ++i) {
if (bits&(1ULL << i)) opened_profiles.push_back(profiles[i]);
}
REQUIRE_NOTHROW(sensor.open(opened_profiles));
std::vector<rs2::stream_profile> reported_profiles;
REQUIRE_NOTHROW(reported_profiles = sensor.get_active_streams());
REQUIRE(reported_profiles == opened_profiles);
sensor.close();
}
}
}
}
TEST_CASE("Check option API", "[live][options]")
{
// Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
// for each device
for (auto&& dev : list)
{
// for each option
for (auto i = 0; i < RS2_OPTION_COUNT; ++i) {
auto opt = rs2_option(i);
bool is_opt_supported;
REQUIRE_NOTHROW(is_opt_supported = dev.supports(opt));
SECTION("Ranges are sane")
{
if (!is_opt_supported)
{
REQUIRE_THROWS_AS(dev.get_option_range(opt), error);
}
else
{
rs2::option_range range;
REQUIRE_NOTHROW(range = dev.get_option_range(opt));
// a couple sanity checks
REQUIRE(range.min < range.max);
REQUIRE(range.min + range.step <= range.max);
REQUIRE(range.step > 0);
REQUIRE(range.def <= range.max);
REQUIRE(range.min <= range.def);
// TODO: check that range.def == range.min + k*range.step for some k?
// TODO: some sort of bounds checking against constants?
}
}
SECTION("get_option returns a legal value")
{
if (!is_opt_supported)
{
REQUIRE_THROWS_AS(dev.get_option(opt), error);
}
else
{
auto range = dev.get_option_range(opt);
float value;
REQUIRE_NOTHROW(value = dev.get_option(opt));
// value in range. Do I need to account for epsilon in lt[e]/gt[e] comparisons?
REQUIRE(value >= range.min);
REQUIRE(value <= range.max);
// value doesn't change between two gets (if no additional threads are calling set)
REQUIRE(dev.get_option(opt) == approx(value));
// REQUIRE(value == approx(range.def)); // Not sure if this is a reasonable check
// TODO: make sure value == range.min + k*range.step for some k?
}
}
SECTION("set opt doesn't like bad values") {
if (!is_opt_supported)
{
REQUIRE_THROWS_AS(dev.set_option(opt, 1), error);
}
else
{
auto range = dev.get_option_range(opt);
// minimum should work, as should maximum
REQUIRE_NOTHROW(dev.set_option(opt, range.min));
REQUIRE_NOTHROW(dev.set_option(opt, range.max));
int n_steps = int((range.max - range.min) / range.step);
// check a few arbitrary points along the scale
REQUIRE_NOTHROW(dev.set_option(opt, range.min + (1 % n_steps)*range.step));
REQUIRE_NOTHROW(dev.set_option(opt, range.min + (11 % n_steps)*range.step));
REQUIRE_NOTHROW(dev.set_option(opt, range.min + (111 % n_steps)*range.step));
REQUIRE_NOTHROW(dev.set_option(opt, range.min + (1111 % n_steps)*range.step));
// below min and above max shouldn't work
REQUIRE_THROWS_AS(dev.set_option(opt, range.min - range.step), error);
REQUIRE_THROWS_AS(dev.set_option(opt, range.max + range.step), error);
// make sure requesting value in the range, but not a legal step doesn't work
// TODO: maybe something for range.step < 1 ?
for (auto j = 1; j < range.step; j++) {
CAPTURE(range.step);
CAPTURE(j);
REQUIRE_THROWS_AS(dev.set_option(opt, range.min + j), error);
}
}
}
SECTION("check get/set sequencing works as expected") {
if (!is_opt_supported) continue;
auto range = dev.get_option_range(opt);
// setting a valid value lets you get that value back
dev.set_option(opt, range.min);
REQUIRE(dev.get_option(opt) == approx(range.min));
// setting an invalid value returns the last set valid value.
REQUIRE_THROWS(dev.set_option(opt, range.max + range.step));
REQUIRE(dev.get_option(opt) == approx(range.min));
dev.set_option(opt, range.max);
REQUIRE_THROWS(dev.set_option(opt, range.min - range.step));
REQUIRE(dev.get_option(opt) == approx(range.max));
}
SECTION("get_description returns a non-empty, non-null string") {
if (!is_opt_supported) {
REQUIRE_THROWS_AS(dev.get_option_description(opt), error);
}
else
{
REQUIRE(dev.get_option_description(opt) != nullptr);
REQUIRE(std::string(dev.get_option_description(opt)) != std::string(""));
}
}
// TODO: tests for get_option_value_description? possibly too open a function to have useful tests
}
}
}
}
// List of controls coupled together, such as modifying one of them would impose changes(affect) other options if modified
// The list is managed per-sensor/SKU
struct option_bundle
{
rs2_stream sensor_type;
rs2_option master_option;
rs2_option slave_option;
float slave_val_before;
float slave_val_after;
};
enum dev_group { e_unresolved_grp, e_d400 };
const std::map<dev_type,dev_group> dev_map = {
/* RS400/PSR*/ { { "0AD1", true }, e_d400},
/* RS410/ASR*/ { { "0AD2", true }, e_d400 },
{ { "0AD2", false }, e_d400},
/* RS415/ASRC*/ { { "0AD3", true }, e_d400},
{ { "0AD3", false }, e_d400},
/* RS430/AWG*/ { { "0AD4", true }, e_d400},
/* RS430_MM / AWGT*/{ { "0AD5", true }, e_d400},
/* D4/USB2*/ { { "0AD6", false }, e_d400 },
/* RS420/PWG*/ { { "0AF6", true }, e_d400},
/* RS420_MM/PWGT*/ { { "0AFE", true }, e_d400},
/* RS410_MM/ASRT*/ { { "0AFF", true }, e_d400},
/* RS400_MM/PSR*/ { { "0B00", true }, e_d400},
/* RS405/DS5U*/ { { "0B01", true }, e_d400},
/* RS430_MMC/AWGTC*/{ { "0B03", true }, e_d400},
/* RS435_RGB/AWGC*/ { { "0B07", true }, e_d400},
{ { "0B07", false }, e_d400},
/* DS5U */ { { "0B0C", true }, e_d400},
/* D435I */ { { "0B3A", true }, e_d400},
};
// Testing bundled depth controls
const std::map<dev_group, std::vector<option_bundle> > auto_disabling_controls =
{
{ e_d400, { { RS2_STREAM_DEPTH, RS2_OPTION_EXPOSURE, RS2_OPTION_ENABLE_AUTO_EXPOSURE, 1.f, 0.f },
{ RS2_STREAM_DEPTH, RS2_OPTION_GAIN, RS2_OPTION_ENABLE_AUTO_EXPOSURE, 1.f, 1.f } } }, // The value remain intact == the controls shall not affect each other
};
// Verify that the bundled controls (Exposure<->Aut-Exposure) are in sync
TEST_CASE("Auto-Disabling Controls", "[live][options]")
{
// Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<rs2::device> list;
REQUIRE_NOTHROW(list = ctx.query_devices());
REQUIRE(list.size() > 0);
// for each sensor
for (auto&& dev : list)
{
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
CAPTURE(PID.second);
auto dev_grp{ e_unresolved_grp };
REQUIRE_NOTHROW(dev_grp = dev_map.at(PID));
for (auto&& snr : dev.query_sensors())
{
// The test will apply to depth sensor only. In future may be extended for additional type of sensors
if (snr.is<depth_sensor>())
{
auto entry = auto_disabling_controls.find(dev_grp);
if (auto_disabling_controls.end() == entry)
{
WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
auto test_patterns = auto_disabling_controls.at(dev_grp);
REQUIRE(test_patterns.size() > 0);
for (auto i = 0; i < test_patterns.size(); ++i)
{
if (test_patterns[i].sensor_type != RS2_STREAM_DEPTH)
continue;
auto orig_opt = test_patterns[i].master_option;
auto tgt_opt = test_patterns[i].slave_option;
bool opt_orig_supported{};
bool opt_tgt_supported{};
REQUIRE_NOTHROW(opt_orig_supported = snr.supports(orig_opt));
REQUIRE_NOTHROW(opt_tgt_supported = snr.supports(tgt_opt));
if (opt_orig_supported && opt_tgt_supported)
{
rs2::option_range master_range,slave_range;
REQUIRE_NOTHROW(master_range = snr.get_option_range(orig_opt));
REQUIRE_NOTHROW(slave_range = snr.get_option_range(tgt_opt));
// Switch the receiving options into the responding state
auto slave_cur_val = snr.get_option(tgt_opt);
if (slave_cur_val != test_patterns[i].slave_val_before)
{
REQUIRE_NOTHROW(snr.set_option(tgt_opt, test_patterns[i].slave_val_before));
//std::this_thread::sleep_for(std::chrono::milliseconds(500));
REQUIRE(snr.get_option(tgt_opt) == test_patterns[i].slave_val_before);
}
// Modify the originating control and verify that the target control has been modified as well
// Modifying gain while in auto exposure throws an exception.
try
{
(snr.set_option(orig_opt, master_range.def));
}
catch (...)
{
continue;
}
REQUIRE(snr.get_option(tgt_opt) == test_patterns[i].slave_val_after);
}
}
}
}
}
} // for (auto&& dev : list)
}
}
/// The test may fail due to changes in profiles list that do not indicate regression.
/// TODO - refactoring required to make the test agnostic to changes imposed by librealsense core
TEST_CASE("Multiple devices", "[live][multicam][!mayfail]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
// Require at least one device to be plugged in
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
SECTION("subdevices on a single device")
{
for (auto & dev : list)
{
disable_sensitive_options_for(dev);
SECTION("opening the same subdevice multiple times")
{
auto modes = dev.get_stream_profiles();
REQUIRE(modes.size() > 0);
CAPTURE(modes.front().stream_type());
REQUIRE_NOTHROW(dev.open(modes.front()));
SECTION("same mode")
{
// selected, but not streaming
REQUIRE_THROWS_AS(dev.open({ modes.front() }), error);
// streaming
REQUIRE_NOTHROW(dev.start([](rs2::frame fref) {}));
REQUIRE_THROWS_AS(dev.open({ modes.front() }), error);
}
SECTION("different modes")
{
if (modes.size() == 1)
{
WARN("device " << dev.get_info(RS2_CAMERA_INFO_NAME) << " S/N: " << dev.get_info(
RS2_CAMERA_INFO_SERIAL_NUMBER) << " w/ FW v" << dev.get_info(
RS2_CAMERA_INFO_FIRMWARE_VERSION) << ":");
WARN("subdevice has only 1 supported streaming mode. Skipping Same Subdevice, different modes test.");
}
else
{
// selected, but not streaming
REQUIRE_THROWS_AS(dev.open({ modes[1] }), error);
// streaming
REQUIRE_NOTHROW(dev.start([](rs2::frame fref) {}));
REQUIRE_THROWS_AS(dev.open({ modes[1] }), error);
}
}
REQUIRE_NOTHROW(dev.stop());
}
// TODO: Move
SECTION("opening different subdevices") {
for (auto&& subdevice1 : ctx.get_sensor_parent(dev).query_sensors())
{
disable_sensitive_options_for(subdevice1);
for (auto&& subdevice2 : ctx.get_sensor_parent(dev).query_sensors())
{
disable_sensitive_options_for(subdevice2);
if (subdevice1 == subdevice2)
continue;
// get first lock
REQUIRE_NOTHROW(subdevice1.open(subdevice1.get_stream_profiles().front()));
// selected, but not streaming
{
auto profile = subdevice2.get_stream_profiles().front();
CAPTURE(profile.stream_type());
CAPTURE(profile.format());
CAPTURE(profile.fps());
auto vid_p = profile.as<rs2::video_stream_profile>();
CAPTURE(vid_p.width());
CAPTURE(vid_p.height());
REQUIRE_NOTHROW(subdevice2.open(subdevice2.get_stream_profiles().front()));
REQUIRE_NOTHROW(subdevice2.start([](rs2::frame fref) {}));
REQUIRE_NOTHROW(subdevice2.stop());
REQUIRE_NOTHROW(subdevice2.close());
}
// streaming
{
REQUIRE_NOTHROW(subdevice1.start([](rs2::frame fref) {}));
REQUIRE_NOTHROW(subdevice2.open(subdevice2.get_stream_profiles().front()));
REQUIRE_NOTHROW(subdevice2.start([](rs2::frame fref) {}));
// stop streaming in opposite order just to be sure that works too
REQUIRE_NOTHROW(subdevice1.stop());
REQUIRE_NOTHROW(subdevice2.stop());
REQUIRE_NOTHROW(subdevice2.close());
}
REQUIRE_NOTHROW(subdevice1.close());
}
}
}
}
}
SECTION("multiple devices")
{
if (list.size() == 1)
{
WARN("Only one device connected. Skipping multi-device test");
}
else
{
for (auto & dev1 : list)
{
disable_sensitive_options_for(dev1);
for (auto & dev2 : list)
{
// couldn't think of a better way to compare the two...
if (dev1 == dev2)
continue;
disable_sensitive_options_for(dev2);
auto dev1_profiles = dev1.get_stream_profiles();
auto dev2_profiles = dev2.get_stream_profiles();
if (!dev1_profiles.size() || !dev2_profiles.size())
continue;
auto dev1_profile = dev1_profiles.front();
auto dev2_profile = dev2_profiles.front();
CAPTURE(dev1_profile.stream_type());
CAPTURE(dev1_profile.format());
CAPTURE(dev1_profile.fps());
auto vid_p1 = dev1_profile.as<rs2::video_stream_profile>();
CAPTURE(vid_p1.width());
CAPTURE(vid_p1.height());
CAPTURE(dev2_profile.stream_type());
CAPTURE(dev2_profile.format());
CAPTURE(dev2_profile.fps());
auto vid_p2 = dev2_profile.as<rs2::video_stream_profile>();
CAPTURE(vid_p2.width());
CAPTURE(vid_p2.height());
REQUIRE_NOTHROW(dev1.open(dev1_profile));
REQUIRE_NOTHROW(dev2.open(dev2_profile));
REQUIRE_NOTHROW(dev1.start([](rs2::frame fref) {}));
REQUIRE_NOTHROW(dev2.start([](rs2::frame fref) {}));
REQUIRE_NOTHROW(dev1.stop());
REQUIRE_NOTHROW(dev2.stop());
REQUIRE_NOTHROW(dev1.close());
REQUIRE_NOTHROW(dev2.close());
}
}
}
}
}
}
// On Windows 10 RS2 there is an unusual behaviour that may fail this test:
// When trying to enable the second instance of Source Reader, instead of failing, the Media Foundation allows it
// and sends an HR to the first Source Reader instead (something about the application being preempted)
TEST_CASE("Multiple applications", "[live][multicam][!mayfail]")
{
rs2::context ctx1 = make_context( SECTION_FROM_TEST_NAME );
if( ctx1 )
{
// Require at least one device to be plugged in
std::vector<sensor> list1;
REQUIRE_NOTHROW(list1 = ctx1.query_all_sensors());
REQUIRE(list1.size() > 0);
rs2::context ctx2 = make_context( "two_contexts" );
REQUIRE( ctx2 );
std::vector<sensor> list2;
REQUIRE_NOTHROW(list2 = ctx2.query_all_sensors());
REQUIRE(list2.size() == list1.size());
SECTION("subdevices on a single device")
{
for (auto&& dev1 : list1)
{
disable_sensitive_options_for(dev1);
for (auto&& dev2 : list2)
{
disable_sensitive_options_for(dev2);
if (dev1 == dev2)
{
bool skip_section = false;
#ifdef _WIN32
skip_section = true;
#endif
if (!skip_section)
{
SECTION("same subdevice") {
// get modes
std::vector<rs2::stream_profile> modes1, modes2;
REQUIRE_NOTHROW(modes1 = dev1.get_stream_profiles());
REQUIRE_NOTHROW(modes2 = dev2.get_stream_profiles());
REQUIRE(modes1.size() > 0);
REQUIRE(modes1.size() == modes2.size());
// require that the lists are the same (disregarding order)
for (auto profile : modes1) {
REQUIRE(std::any_of(begin(modes2), end(modes2), [&profile](const rs2::stream_profile & p)
{
return profile == p;
}));
}
// grab first lock
CAPTURE(modes1.front().stream_name());
REQUIRE_NOTHROW(dev1.open(modes1.front()));
SECTION("same mode")
{
// selected, but not streaming
REQUIRE_THROWS_AS(dev2.open({ modes1.front() }), error);
// streaming
REQUIRE_NOTHROW(dev1.start([](rs2::frame fref) {}));
REQUIRE_THROWS_AS(dev2.open({ modes1.front() }), error);
}
SECTION("different modes")
{
if (modes1.size() == 1)
{
WARN("device " << dev1.get_info(RS2_CAMERA_INFO_NAME) << " S/N: " << dev1.get_info(
RS2_CAMERA_INFO_SERIAL_NUMBER) << " w/ FW v" << dev1.get_info(
RS2_CAMERA_INFO_FIRMWARE_VERSION) << ":");
WARN("Device has only 1 supported streaming mode. Skipping Same Subdevice, different modes test.");
}
else
{
// selected, but not streaming
REQUIRE_THROWS_AS(dev2.open({ modes1[1] }), error);
// streaming
REQUIRE_NOTHROW(dev1.start([](rs2::frame fref) {}));
REQUIRE_THROWS_AS(dev2.open({ modes1[1] }), error);
}
}
REQUIRE_NOTHROW(dev1.stop());
}
}
}
else
{
SECTION("different subdevice")
{
// get first lock
REQUIRE_NOTHROW(dev1.open(dev1.get_stream_profiles().front()));
// selected, but not streaming
{
CAPTURE(dev2.get_stream_profiles().front().stream_type());
REQUIRE_NOTHROW(dev2.open(dev2.get_stream_profiles().front()));
REQUIRE_NOTHROW(dev2.start([](rs2::frame fref) {}));
REQUIRE_NOTHROW(dev2.stop());
REQUIRE_NOTHROW(dev2.close());
}
// streaming
{
REQUIRE_NOTHROW(dev1.start([](rs2::frame fref) {}));
REQUIRE_NOTHROW(dev2.open(dev2.get_stream_profiles().front()));
REQUIRE_NOTHROW(dev2.start([](rs2::frame fref) {}));
// stop streaming in opposite order just to be sure that works too
REQUIRE_NOTHROW(dev1.stop());
REQUIRE_NOTHROW(dev2.stop());
REQUIRE_NOTHROW(dev1.close());
REQUIRE_NOTHROW(dev2.close());
}
}
}
}
}
}
SECTION("subdevices on separate devices")
{
if (list1.size() == 1)
{
WARN("Only one device connected. Skipping multi-device test");
}
else
{
for (auto & dev1 : list1)
{
disable_sensitive_options_for(dev1);
for (auto & dev2 : list2)
{
disable_sensitive_options_for(dev2);
if (dev1 == dev2)
continue;
// get modes
std::vector<rs2::stream_profile> modes1, modes2;
REQUIRE_NOTHROW(modes1 = dev1.get_stream_profiles());
REQUIRE_NOTHROW(modes2 = dev2.get_stream_profiles());
REQUIRE(modes1.size() > 0);
REQUIRE(modes2.size() > 0);
// grab first lock
CAPTURE(modes1.front().stream_type());
CAPTURE(dev1.get_info(RS2_CAMERA_INFO_NAME));
CAPTURE(dev1.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
CAPTURE(dev2.get_info(RS2_CAMERA_INFO_NAME));
CAPTURE(dev2.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
REQUIRE_NOTHROW(dev1.open(modes1.front()));
// try to acquire second lock
// selected, but not streaming
{
REQUIRE_NOTHROW(dev2.open({ modes2.front() }));
REQUIRE_NOTHROW(dev2.start([](rs2::frame fref) {}));
REQUIRE_NOTHROW(dev2.stop());
REQUIRE_NOTHROW(dev2.close());
}
// streaming
{
REQUIRE_NOTHROW(dev1.start([](rs2::frame fref) {}));
REQUIRE_NOTHROW(dev2.open({ modes2.front() }));
REQUIRE_NOTHROW(dev2.start([](rs2::frame fref) {}));
// stop streaming in opposite order just to be sure that works too
REQUIRE_NOTHROW(dev1.stop());
REQUIRE_NOTHROW(dev2.stop());
REQUIRE_NOTHROW(dev2.close());
}
REQUIRE_NOTHROW(dev1.close());
}
}
}
}
}
}
//
///* Apply heuristic test to check metadata attributes for sanity*/
void metadata_verification(const std::vector<internal_frame_additional_data>& data)
{
// Heuristics that we use to verify metadata
// Metadata sanity
// Frame numbers and timestamps increase monotonically
// Sensor timestamp should be less or equal to frame timestamp
// Exposure time and gain values are greater than zero
// Sensor framerate is bounded to >0 and < 200 fps for uvc streams
int64_t last_val[3] = { -1, -1, -1 };
for (size_t i = 0; i < data.size(); i++)
{
// Check that Frame/Sensor timetamps, frame number rise monotonically
for (int j = RS2_FRAME_METADATA_FRAME_COUNTER; j <= RS2_FRAME_METADATA_SENSOR_TIMESTAMP; j++)
{
if (data[i].frame_md.md_attributes[j].first)
{
int64_t value = data[i].frame_md.md_attributes[j].second;
CAPTURE(value);
CAPTURE(last_val[j]);
REQUIRE((value > last_val[j]));
if (RS2_FRAME_METADATA_FRAME_COUNTER == j && last_val[j] >= 0) // In addition, there shall be no frame number gaps
{
REQUIRE((1 == (value - last_val[j])));
}
last_val[j] = data[i].frame_md.md_attributes[j].second;
}
}
// Metadata below must have a non negative value
auto md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_ACTUAL_EXPOSURE];
if (md.first) REQUIRE(md.second >= 0);
md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_GAIN_LEVEL];
if (md.first) REQUIRE(md.second >= 0);
md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_TIME_OF_ARRIVAL];
if (md.first) REQUIRE(md.second >= 0);
md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_BACKEND_TIMESTAMP];
if (md.first) REQUIRE(md.second >= 0);
md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_ACTUAL_FPS];
if (md.first) REQUIRE(md.second >= 0);
md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_POWER_LINE_FREQUENCY];
if (md.first) REQUIRE(md.second >= 0);
// Metadata below must have a boolean value
md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_AUTO_EXPOSURE];
if (md.first) REQUIRE((md.second == 0 || md.second == 1));
md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE];
if (md.first) REQUIRE((md.second == 0 || md.second == 1));
md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE];
if (md.first) REQUIRE((md.second == 0 || md.second == 1));
md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_BACKLIGHT_COMPENSATION];
if (md.first) REQUIRE((md.second == 0 || md.second == 1));
md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION];
if (md.first) REQUIRE((md.second == 0 || md.second == 1));
}
}
////serialize_json
void trigger_error(const rs2::device& dev, int num)
{
int opcode = 0x4d;
if (auto debug = dev.as<debug_protocol>())
{
auto raw_data = debug.build_command(opcode, num);
debug.send_and_receive_raw_data(raw_data);
}
}
TEST_CASE("Error handling sanity", "[live][!mayfail]") {
//Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
std::string notification_description;
rs2_log_severity severity;
std::condition_variable cv;
std::mutex m;
// An exempt of possible error values - note that the full list is available to Librealsenes core
const std::map< uint8_t, std::string> error_report = {
{ 0, "Success" },
{ 1, "Laser hot - power reduce" },
{ 2, "Laser hot - disabled" },
{ 3, "Flag B - laser disabled" },
};
//enable error polling
for (auto && subdevice : list) {
if (subdevice.supports(RS2_OPTION_ERROR_POLLING_ENABLED))
{
disable_sensitive_options_for(subdevice);
subdevice.set_notifications_callback([&](rs2::notification n)
{
std::unique_lock<std::mutex> lock(m);
notification_description = n.get_description();
severity = n.get_severity();
cv.notify_one();
});
REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_ERROR_POLLING_ENABLED, 1));
// The first entry with success value cannot be emulated
for (auto i = 1; i < error_report.size(); i++)
{
trigger_error(ctx.get_sensor_parent(subdevice), i);
std::unique_lock<std::mutex> lock(m);
CAPTURE(i);
CAPTURE(error_report.at(i));
CAPTURE(severity);
auto pred = [&]() {
return notification_description.compare(error_report.at(i)) == 0
&& severity == RS2_LOG_SEVERITY_ERROR;
};
REQUIRE(cv.wait_for(lock, std::chrono::seconds(10), pred));
}
REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_ERROR_POLLING_ENABLED, 0));
}
}
}
}
std::vector<uint32_t> split(const std::string &s, char delim) {
std::stringstream ss(s);
std::string item;
std::vector<uint32_t> tokens;
while (std::getline(ss, item, delim)) {
tokens.push_back(std::stoi(item, nullptr));
}
return tokens;
}
bool is_fw_version_newer(rs2::sensor& subdevice, const uint32_t other_fw[4])
{
std::string fw_version_str;
REQUIRE_NOTHROW(fw_version_str = subdevice.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION));
auto fw = split(fw_version_str, '.');
if (fw[0] > other_fw[0])
return true;
if (fw[0] == other_fw[0] && fw[1] > other_fw[1])
return true;
if (fw[0] == other_fw[0] && fw[1] == other_fw[1] && fw[2] > other_fw[2])
return true;
if (fw[0] == other_fw[0] && fw[1] == other_fw[1] && fw[2] == other_fw[2] && fw[3] > other_fw[3])
return true;
if (fw[0] == other_fw[0] && fw[1] == other_fw[1] && fw[2] == other_fw[2] && fw[3] == other_fw[3])
return true;
return false;
}
TEST_CASE("Auto disabling control behavior", "[live]") {
//Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
for (auto && subdevice : list)
{
disable_sensitive_options_for(subdevice);
auto info = subdevice.get_info(RS2_CAMERA_INFO_NAME);
CAPTURE(info);
rs2::option_range range{};
float val{};
if (subdevice.supports(RS2_OPTION_ENABLE_AUTO_EXPOSURE))
{
SECTION("Disable auto exposure when setting a value")
{
REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE, 1));
REQUIRE_NOTHROW(range = subdevice.get_option_range(RS2_OPTION_EXPOSURE));
REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_EXPOSURE, range.max));
CAPTURE(range.max);
REQUIRE_NOTHROW(val = subdevice.get_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE));
REQUIRE(val == 0);
}
}
if (subdevice.supports(RS2_OPTION_EMITTER_ENABLED))
{
SECTION("Disable emitter when setting a value")
{
for (auto elem : { 0.f, 2.f })
{
CAPTURE(elem);
REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_EMITTER_ENABLED, elem));
REQUIRE_NOTHROW(range = subdevice.get_option_range(RS2_OPTION_LASER_POWER));
REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_LASER_POWER, range.max));
CAPTURE(range.max);
REQUIRE_NOTHROW(val = subdevice.get_option(RS2_OPTION_EMITTER_ENABLED));
REQUIRE(val == 1);
//0 - on, 1- off, 2 - deprecated for fw later than 5.9.11.0
//check if the fw version supports elem = 2
const uint32_t MIN_FW_VER[4] = { 5, 9, 11, 0 };
if (is_fw_version_newer(subdevice, MIN_FW_VER)) break;
}
}
}
if (subdevice.supports(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE))
{
SECTION("Disable white balance when setting a value")
{
if (subdevice.supports(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE) && subdevice.supports(RS2_OPTION_WHITE_BALANCE))
{
REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE, 1));
REQUIRE_NOTHROW(range = subdevice.get_option_range(RS2_OPTION_WHITE_BALANCE));
REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_WHITE_BALANCE, range.max));
CAPTURE(range.max);
REQUIRE_NOTHROW(val = subdevice.get_option(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE));
REQUIRE(val == 0);
}
}
}
}
}
}
std::pair<std::shared_ptr<rs2::device>, std::weak_ptr<rs2::device>> make_device(device_list& list)
{
REQUIRE(list.size() > 0);
std::shared_ptr<rs2::device> dev;
REQUIRE_NOTHROW(dev = std::make_shared<rs2::device>(list[0]));
std::weak_ptr<rs2::device> weak_dev(dev);
disable_sensitive_options_for(*dev);
return std::pair<std::shared_ptr<rs2::device>, std::weak_ptr<rs2::device>>(dev, weak_dev);
}
void reset_device(std::shared_ptr<rs2::device>& strong, std::weak_ptr<rs2::device>& weak, device_list& list, const rs2::device& new_dev)
{
strong.reset();
weak.reset();
list = nullptr;
strong = std::make_shared<rs2::device>(new_dev);
weak = strong;
disable_sensitive_options_for(*strong);
}
TEST_CASE("Disconnect events works", "[live]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
device_list list;
REQUIRE_NOTHROW(list = ctx.query_devices());
auto dev = make_device(list);
auto dev_strong = dev.first;
auto dev_weak = dev.second;
auto disconnected = false;
auto connected = false;
std::string serial;
REQUIRE_NOTHROW(serial = dev_strong->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
std::condition_variable cv;
std::mutex m;
//Setting up devices change callback to notify the test about device disconnection
REQUIRE_NOTHROW(ctx.set_devices_changed_callback([&, dev_weak](event_information& info) mutable
{
auto&& strong = dev_weak.lock();
{
if (strong)
{
if (info.was_removed(*strong))
{
std::unique_lock<std::mutex> lock(m);
disconnected = true;
cv.notify_one();
}
for (auto d : info.get_new_devices())
{
for (auto&& s : d.query_sensors())
disable_sensitive_options_for(s);
if (serial == d.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER))
{
try
{
std::unique_lock<std::mutex> lock(m);
connected = true;
cv.notify_one();
break;
}
catch (...)
{
}
}
}
}
}}));
//forcing hardware reset to simulate device disconnection
do_with_waiting_for_camera_connection(ctx, dev_strong, serial, [&]()
{
dev_strong->hardware_reset();
});
//Check that after the library reported device disconnection, operations on old device object will return error
REQUIRE_THROWS(dev_strong->query_sensors().front().close());
}
}
TEST_CASE("Connect events works", "[live]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
device_list list;
REQUIRE_NOTHROW(list = ctx.query_devices());
auto dev = make_device(list);
auto dev_strong = dev.first;
auto dev_weak = dev.second;
std::string serial;
REQUIRE_NOTHROW(serial = dev_strong->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
auto disconnected = false;
auto connected = false;
std::condition_variable cv;
std::mutex m;
//Setting up devices change callback to notify the test about device disconnection and connection
REQUIRE_NOTHROW(ctx.set_devices_changed_callback([&, dev_weak](event_information& info) mutable
{
auto&& strong = dev_weak.lock();
{
if (strong)
{
if (info.was_removed(*strong))
{
std::unique_lock<std::mutex> lock(m);
disconnected = true;
cv.notify_one();
}
for (auto d : info.get_new_devices())
{
if (serial == d.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER))
{
try
{
std::unique_lock<std::mutex> lock(m);
reset_device(dev_strong, dev_weak, list, d);
connected = true;
cv.notify_one();
break;
}
catch (...)
{
}
}
}
}
}}));
//forcing hardware reset to simulate device disconnection
do_with_waiting_for_camera_connection(ctx, dev_strong, serial, [&]()
{
dev_strong->hardware_reset();
});
}
}
std::shared_ptr<std::function<void(rs2::frame fref)>> check_stream_sanity(const context& ctx, const sensor& sub, int num_of_frames, bool infinite = false)
{
std::shared_ptr<std::condition_variable> cv = std::make_shared<std::condition_variable>();
std::shared_ptr<std::mutex> m = std::make_shared<std::mutex>();
std::shared_ptr<std::map<rs2_stream, int>> streams_frames = std::make_shared<std::map<rs2_stream, int>>();
std::shared_ptr<std::function<void(rs2::frame fref)>> func;
std::vector<rs2::stream_profile> modes;
REQUIRE_NOTHROW(modes = sub.get_stream_profiles());
auto streaming = false;
for (auto p : modes)
{
if (auto video = p.as<video_stream_profile>())
{
if (video.width() == 640 && video.height() == 480 && video.fps() == 60 && video.format())
{
if ((video.stream_type() == RS2_STREAM_DEPTH && video.format() == RS2_FORMAT_Z16) ||
(video.stream_type() == RS2_STREAM_FISHEYE && video.format() == RS2_FORMAT_RAW8))
{
streaming = true;
(*streams_frames)[p.stream_type()] = 0;
REQUIRE_NOTHROW(sub.open(p));
func = std::make_shared< std::function<void(frame fref)>>([num_of_frames, m, streams_frames, cv](frame fref) mutable
{
std::unique_lock<std::mutex> lock(*m);
auto stream = fref.get_profile().stream_type();
streams_frames->at(stream)++;
if (streams_frames->at(stream) >= num_of_frames)
cv->notify_one();
});
REQUIRE_NOTHROW(sub.start(*func));
}
}
}
}
std::unique_lock<std::mutex> lock(*m);
cv->wait_for(lock, std::chrono::seconds(30), [&]
{
for (auto f : (*streams_frames))
{
if (f.second < num_of_frames)
return false;
}
return true;
});
if (!infinite && streaming)
{
REQUIRE_NOTHROW(sub.stop());
REQUIRE_NOTHROW(sub.close());
}
return func;
}
TEST_CASE("Connect Disconnect events while streaming", "[live]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
device_list list;
REQUIRE_NOTHROW(list = ctx.query_devices());
std::string serial;
auto dev = make_device(list);
auto dev_strong = dev.first;
auto dev_weak = dev.second;
REQUIRE_NOTHROW(serial = dev_strong->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
auto disconnected = false;
auto connected = false;
std::condition_variable cv;
std::mutex m;
//Setting up devices change callback to notify the test about device disconnection and connection
REQUIRE_NOTHROW(ctx.set_devices_changed_callback([&, dev_weak](event_information& info) mutable
{
auto&& strong = dev_weak.lock();
{
if (strong)
{
if (info.was_removed(*strong))
{
std::unique_lock<std::mutex> lock(m);
disconnected = true;
cv.notify_one();
}
for (auto d : info.get_new_devices())
{
if (serial == d.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER))
{
try
{
std::unique_lock<std::mutex> lock(m);
reset_device(dev_strong, dev_weak, list, d);
connected = true;
cv.notify_one();
break;
}
catch (...)
{
}
}
}
}
}}));
for (auto&& s : dev_strong->query_sensors())
auto func = check_stream_sanity(ctx, s, 1, true);
for (auto i = 0; i < 3; i++)
{
//forcing hardware reset to simulate device disconnection
dev_strong = do_with_waiting_for_camera_connection(ctx, dev_strong, serial, [&]()
{
dev_strong->hardware_reset();
});
for (auto&& s : dev_strong->query_sensors())
auto func = check_stream_sanity(ctx, s, 10);
disconnected = connected = false;
}
}
}
void check_controls_sanity(const context& ctx, const sensor& dev)
{
for (auto d : ctx.get_sensor_parent(dev).query_sensors())
{
for (auto i = 0; i < RS2_OPTION_COUNT; i++)
{
if (d.supports((rs2_option)i))
REQUIRE_NOTHROW(d.get_option((rs2_option)i));
}
}
}
//
TEST_CASE("Connect Disconnect events while controls", "[live]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
device_list list;
REQUIRE_NOTHROW(list = ctx.query_devices());
auto dev = make_device(list);
auto dev_strong = dev.first;
auto dev_weak = dev.second;
std::string serial;
REQUIRE_NOTHROW(serial = dev_strong->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
auto disconnected = false;
auto connected = false;
std::condition_variable cv;
std::mutex m;
//Setting up devices change callback to notify the test about device disconnection and connection
REQUIRE_NOTHROW(ctx.set_devices_changed_callback([&, dev_weak](event_information& info) mutable
{
auto&& strong = dev_weak.lock();
{
if (strong)
{
if (info.was_removed(*strong))
{
std::unique_lock<std::mutex> lock(m);
disconnected = true;
cv.notify_one();
}
for (auto d : info.get_new_devices())
{
if (serial == d.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER))
{
try
{
std::unique_lock<std::mutex> lock(m);
reset_device(dev_strong, dev_weak, list, d);
connected = true;
cv.notify_one();
break;
}
catch (...)
{
}
}
}
}
}}));
//forcing hardware reset to simulate device disconnection
dev_strong = do_with_waiting_for_camera_connection(ctx, dev_strong, serial, [&]()
{
dev_strong->hardware_reset();
});
for (auto&& s : dev_strong->query_sensors())
check_controls_sanity(ctx, s);
}
}
TEST_CASE("Basic device_hub flow", "[live][!mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
std::shared_ptr<rs2::device> dev;
if( ctx )
{
device_hub hub(ctx);
REQUIRE_NOTHROW(dev = std::make_shared<rs2::device>(hub.wait_for_device()));
std::weak_ptr<rs2::device> weak(dev);
disable_sensitive_options_for(*dev);
dev->hardware_reset();
int i = 300;
while (i > 0 && hub.is_connected(*dev))
{
std::this_thread::sleep_for(std::chrono::milliseconds(10));
--i;
}
/*if (i == 0)
{
WARN("Reset workaround");
dev->hardware_reset();
while (hub.is_connected(*dev))
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}*/
// Don't exit the test in unknown state
REQUIRE_NOTHROW(hub.wait_for_device());
}
}
struct stream_format
{
rs2_stream stream_type;
int width;
int height;
int fps;
rs2_format format;
int index;
};
TEST_CASE("Auto-complete feature works", "[offline][util::config][using_pipeline]") {
// dummy device can provide the following profiles:
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
struct Test {
std::vector<stream_format> given; // We give these profiles to the config class
std::vector<stream_format> expected; // pool of profiles the config class can return. Leave empty if auto-completer is expected to fail
};
std::vector<Test> tests = {
// Test 0 (Depth always has RS2_FORMAT_Z16)
{ { { RS2_STREAM_DEPTH , 0, 0, 0, RS2_FORMAT_ANY, 0 } }, // given
{ { RS2_STREAM_DEPTH , 0, 0, 0, RS2_FORMAT_Z16, 0 } } }, // expected
// Test 1 (IR always has RS2_FORMAT_Y8)
{ { { RS2_STREAM_INFRARED, 0, 0, 0, RS2_FORMAT_ANY, 1 } }, // given
{ { RS2_STREAM_INFRARED, 0, 0, 0, RS2_FORMAT_Y8 , 1 } } }, // expected
// Test 2 (No 200 fps depth)
{ { { RS2_STREAM_DEPTH , 0, 0, 200, RS2_FORMAT_ANY, -1 } }, // given
{ } }, // expected
// Test 3 (Can request 60 fps IR)
{ { { RS2_STREAM_INFRARED, 0, 0, 60, RS2_FORMAT_ANY, 1 } }, // given
{ { RS2_STREAM_INFRARED, 0, 0, 60, RS2_FORMAT_ANY, 1 } } }, // expected
// Test 4 (requesting IR@200fps + depth fails
{ { { RS2_STREAM_INFRARED, 0, 0, 200, RS2_FORMAT_ANY, 1 }, { RS2_STREAM_DEPTH , 0, 0, 0, RS2_FORMAT_ANY, -1 } }, // given
{ } }, // expected
// Test 5 (Can't do 640x480@110fps a)
{ { { RS2_STREAM_INFRARED, 640, 480, 110, RS2_FORMAT_ANY, -1 } }, // given
{ } }, // expected
// Test 6 (Can't do 640x480@110fps b)
{ { { RS2_STREAM_DEPTH , 640, 480, 0, RS2_FORMAT_ANY, -1 }, { RS2_STREAM_INFRARED, 0, 0, 110, RS2_FORMAT_ANY, 1 } }, // given
{ } }, // expected
// Test 7 (Pull extra details from second stream a)
{ { { RS2_STREAM_DEPTH , 640, 480, 0, RS2_FORMAT_ANY, -1 }, { RS2_STREAM_INFRARED, 0, 0, 30, RS2_FORMAT_ANY, 1 } }, // given
{ { RS2_STREAM_DEPTH , 640, 480, 30, RS2_FORMAT_ANY, 0 }, { RS2_STREAM_INFRARED, 640, 480, 30, RS2_FORMAT_ANY, 1 } } }, // expected
// Test 8 (Pull extra details from second stream b) [IR also supports 200, could fail if that gets selected]
{ { { RS2_STREAM_INFRARED, 640, 480, 0, RS2_FORMAT_ANY, 1 }, { RS2_STREAM_DEPTH , 0, 0, 0, RS2_FORMAT_ANY , 0 } }, // given
{ { RS2_STREAM_INFRARED, 640, 480, 10, RS2_FORMAT_ANY, 1 }, { RS2_STREAM_INFRARED, 640, 480, 30, RS2_FORMAT_ANY , 1 }, // expected - options for IR stream
{ RS2_STREAM_DEPTH , 640, 480, 10, RS2_FORMAT_ANY, 0 }, { RS2_STREAM_DEPTH , 640, 480, 30, RS2_FORMAT_ANY , 0 } } } // expected - options for depth stream
};
pipeline pipe(ctx);
rs2::config cfg;
for (int i = 0; i < tests.size(); ++i)
{
cfg.disable_all_streams();
for (auto & profile : tests[i].given) {
REQUIRE_NOTHROW(cfg.enable_stream(profile.stream_type, profile.index, profile.width, profile.height, profile.format, profile.fps));
}
CAPTURE(i);
if (tests[i].expected.size() == 0) {
REQUIRE_THROWS_AS(pipe.start(cfg), std::runtime_error);
}
else
{
rs2::pipeline_profile pipe_profile;
REQUIRE_NOTHROW(pipe_profile = pipe.start(cfg));
//REQUIRE()s are in here
REQUIRE(pipe_profile);
REQUIRE_NOTHROW(pipe.stop());
}
}
}
}
//TODO: make it work
//TEST_CASE("Sync connect disconnect", "[live]") {
// rs2::context ctx;
//
// if (make_context(SECTION_FROM_TEST_NAME, &ctx))
// {
// auto list = ctx.query_devices();
// REQUIRE(list.size());
// pipeline pipe(ctx);
// auto dev = pipe.get_device();
//
// disable_sensitive_options_for(dev);
//
//
// auto profiles = configure_all_supported_streams(dev, dev);
//
//
// pipe.start();
//
// std::string serial;
// REQUIRE_NOTHROW(serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
//
// auto disconnected = false;
// auto connected = false;
// std::condition_variable cv;
// std::mutex m;
//
// //Setting up devices change callback to notify the test about device disconnection and connection
// REQUIRE_NOTHROW(ctx.set_devices_changed_callback([&](event_information& info) mutable
// {
// std::unique_lock<std::mutex> lock(m);
// if (info.was_removed(dev))
// {
//
// try {
// pipe.stop();
// pipe.disable_all();
// dev = nullptr;
// }
// catch (...) {};
// disconnected = true;
// cv.notify_one();
// }
//
// auto devs = info.get_new_devices();
// if (devs.size() > 0)
// {
// dev = pipe.get_device();
// std::string new_serial;
// REQUIRE_NOTHROW(new_serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
// if (serial == new_serial)
// {
// disable_sensitive_options_for(dev);
//
// auto profiles = configure_all_supported_streams(dev, pipe);
//
// pipe.start();
//
// connected = true;
// cv.notify_one();
// }
// }
//
// }));
//
//
// for (auto i = 0; i < 5; i++)
// {
// auto frames = pipe.wait_for_frames(10000);
// REQUIRE(frames.size() > 0);
// }
//
// {
// std::unique_lock<std::mutex> lock(m);
// disconnected = connected = false;
// auto shared_dev = std::make_shared<rs2::device>(dev);
// dev.hardware_reset();
//
// REQUIRE(wait_for_reset([&]() {
// return cv.wait_for(lock, std::chrono::seconds(20), [&]() {return disconnected; });
// }, shared_dev));
// REQUIRE(cv.wait_for(lock, std::chrono::seconds(20), [&]() {return connected; }));
// }
//
// for (auto i = 0; i < 5; i++)
// {
// auto frames = pipe.wait_for_frames(10000);
// REQUIRE(frames.size() > 0);
//
// }
// }
//}
void validate(std::vector<std::vector<stream_profile>> frames, std::vector<std::vector<double>> timestamps, device_profiles requests, float actual_fps)
{
REQUIRE(frames.size() > 0);
int successful = 0;
auto gap = 1000.f / actual_fps;
auto ts = 0;
std::vector<profile> actual_streams_arrived;
for (auto i = 0; i < frames.size(); i++)
{
auto frame = frames[i];
auto ts = timestamps[i];
if (frame.size() == 0)
{
CAPTURE(frame.size());
continue;
}
std::vector<profile> stream_arrived;
for (auto f : frame)
{
auto image = f.as<rs2::video_stream_profile>();
stream_arrived.push_back({ image.stream_type(), image.format(), image.width(), image.height() });
REQUIRE(image.fps());
}
std::sort(ts.begin(), ts.end());
if (ts[ts.size() - 1] - ts[0] > (float)gap / (float)2)
{
CAPTURE(gap);
CAPTURE((float)gap / (float)2);
CAPTURE(ts[ts.size() - 1]);
CAPTURE(ts[0]);
CAPTURE(ts[ts.size() - 1] - ts[0]);
continue;
}
for (auto& str : stream_arrived)
actual_streams_arrived.push_back(str);
if (stream_arrived.size() != requests.streams.size())
continue;
std::sort(stream_arrived.begin(), stream_arrived.end());
std::sort(requests.streams.begin(), requests.streams.end());
auto equals = true;
for (auto i = 0; i < requests.streams.size(); i++)
{
if (stream_arrived[i] != requests.streams[i])
{
equals = false;
break;
}
}
if (!equals)
continue;
successful++;
}
std::stringstream ss;
ss << "Requested profiles : " << std::endl;
for (auto profile : requests.streams)
{
ss << STRINGIFY(profile.stream) << " = " << profile.stream << std::endl;
ss << STRINGIFY(profile.format) << " = " << profile.format << std::endl;
ss << STRINGIFY(profile.width) << " = " << profile.width << std::endl;
ss << STRINGIFY(profile.height) << " = " << profile.height << std::endl;
ss << STRINGIFY(profile.index) << " = " << profile.index << std::endl;
}
CAPTURE(ss.str());
CAPTURE(requests.fps);
CAPTURE(requests.sync);
ss.str("");
ss << "\n\nReceived profiles : " << std::endl;
std::sort(actual_streams_arrived.begin(), actual_streams_arrived.end());
auto last = std::unique(actual_streams_arrived.begin(), actual_streams_arrived.end());
actual_streams_arrived.erase(last, actual_streams_arrived.end());
for (auto profile : actual_streams_arrived)
{
ss << STRINGIFY(profile.stream) << " = " << profile.stream << std::endl;
ss << STRINGIFY(profile.format) << " = " << profile.format << std::endl;
ss << STRINGIFY(profile.width) << " = " << profile.width << std::endl;
ss << STRINGIFY(profile.height) << " = " << profile.height << std::endl;
ss << STRINGIFY(profile.index) << " = " << profile.index << std::endl;
}
CAPTURE(ss.str());
REQUIRE(successful > 0);
}
static const std::map< dev_type, device_profiles> pipeline_default_configurations = {
/* RS400/PSR*/ { { "0AD1", true} ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 1280, 720, 1 } }, 30, true}},
/* RS410/ASR*/ { { "0AD2", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 1280, 720, 1 } }, 30, true }},
/* D410/USB2*/ { { "0AD2", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 1 } }, 15, true } },
/* RS415/ASRC*/ { { "0AD3", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true }},
/* D415/USB2*/ { { "0AD3", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 640, 480, 0 } }, 15, true } },
/* RS430/AWG*/ { { "0AD4", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 1280, 720, 1 } }, 30, true }},
/* RS430_MM/AWGT*/ { { "0AD5", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 1280, 720, 1 } }, 30, true }},
/* RS420/PWG*/ { { "0AF6", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 1280, 720, 1 } }, 30, true }},
/* RS420_MM/PWGT*/ { { "0AFE", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 1280, 720, 1 } }, 30, true }},
/* RS410_MM/ASRT*/ { { "0AFF", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 1280, 720, 1 } }, 30, true } },
/* RS400_MM/PSR*/ { { "0B00", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 1280, 720, 1 } }, 30, true } },
/* RS430_MM_RGB/AWGTC*/ { { "0B01", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true }},
/* RS405/D460/DS5U*/ { { "0B03", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 1280, 720, 1 } }, 30, true }},
/* RS435_RGB/AWGC*/ { { "0B07", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true }},
/* D435/USB2*/ { { "0B07", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 640, 480, 0 } }, 15, true } },
// TODO - IMU data profiles are pending FW timestamp fix
/* D435I/USB3*/ { { "0B3A", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true } },
};
TEST_CASE("Pipeline wait_for_frames", "[live][pipeline][using_pipeline][!mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
CAPTURE(PID.second);
if (pipeline_default_configurations.end() == pipeline_default_configurations.find(PID))
{
WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
REQUIRE(pipeline_default_configurations.at(PID).streams.size() > 0);
REQUIRE_NOTHROW(pipe.start(cfg));
std::vector<std::vector<stream_profile>> frames;
std::vector<std::vector<double>> timestamps;
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(10000));
auto actual_fps = float( pipeline_default_configurations.at(PID).fps );
while (frames.size() < 100)
{
frameset frame;
REQUIRE_NOTHROW(frame = pipe.wait_for_frames(10000));
std::vector<stream_profile> frames_set;
std::vector<double> ts;
for (auto f : frame)
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
frames_set.push_back(f.get_profile());
ts.push_back(f.get_timestamp());
}
frames.push_back(frames_set);
timestamps.push_back(ts);
}
REQUIRE_NOTHROW(pipe.stop());
validate(frames, timestamps, pipeline_default_configurations.at(PID), actual_fps);
}
}
}
TEST_CASE("Pipeline poll_for_frames", "[live][pipeline][using_pipeline][!mayfail]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size());
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
CAPTURE(PID.second);
if (pipeline_default_configurations.end() == pipeline_default_configurations.find(PID))
{
WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
REQUIRE(pipeline_default_configurations.at(PID).streams.size() > 0);
REQUIRE_NOTHROW(pipe.start(cfg));
std::vector<std::vector<stream_profile>> frames;
std::vector<std::vector<double>> timestamps;
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));
auto actual_fps = float( pipeline_default_configurations.at(PID).fps );
while (frames.size() < 100)
{
frameset frame;
if (pipe.poll_for_frames(&frame))
{
std::vector<stream_profile> frames_set;
std::vector<double> ts;
for (auto f : frame)
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
frames_set.push_back(f.get_profile());
ts.push_back(f.get_timestamp());
}
frames.push_back(frames_set);
timestamps.push_back(ts);
}
}
REQUIRE_NOTHROW(pipe.stop());
validate(frames, timestamps, pipeline_default_configurations.at(PID), actual_fps);
}
}
}
static const std::map<dev_type, device_profiles> pipeline_custom_configurations = {
/* RS400/PSR*/ { {"0AD1", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 1 } }, 30, true } },
/* RS410/ASR*/ { {"0AD2", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 1 } }, 30, true } },
/* D410/USB2*/ { {"0AD2", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 480, 270, 1 } }, 30, true } },
/* RS415/ASRC*/ { {"0AD3", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true } },
/* D415/USB2*/ { {"0AD3", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 424, 240, 0 } }, 30, true } },
/* RS430/AWG*/ { {"0AD4", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
/* RS430_MM/AWGT*/ { {"0AD5", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
/* RS420/PWG*/ { {"0AF6", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
/* RS420_MM/PWGT*/ { {"0AFE", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
/* RS410_MM/ASRT*/ { {"0AFF", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 1 } }, 30, true } },
/* RS400_MM/PSR*/ { {"0B00", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 1 } }, 30, true } },
/* RS430_MC/AWGTC*/ { {"0B01", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true } },
/* RS405/D460/DS5U*/{ {"0B03", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
/* RS435_RGB/AWGC*/ { {"0B07", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true } },
/* D435/USB2*/ { {"0B07", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 424, 240, 0 } }, 30, true } },
};
TEST_CASE("Pipeline enable stream", "[live][pipeline][using_pipeline]") {
auto dev_requests = pipeline_custom_configurations;
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ! ctx )
return;
auto list = ctx.query_devices();
REQUIRE(list.size());
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
CAPTURE(PID.second);
if (dev_requests.end() == dev_requests.find(PID))
{
WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
REQUIRE(dev_requests[PID].streams.size() > 0);
for (auto req : pipeline_custom_configurations.at(PID).streams)
REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, dev_requests[PID].fps));
REQUIRE_NOTHROW(profile = pipe.start(cfg));
REQUIRE(profile);
REQUIRE(std::string(profile.get_device().get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)) == dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
std::vector<std::vector<stream_profile>> frames;
std::vector<std::vector<double>> timestamps;
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));
auto actual_fps = float( dev_requests[PID].fps );
while (frames.size() < 100)
{
frameset frame;
REQUIRE_NOTHROW(frame = pipe.wait_for_frames(5000));
std::vector<stream_profile> frames_set;
std::vector<double> ts;
for (auto f : frame)
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
frames_set.push_back(f.get_profile());
ts.push_back(f.get_timestamp());
}
frames.push_back(frames_set);
timestamps.push_back(ts);
}
REQUIRE_NOTHROW(pipe.stop());
validate(frames, timestamps, dev_requests[PID], actual_fps);
}
}
static const std::map<dev_type, device_profiles> pipeline_autocomplete_configurations = {
/* RS400/PSR*/ { {"0AD1", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_ANY, 0, 0, 1 } }, 30, true } },
/* RS410/ASR*/ { {"0AD2", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_ANY, 0, 0, 1 } }, 30, true } },
/* D410/USB2*/ { {"0AD2", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 0, 0, 0 } }, 15, true } },
// FW issues render streaming Depth:HD + Color:FHD as not feasible. Applies for AWGC and ASRC
/* AWGC/ASRC should be invoked with 30 fps in order to avoid selecting FullHD for Color sensor at least with FW 5.9.6*/
/* RS415/ASRC*/ { {"0AD3", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 }/*,{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 0, 0, 0 }*/ }, 30, true } },
/* D415/USB2*/ { {"0AD3", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 0, 0, 0 } }, 60, true } },
/* RS430/AWG*/ { {"0AD4", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 } }, 30, true } },
/* RS430_MM/AWGT*/ { {"0AD5", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_ANY, 0, 0, 1 } }, 30, true } },
/* RS420/PWG*/ { {"0AF6", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 } }, 30, true } },
/* RS420_MM/PWGT*/ { {"0AFE", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 0, 0, 0 } }, 30, true } },
/* RS410_MM/ASRT*/ { {"0AFF", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 0, 0, 0 } }, 30, true } },
/* RS400_MM/PSR*/ { {"0B00", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 0, 0, 0 } }, 30, true } },
/* RS430_MM_RGB/AWGTC*/{ {"0B01", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 0, 0, 0 } }, 30, true } },
/* RS405/DS5U*/ { {"0B03", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_ANY, 0, 0, 1 } }, 30, true } },
/* RS435_RGB/AWGC*/ { {"0B07", true },{ { /*{ RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 },*/{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 0, 0, 0 } }, 30, true } },
/* D435/USB2*/ { {"0B07", false },{ { /*{ RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },*/{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 0, 0, 0 } }, 60, true } },
};
TEST_CASE("Pipeline enable stream auto complete", "[live][pipeline][using_pipeline]")
{
auto configurations = pipeline_autocomplete_configurations;
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size());
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
CAPTURE(PID.second);
if (configurations.end() == configurations.find(PID))
{
WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
REQUIRE(configurations[PID].streams.size() > 0);
for (auto req : configurations[PID].streams)
REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, configurations[PID].fps));
REQUIRE_NOTHROW(profile = pipe.start(cfg));
REQUIRE(profile);
REQUIRE(profile.get_device());
REQUIRE(std::string(profile.get_device().get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)) == dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
std::vector<std::vector<stream_profile>> frames;
std::vector<std::vector<double>> timestamps;
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));
auto actual_fps = float( configurations[PID].fps );
while (frames.size() < 100)
{
frameset frame;
REQUIRE_NOTHROW(frame = pipe.wait_for_frames(5000));
std::vector<stream_profile> frames_set;
std::vector<double> ts;
for (auto f : frame)
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
frames_set.push_back(f.get_profile());
ts.push_back(f.get_timestamp());
}
frames.push_back(frames_set);
timestamps.push_back(ts);
}
REQUIRE_NOTHROW(pipe.stop());
validate(frames, timestamps, configurations[PID], actual_fps);
}
}
}
TEST_CASE("Pipeline disable_all", "[live][pipeline][using_pipeline][!mayfail]") {
auto not_default_configurations = pipeline_custom_configurations;
auto default_configurations = pipeline_default_configurations;
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size());
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
CAPTURE(PID.second);
if ((not_default_configurations.end() == not_default_configurations.find(PID)) || ((default_configurations.find(PID) == default_configurations.end())))
{
WARN("Skipping test - the Device-Under-Test profile is not defined properly for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
REQUIRE(not_default_configurations[PID].streams.size() > 0);
for (auto req : not_default_configurations[PID].streams)
REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, not_default_configurations[PID].fps));
REQUIRE_NOTHROW(cfg.disable_all_streams());
REQUIRE_NOTHROW(profile = pipe.start(cfg));
REQUIRE(profile);
REQUIRE(std::string(profile.get_device().get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)) == dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
std::vector<std::vector<stream_profile>> frames;
std::vector<std::vector<double>> timestamps;
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));
auto actual_fps = float( default_configurations[PID].fps );
while (frames.size() < 100)
{
frameset frame;
REQUIRE_NOTHROW(frame = pipe.wait_for_frames(5000));
std::vector<stream_profile> frames_set;
std::vector<double> ts;
for (auto f : frame)
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
frames_set.push_back(f.get_profile());
ts.push_back(f.get_timestamp());
}
frames.push_back(frames_set);
timestamps.push_back(ts);
}
REQUIRE_NOTHROW(pipe.stop());
validate(frames, timestamps, default_configurations[PID], actual_fps);
}
}
}
TEST_CASE("Pipeline disable stream", "[live][pipeline][using_pipeline]") {
auto configurations = pipeline_custom_configurations;
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size());
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
CAPTURE(PID.second);
if (configurations.end() == configurations.find(PID))
{
WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
REQUIRE(configurations[PID].streams.size() > 0);
for (auto req : configurations[PID].streams)
REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, configurations[PID].fps));
auto stream_to_be_removed = configurations[PID].streams[configurations[PID].streams.size() - 1].stream;
REQUIRE_NOTHROW(cfg.disable_stream(stream_to_be_removed));
auto& streams = configurations[PID].streams;
streams.erase(streams.end() - 1);
REQUIRE_NOTHROW(profile = pipe.start(cfg));
REQUIRE(profile);
REQUIRE(std::string(profile.get_device().get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)) == dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
std::vector<std::vector<stream_profile>> frames;
std::vector<std::vector<double>> timestamps;
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));
auto actual_fps = float( configurations[PID].fps );
while (frames.size() < 100)
{
frameset frame;
REQUIRE_NOTHROW(frame = pipe.wait_for_frames(5000));
std::vector<stream_profile> frames_set;
std::vector<double> ts;
for (auto f : frame)
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
frames_set.push_back(f.get_profile());
ts.push_back(f.get_timestamp());
}
frames.push_back(frames_set);
timestamps.push_back(ts);
}
REQUIRE_NOTHROW(pipe.stop());
validate(frames, timestamps, configurations[PID], actual_fps);
}
}
}
// The test relies on default profiles that may alter
TEST_CASE("Pipeline with specific device", "[live][pipeline][using_pipeline]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size());
rs2::device dev;
REQUIRE_NOTHROW(dev = list[0]);
disable_sensitive_options_for(dev);
std::string serial, serial1, serial2;
REQUIRE_NOTHROW(serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
rs2::pipeline pipe(ctx);
rs2::config cfg;
REQUIRE_NOTHROW(cfg.enable_device(serial));
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
REQUIRE_NOTHROW(serial1 = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
CAPTURE(serial);
CAPTURE(serial1);
REQUIRE(serial1 == serial);
REQUIRE_NOTHROW(profile = pipe.start(cfg));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE_NOTHROW(serial2 = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
CAPTURE(serial);
CAPTURE(serial2);
REQUIRE(serial2 == serial);
REQUIRE_NOTHROW(pipe.stop());
}
}
bool operator==(std::vector<profile> streams1, std::vector<profile> streams2)
{
if (streams1.size() != streams2.size())
return false;
std::sort(streams1.begin(), streams1.end());
std::sort(streams2.begin(), streams2.end());
auto equals = true;
for (auto i = 0; i < streams1.size(); i++)
{
if (streams1[i] != streams2[i])
{
equals = false;
break;
}
}
return equals;
}
TEST_CASE("Pipeline start stop", "[live][pipeline][using_pipeline]") {
auto configurations = pipeline_custom_configurations;
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size());
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile pipe_profile;
REQUIRE_NOTHROW(pipe_profile = cfg.resolve(pipe));
REQUIRE(pipe_profile);
REQUIRE_NOTHROW(dev = pipe_profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
CAPTURE(PID.second);
if (configurations.end() == configurations.find(PID))
{
WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
REQUIRE(configurations[PID].streams.size() > 0);
for (auto req : configurations[PID].streams)
REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, configurations[PID].fps));
auto& streams = configurations[PID].streams;
REQUIRE_NOTHROW(pipe.start(cfg));
std::vector<device_profiles> frames;
for (auto i = 0; i < 10; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));
REQUIRE_NOTHROW(pipe.stop());
REQUIRE_NOTHROW(pipe.start(cfg));
for (auto i = 0; i < 20; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));
std::vector<profile> profiles;
auto equals = 0;
for (auto i = 0; i < 30; i++)
{
frameset frame;
REQUIRE_NOTHROW(frame = pipe.wait_for_frames(5000));
REQUIRE(frame.size() > 0);
for (auto f : frame)
{
auto profile = f.get_profile();
auto video_profile = profile.as<video_stream_profile>();
profiles.push_back({ profile.stream_type(),
profile.format(),
video_profile.width(),
video_profile.height(),
video_profile.stream_index() });
}
if (profiles == streams)
equals++;
profiles.clear();
}
REQUIRE_NOTHROW(pipe.stop());
REQUIRE(equals > 1);
}
}
}
static const std::map<dev_type, device_profiles> pipeline_configurations_for_extrinsic = {
/* D400/PSR*/ { {"0AD1", true},{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
/* D410/ASR*/ { {"0AD2", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
/* D410/USB2*/ { {"0AD2", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 480, 270, 0 } }, 30, true } },
/* D415/ASRC*/ { {"0AD3", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } ,
{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1920, 1080, 0 } }, 30, true } },
/* D415/USB2*/ { {"0AD3", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },
{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 424, 240, 0 } }, 30, true } },
/* RS430/AWG*/ { {"0AD4", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
/* RS430_MM/AWGT*/ { {"0AD5", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
/* RS420/PWG*/ { {"0AF6", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
/* RS420_MM/PWGT*/ { {"0AFE", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
/* RS410_MM/ASRT*/ { {"0AFF", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
/* RS400_MM/PSR*/ { {"0B00", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
/* RS430_MM_RGB/AWGTC*/{ {"0B01", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } ,
{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1920, 1080, 0 } }, 30, true } },
/* RS405/DS5U*/ { {"0B03", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
/* RS435_RGB/AWGC*/ { {"0B07", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } ,
{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1920, 1080, 0 } }, 30, true } },
/* D435/USB2*/ { {"0B07", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },
{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 424, 240, 0 } }, 30, true } },
};
TEST_CASE("Pipeline get selection", "[live][pipeline][using_pipeline]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
auto configurations = pipeline_configurations_for_extrinsic;
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size());
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile pipe_profile;
REQUIRE_NOTHROW(pipe_profile = cfg.resolve(pipe));
REQUIRE(pipe_profile);
REQUIRE_NOTHROW(dev = pipe_profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
CAPTURE(PID.second);
if (configurations.end() == configurations.find(PID))
{
WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
REQUIRE(configurations[PID].streams.size() > 0);
for (auto req : configurations[PID].streams)
REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, configurations[PID].fps));
REQUIRE_NOTHROW(pipe.start(cfg));
std::vector<stream_profile> profiles;
REQUIRE_NOTHROW(pipe_profile = pipe.get_active_profile());
REQUIRE(pipe_profile);
REQUIRE_NOTHROW(profiles = pipe_profile.get_streams());
auto streams = configurations[PID].streams;
std::vector<profile> pipe_streams;
for (auto s : profiles)
{
REQUIRE(s.is<video_stream_profile>());
auto video = s.as<video_stream_profile>();
pipe_streams.push_back({ video.stream_type(), video.format(), video.width(), video.height(), video.stream_index() });
}
REQUIRE(pipe_streams.size() == streams.size());
std::sort(pipe_streams.begin(), pipe_streams.end());
std::sort(streams.begin(), streams.end());
for (auto i = 0; i < pipe_streams.size(); i++)
{
REQUIRE(pipe_streams[i] == streams[i]);
}
}
}
}
TEST_CASE("Per-frame metadata sanity check", "[live][!mayfail]") {
//Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
const int frames_before_start_measure = 10;
const int frames_for_fps_measure = 50;
const double msec_to_sec = 0.001;
const int num_of_profiles_for_each_subdevice = 2;
const float max_diff_between_real_and_metadata_fps = 1.0f;
for (auto && subdevice : list) {
std::vector<rs2::stream_profile> modes;
REQUIRE_NOTHROW(modes = subdevice.get_stream_profiles());
REQUIRE(modes.size() > 0);
CAPTURE(subdevice.get_info(RS2_CAMERA_INFO_NAME));
//the test will be done only on sub set of profile for each sub device
for (int i = 0; i < modes.size(); i += static_cast<int>(std::ceil((float)modes.size() / (float)num_of_profiles_for_each_subdevice)))
{
// Full-HD is often times too heavy for the build machine to handle
if (auto video_profile = modes[i].as<video_stream_profile>())
{
if (video_profile.width() == 1920 && video_profile.height() == 1080 && video_profile.fps() == 60)
{
continue; // Disabling for now
}
}
// GPIO Requires external triggers to produce events
if (RS2_STREAM_GPIO == modes[i].stream_type())
continue; // Disabling for now
CAPTURE(modes[i].format());
CAPTURE(modes[i].fps());
CAPTURE(modes[i].stream_type());
CAPTURE(modes[i].stream_index());
if (auto video = modes[i].as<video_stream_profile>())
{
CAPTURE(video.width());
CAPTURE(video.height());
}
std::vector<internal_frame_additional_data> frames_additional_data;
auto frames = 0;
double start = 0;
std::condition_variable cv;
std::mutex m;
auto first = true;
REQUIRE_NOTHROW(subdevice.open({ modes[i] }));
disable_sensitive_options_for(subdevice);
REQUIRE_NOTHROW(subdevice.start([&](rs2::frame f)
{
if (frames_additional_data.size() >= frames_for_fps_measure)
{
cv.notify_one();
}
if ((frames >= frames_before_start_measure) && (frames_additional_data.size() < frames_for_fps_measure))
{
if (first)
{
start = internal::get_time();
first = false;
}
internal_frame_additional_data data{ f.get_timestamp(),
f.get_frame_number(),
f.get_frame_timestamp_domain(),
f.get_profile().stream_type(),
f.get_profile().format() };
// Store frame metadata attributes, verify API behavior correctness
for (auto i = 0; i < rs2_frame_metadata_value::RS2_FRAME_METADATA_COUNT; i++)
{
CAPTURE(i);
bool supported = false;
REQUIRE_NOTHROW(supported = f.supports_frame_metadata((rs2_frame_metadata_value)i));
if (supported)
{
rs2_metadata_type val{};
REQUIRE_NOTHROW(val = f.get_frame_metadata((rs2_frame_metadata_value)i));
data.frame_md.md_attributes[i] = std::make_pair(true, val);
}
else
{
REQUIRE_THROWS(f.get_frame_metadata((rs2_frame_metadata_value)i));
data.frame_md.md_attributes[i].first = false;
}
}
std::unique_lock<std::mutex> lock(m);
frames_additional_data.push_back(data);
}
frames++;
}));
CAPTURE(frames_additional_data.size());
CAPTURE(frames_for_fps_measure);
std::unique_lock<std::mutex> lock(m);
cv.wait_for(lock, std::chrono::seconds(15), [&] {return ((frames_additional_data.size() >= frames_for_fps_measure)); });
auto end = internal::get_time();
REQUIRE_NOTHROW(subdevice.stop());
REQUIRE_NOTHROW(subdevice.close());
lock.unlock();
auto seconds = (end - start)*msec_to_sec;
CAPTURE(start);
CAPTURE(end);
CAPTURE(seconds);
REQUIRE(seconds > 0);
if (frames_additional_data.size())
{
auto actual_fps = (double)frames_additional_data.size() / (double)seconds;
double metadata_seconds = frames_additional_data[frames_additional_data.size() - 1].timestamp - frames_additional_data[0].timestamp;
metadata_seconds *= msec_to_sec;
CAPTURE(frames_additional_data[frames_additional_data.size() - 1].timestamp);
CAPTURE(frames_additional_data[0].timestamp);
if (metadata_seconds <= 0)
{
std::cout << "Start metadata " << std::fixed << frames_additional_data[0].timestamp << "\n";
std::cout << "End metadata " << std::fixed << frames_additional_data[frames_additional_data.size() - 1].timestamp << "\n";
}
REQUIRE(metadata_seconds > 0);
auto metadata_frames = frames_additional_data[frames_additional_data.size() - 1].frame_number - frames_additional_data[0].frame_number;
auto metadata_fps = (double)metadata_frames / (double)metadata_seconds;
for (auto i = 0; i < frames_additional_data.size() - 1; i++)
{
CAPTURE(i);
CAPTURE(frames_additional_data[i].timestamp_domain);
CAPTURE(frames_additional_data[i + 1].timestamp_domain);
REQUIRE((frames_additional_data[i].timestamp_domain == frames_additional_data[i + 1].timestamp_domain));
CAPTURE(frames_additional_data[i].frame_number);
CAPTURE(frames_additional_data[i + 1].frame_number);
REQUIRE((frames_additional_data[i].frame_number < frames_additional_data[i + 1].frame_number));
}
CAPTURE(metadata_frames);
CAPTURE(metadata_seconds);
CAPTURE(metadata_fps);
CAPTURE(frames_additional_data.size());
CAPTURE(actual_fps);
//it the diff in percentage between metadata fps and actual fps is bigger than max_diff_between_real_and_metadata_fps
//the test will fail
REQUIRE(std::fabs(metadata_fps / actual_fps - 1) < max_diff_between_real_and_metadata_fps);
// Verify per-frame metadata attributes
metadata_verification(frames_additional_data);
}
}
}
}
}
TEST_CASE("color sensor API", "[live][options]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
dev_type PID = get_PID(dev);
if (!librealsense::val_in_range(PID.first, { std::string("0AD3"),
std::string("0AD4"),
std::string("0AD5"),
std::string("0B01"),
std::string("0B07"),
std::string("0B3A"),
std::string("0B3D") }))
{
WARN("Skipping test - no motion sensor is device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
return;
}
auto sensor = profile.get_device().first<rs2::color_sensor>();
std::string module_name = sensor.get_info(RS2_CAMERA_INFO_NAME);
std::cout << "depth sensor: " << librealsense::get_string(RS2_EXTENSION_DEPTH_SENSOR) << "\n";
std::cout << "color sensor: " << librealsense::get_string(RS2_EXTENSION_COLOR_SENSOR) << "\n";
std::cout << "motion sensor: " << librealsense::get_string(RS2_EXTENSION_MOTION_SENSOR) << "\n";
std::cout << "fisheye sensor: " << librealsense::get_string(RS2_EXTENSION_FISHEYE_SENSOR) << "\n";
REQUIRE(sensor.is<rs2::color_sensor>());
REQUIRE(!sensor.is<rs2::motion_sensor>());
REQUIRE(!sensor.is<rs2::depth_sensor>());
REQUIRE(!sensor.is<rs2::fisheye_sensor>());
REQUIRE(module_name.size() > 0);
}
}
TEST_CASE("motion sensor API", "[live][options]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
dev_type PID = get_PID(dev);
if (!librealsense::val_in_range(PID.first, { std::string("0AD5"),
std::string("0AFE"),
std::string("0AFF"),
std::string("0B00"),
std::string("0B01"),
std::string("0B3A"),
std::string("0B3D")}))
{
WARN("Skipping test - no motion sensor is device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
return;
}
auto sensor = profile.get_device().first<rs2::motion_sensor>();
std::string module_name = sensor.get_info(RS2_CAMERA_INFO_NAME);
REQUIRE(!sensor.is<rs2::color_sensor>());
REQUIRE(!sensor.is<rs2::depth_sensor>());
REQUIRE(module_name.size() > 0);
}
}
TEST_CASE("fisheye sensor API", "[live][options]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
dev_type PID = get_PID(dev);
if (!librealsense::val_in_range(PID.first, { std::string("0AD5"),
std::string("0AFE"),
std::string("0AFF"),
std::string("0B00"),
std::string("0B01") }))
{
WARN("Skipping test - no fisheye sensor is device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
return;
}
auto sensor = profile.get_device().first<rs2::fisheye_sensor>();
std::string module_name = sensor.get_info(RS2_CAMERA_INFO_NAME);
REQUIRE(!sensor.is<rs2::color_sensor>());
REQUIRE(!sensor.is<rs2::depth_sensor>());
REQUIRE(module_name.size() > 0);
}
}
// FW Sub-presets API
TEST_CASE("Alternating Emitter", "[live][options]")
{
//log_to_console(RS2_LOG_SEVERITY_DEBUG);
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
const size_t record_frames = 60;
// D400 Global Shutter only models
if (!librealsense::val_in_range(PID.first, { std::string("0B3A"),std::string("0B07") }))
{
WARN("Skipping test - the Alternating Emitter feature is not supported for device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
auto depth_sensor = profile.get_device().first<rs2::depth_sensor>();
REQUIRE(depth_sensor.supports(RS2_OPTION_EMITTER_ENABLED));
REQUIRE(depth_sensor.supports(RS2_OPTION_EMITTER_ON_OFF));
GIVEN("Success scenario"){
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
WHEN("Sequence - idle - flickering on/off")
{
THEN("Stress test succeed")
{
for (int i=0 ;i<30; i++)
{
//std::cout << "iteration " << i << " off";
// Revert to original state
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
//std::cout << " - on\n";
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
REQUIRE(1 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
REQUIRE(1 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
}
// Revert
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
}
}
WHEN("Sequence=[idle->:laser_on->: emitter_toggle_on->:streaming]") {
REQUIRE(false==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
THEN("The emitter is alternating on/off") {
std::vector<int> emitter_state;
emitter_state.reserve(record_frames);
REQUIRE_NOTHROW(pipe.start(cfg));
REQUIRE(true ==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
// Warmup - the very first depth frames may not include the alternating pattern
frameset fs;
for (int i=0; i<10; )
{
REQUIRE_NOTHROW(fs = pipe.wait_for_frames());
if (auto f = fs.get_depth_frame())
i++;
}
bool even=true;
while (emitter_state.size() < record_frames)
{
size_t last_fn = 0;
REQUIRE_NOTHROW(fs = pipe.wait_for_frames());
if (auto f = fs.get_depth_frame())
{
if (((bool(f.get_frame_number()%2)) != even) && f.supports_frame_metadata(RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE))
{
even = !even; // Alternating odd/even frame number is sufficient to avoid duplicates
auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE));
emitter_state.push_back(val);
}
}
}
// Reject Laser off command while subpreset is active
REQUIRE(static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED)));
REQUIRE_THROWS(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
// Allow Laser off command when subpreset is removed
REQUIRE(static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
REQUIRE(false==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
// Re-enable alternating emitter to test stream stop scenario
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
REQUIRE(static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED)));
REQUIRE(static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
REQUIRE_NOTHROW(pipe.stop());
REQUIRE(false ==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
std::stringstream emitter_results;
std::copy(emitter_state.begin(), emitter_state.end(), std::ostream_iterator<int>(emitter_results));
CAPTURE(emitter_results.str().c_str());
// Verify that the laser state is constantly alternating
REQUIRE(std::adjacent_find(emitter_state.begin(), emitter_state.end()) == emitter_state.end());
}
}
WHEN("Sequence=[idle->:streaming-:laser_on->: emitter_toggle_on]") {
THEN("The emitter is alternating on/off") {
std::vector<int> emitter_state;
emitter_state.reserve(record_frames);
REQUIRE_NOTHROW(pipe.start(cfg));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
REQUIRE(true ==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
// Warmup - the very first depth frames may not include the alternating pattern
frameset fs;
for (int i=0; i<10; )
{
REQUIRE_NOTHROW(fs = pipe.wait_for_frames());
if (auto f = fs.get_depth_frame())
i++;
}
bool even=true;
while (emitter_state.size() < record_frames)
{
size_t last_fn = 0;
REQUIRE_NOTHROW(fs = pipe.wait_for_frames());
if (auto f = fs.get_depth_frame())
{
if (((bool(f.get_frame_number()%2) != even)) && f.supports_frame_metadata(RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE))
{
even = !even;
auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE));
emitter_state.push_back(val);
}
}
}
REQUIRE_NOTHROW(pipe.stop());
REQUIRE(false ==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
std::stringstream emitter_results;
std::copy(emitter_state.begin(), emitter_state.end(), std::ostream_iterator<int>(emitter_results));
CAPTURE(emitter_results.str().c_str());
// Verify that the laser state is constantly alternating
REQUIRE(std::adjacent_find(emitter_state.begin(), emitter_state.end()) == emitter_state.end());
}
}
}
GIVEN("Negative scenario"){
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
CAPTURE(depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
CAPTURE(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
WHEN("Sequence=[idle->:laser_off->: emitter_toggle_on]") {
THEN ("Cannot set alternating emitter when laser is set off") {
REQUIRE_THROWS(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
}
}
WHEN("Sequence=[idle->:laser_on->:emitter_toggle_on->:laser_off]") {
THEN ("Cannot turn_off laser while the alternating emitter option is on") {
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
REQUIRE_THROWS(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
}
}
}
// Revert to original state
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
}
}
}
// the tests may incorrectly interpret changes to librealsense-core, namely default profiles selections
TEST_CASE("All suggested profiles can be opened", "[live][!mayfail]") {
//Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
const int num_of_profiles_for_each_subdevice = 2;
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
for (auto && subdevice : list) {
disable_sensitive_options_for(subdevice);
std::vector<rs2::stream_profile> modes;
REQUIRE_NOTHROW(modes = subdevice.get_stream_profiles());
REQUIRE(modes.size() > 0);
//the test will be done only on sub set of profile for each sub device
for (auto i = 0UL; i < modes.size(); i += (int)std::ceil((float)modes.size() / (float)num_of_profiles_for_each_subdevice)) {
//CAPTURE(rs2_subdevice(subdevice));
CAPTURE(modes[i].format());
CAPTURE(modes[i].fps());
CAPTURE(modes[i].stream_type());
REQUIRE_NOTHROW(subdevice.open({ modes[i] }));
REQUIRE_NOTHROW(subdevice.start([](rs2::frame fref) {}));
REQUIRE_NOTHROW(subdevice.stop());
REQUIRE_NOTHROW(subdevice.close());
}
}
}
}
TEST_CASE("Pipeline config enable resolve start flow", "[live][pipeline][using_pipeline]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
REQUIRE(list.size());
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
REQUIRE_NOTHROW(cfg.enable_stream(RS2_STREAM_DEPTH, -1, 0, 0, RS2_FORMAT_Z16, 0));
REQUIRE_NOTHROW(pipe.start(cfg));
REQUIRE_NOTHROW(profile = pipe.get_active_profile());
auto depth_profile = profile.get_stream(RS2_STREAM_DEPTH).as<video_stream_profile>();
CAPTURE(depth_profile.stream_index());
CAPTURE(depth_profile.stream_type());
CAPTURE(depth_profile.format());
CAPTURE(depth_profile.fps());
CAPTURE(depth_profile.width());
CAPTURE(depth_profile.height());
std::vector<device_profiles> frames;
uint32_t timeout = is_usb3(dev) ? 500 : 2000; // for USB2 it takes longer to produce frames
for (auto i = 0; i < 5; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(timeout));
REQUIRE_NOTHROW(pipe.stop());
REQUIRE_NOTHROW(pipe.start(cfg));
for (auto i = 0; i < 5; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(timeout));
REQUIRE_NOTHROW(cfg.disable_all_streams());
REQUIRE_NOTHROW(cfg.enable_stream(RS2_STREAM_DEPTH, -1, 0, 0, RS2_FORMAT_ANY, 0));
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
REQUIRE_NOTHROW(cfg.disable_all_streams());
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
}
}
TEST_CASE("Pipeline - multicam scenario with specific devices", "[live][multicam][pipeline][using_pipeline]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
auto list = ctx.query_devices();
int realsense_devices_count = 0;
rs2::device d;
for (auto&& dev : list)
{
if (dev.supports(RS2_CAMERA_INFO_NAME))
{
std::string name = dev.get_info(RS2_CAMERA_INFO_NAME);
if (name != "Platform Camera")
{
realsense_devices_count++;
d = dev;
}
}
}
if (realsense_devices_count < 2)
{
WARN("Skipping test! This test requires multiple RealSense devices connected");
return;
}
disable_sensitive_options_for(d);
//After getting the device, find a serial and a profile it can use
std::string required_serial;
REQUIRE_NOTHROW(required_serial = d.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
stream_profile required_profile;
//find the a video profile of some sensor
for (auto&& sensor : d.query_sensors())
{
for (auto&& profile : sensor.get_stream_profiles())
{
auto vid_profile = profile.as<video_stream_profile>();
if (vid_profile)
{
required_profile = vid_profile;
break;
}
}
if (required_profile)
break;
}
REQUIRE(required_profile);
CAPTURE(required_profile);
auto vid_profile = required_profile.as<video_stream_profile>();
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
//Using the config object to request the serial and stream that we found above
REQUIRE_NOTHROW(cfg.enable_device(required_serial));
REQUIRE_NOTHROW(cfg.enable_stream(vid_profile.stream_type(), vid_profile.stream_index(), vid_profile.width(), vid_profile.height(), vid_profile.format(), vid_profile.fps()));
//Testing that config.resolve() returns the right data
rs2::pipeline_profile resolved_profile;
REQUIRE_NOTHROW(resolved_profile = cfg.resolve(pipe));
REQUIRE(resolved_profile);
rs2::pipeline_profile resolved_profile_from_start;
REQUIRE_NOTHROW(resolved_profile_from_start = pipe.start(cfg));
REQUIRE(resolved_profile_from_start);
REQUIRE_NOTHROW(dev = resolved_profile.get_device());
REQUIRE(dev);
rs2::device dev_from_start;
REQUIRE_NOTHROW(dev_from_start = resolved_profile_from_start.get_device());
REQUIRE(dev_from_start);
//Compare serial number
std::string actual_serial;
std::string actual_serial_from_start;
REQUIRE_NOTHROW(actual_serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
REQUIRE_NOTHROW(actual_serial_from_start = dev_from_start.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
REQUIRE(actual_serial == required_serial);
REQUIRE(actual_serial == actual_serial_from_start);
//Compare Stream
std::vector<rs2::stream_profile> actual_streams;
REQUIRE_NOTHROW(actual_streams = resolved_profile.get_streams());
REQUIRE(actual_streams.size() == 1);
REQUIRE(actual_streams[0] == required_profile);
std::vector<rs2::stream_profile> actual_streams_from_start;
REQUIRE_NOTHROW(actual_streams_from_start = resolved_profile_from_start.get_streams());
REQUIRE(actual_streams_from_start.size() == 1);
REQUIRE(actual_streams_from_start[0] == required_profile);
pipe.stop();
//Using the config object to request the serial and stream that we found above, and test the pipeline.start() returns the right data
rs2::device started_dev;
rs2::pipeline_profile strarted_profile;
cfg = rs2::config(); //Clean previous config
//Using the config object to request the serial and stream that we found above
REQUIRE_NOTHROW(cfg.enable_device(required_serial));
REQUIRE_NOTHROW(cfg.enable_stream(vid_profile.stream_type(), vid_profile.stream_index(), vid_profile.width(), vid_profile.height(), vid_profile.format(), vid_profile.fps()));
//Testing that pipeline.start(cfg) returns the right data
REQUIRE_NOTHROW(strarted_profile = pipe.start(cfg));
REQUIRE(strarted_profile);
REQUIRE_NOTHROW(started_dev = strarted_profile.get_device());
REQUIRE(started_dev);
//Compare serial number
std::string started_serial;
REQUIRE_NOTHROW(started_serial = started_dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
REQUIRE(started_serial == required_serial);
//Compare Stream
std::vector<rs2::stream_profile> started_streams;
REQUIRE_NOTHROW(started_streams = strarted_profile.get_streams());
REQUIRE(started_streams.size() == 1);
REQUIRE(started_streams[0] == required_profile);
pipe.stop();
}
}
TEST_CASE("Empty Pipeline Profile", "[live][pipeline][using_pipeline]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
REQUIRE_NOTHROW(rs2::pipeline_profile());
rs2::pipeline_profile prof;
REQUIRE_FALSE(prof);
rs2::device dev;
CHECK_THROWS(dev = prof.get_device());
REQUIRE(!dev);
for (int i = 0; i < (int)RS2_STREAM_COUNT; i++)
{
rs2_stream stream = static_cast<rs2_stream>(i);
CAPTURE(stream);
rs2::stream_profile sp;
CHECK_THROWS(sp = prof.get_stream(stream));
REQUIRE(!sp);
}
std::vector<rs2::stream_profile> spv;
CHECK_THROWS(spv = prof.get_streams());
REQUIRE(spv.size() == 0);
}
}
void require_pipeline_profile_same(const rs2::pipeline_profile& profile1, const rs2::pipeline_profile& profile2)
{
rs2::device d1 = profile1.get_device();
rs2::device d2 = profile2.get_device();
REQUIRE(d1.get().get());
REQUIRE(d2.get().get());
std::string serial1, serial2;
REQUIRE_NOTHROW(serial1 = d1.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
REQUIRE_NOTHROW(serial2 = d2.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
if (serial1 != serial2)
{
throw std::runtime_error(serial1 + " is different than " + serial2);
}
std::string name1, name2;
REQUIRE_NOTHROW(name1 = d1.get_info(RS2_CAMERA_INFO_NAME));
REQUIRE_NOTHROW(name2 = d2.get_info(RS2_CAMERA_INFO_NAME));
if (name1 != name2)
{
throw std::runtime_error(name1 + " is different than " + name2);
}
auto streams1 = profile1.get_streams();
auto streams2 = profile2.get_streams();
if (streams1.size() != streams2.size())
{
throw std::runtime_error(std::string("Profiles contain different number of streams ") + std::to_string(streams1.size()) + " vs " + std::to_string(streams2.size()));
}
auto streams1_and_2_equals = true;
for (auto&& s : streams1)
{
auto it = std::find_if(streams2.begin(), streams2.end(), [&s](const stream_profile& sp) {
return
s.format() == sp.format() &&
s.fps() == sp.fps() &&
s.is_default() == sp.is_default() &&
s.stream_index() == sp.stream_index() &&
s.stream_type() == sp.stream_type() &&
s.stream_name() == sp.stream_name();
});
if (it == streams2.end())
{
streams1_and_2_equals = false;
}
}
if (!streams1_and_2_equals)
{
throw std::runtime_error(std::string("Profiles contain different streams"));
}
}
TEST_CASE("Pipeline empty Config", "[live][pipeline][using_pipeline]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
REQUIRE_NOTHROW(rs2::config());
//Empty config
rs2::pipeline p(ctx);
rs2::config c1;
REQUIRE(c1.get().get() != nullptr);
bool can_resolve = false;
REQUIRE_NOTHROW(can_resolve = c1.can_resolve(p));
REQUIRE(true == can_resolve);
REQUIRE_THROWS(c1.resolve(nullptr));
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = c1.resolve(p));
REQUIRE(true == profile);
}
}
TEST_CASE("Pipeline 2 Configs", "[live][pipeline][using_pipeline]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
rs2::pipeline p(ctx);
rs2::config c1;
rs2::config c2;
bool can_resolve1 = false;
bool can_resolve2 = false;
REQUIRE_NOTHROW(can_resolve1 = c1.can_resolve(p));
REQUIRE_NOTHROW(can_resolve2 = c2.can_resolve(p));
REQUIRE(can_resolve1);
REQUIRE(can_resolve2);
rs2::pipeline_profile profile1;
rs2::pipeline_profile profile2;
REQUIRE_NOTHROW(profile1 = c1.resolve(p));
REQUIRE(profile1);
REQUIRE_NOTHROW(profile2 = c2.resolve(p));
REQUIRE(profile2);
REQUIRE_NOTHROW(require_pipeline_profile_same(profile1, profile2));
}
}
TEST_CASE("Pipeline start after resolve uses the same profile", "[live][pipeline][using_pipeline]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
rs2::pipeline pipe(ctx);
rs2::config cfg;
cfg.enable_stream(RS2_STREAM_DEPTH);
rs2::pipeline_profile profile_from_cfg;
REQUIRE_NOTHROW(profile_from_cfg = cfg.resolve(pipe));
REQUIRE(profile_from_cfg);
rs2::pipeline_profile profile_from_start;
REQUIRE_NOTHROW(profile_from_start = pipe.start(cfg));
REQUIRE(profile_from_start);
REQUIRE_NOTHROW(require_pipeline_profile_same(profile_from_cfg, profile_from_start));
}
}
TEST_CASE("Pipeline start ignores previous config if it was changed", "[live][pipeline][using_pipeline][!mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile_from_cfg;
REQUIRE_NOTHROW(profile_from_cfg = cfg.resolve(pipe));
REQUIRE(profile_from_cfg);
cfg.enable_stream(RS2_STREAM_INFRARED, RS2_FORMAT_ANY, 60); //enable a single stream (unlikely to be the default one)
rs2::pipeline_profile profile_from_start;
REQUIRE_NOTHROW(profile_from_start = pipe.start(cfg));
REQUIRE(profile_from_start);
REQUIRE_THROWS(require_pipeline_profile_same(profile_from_cfg, profile_from_start));
}
}
TEST_CASE("Pipeline Config disable all is a nop with empty config", "[live][pipeline][using_pipeline]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
rs2::pipeline p(ctx);
rs2::config c1;
c1.disable_all_streams();
rs2::config c2;
rs2::pipeline_profile profile1;
rs2::pipeline_profile profile2;
REQUIRE_NOTHROW(profile1 = c1.resolve(p));
REQUIRE(profile1);
REQUIRE_NOTHROW(profile2 = c2.resolve(p));
REQUIRE(profile2);
REQUIRE_NOTHROW(require_pipeline_profile_same(profile1, profile2));
}
}
TEST_CASE("Pipeline Config disable each stream is nop on empty config", "[live][pipeline][using_pipeline]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
rs2::pipeline p(ctx);
rs2::config c1;
for (int i = 0; i < (int)RS2_STREAM_COUNT; i++)
{
REQUIRE_NOTHROW(c1.disable_stream(static_cast<rs2_stream>(i)));
}
rs2::config c2;
rs2::pipeline_profile profile1;
rs2::pipeline_profile profile2;
REQUIRE_NOTHROW(profile1 = c1.resolve(p));
REQUIRE(profile1);
REQUIRE_NOTHROW(profile2 = c2.resolve(p));
REQUIRE(profile2);
REQUIRE_NOTHROW(require_pipeline_profile_same(profile1, profile2));
}
}
//
//TEST_CASE("Pipeline record and playback", "[live][pipeline][using_pipeline][!mayfail]") {
// rs2::context ctx;
//
// if (make_context(SECTION_FROM_TEST_NAME, &ctx, "2.13.0"))
// {
// const std::string filename = get_folder_path(special_folder::temp_folder) + "test_file.bag";
// //Scoping the below code to make sure no one holds the device
// {
// rs2::pipeline p(ctx);
// rs2::config cfg;
// REQUIRE_NOTHROW(cfg.enable_record_to_file(filename));
// rs2::pipeline_profile profile;
// REQUIRE_NOTHROW(profile = cfg.resolve(p));
// REQUIRE(profile);
// auto dev = profile.get_device();
// REQUIRE(dev);
// disable_sensitive_options_for(dev);
// REQUIRE_NOTHROW(p.start(cfg));
// std::this_thread::sleep_for(std::chrono::seconds(5));
// rs2::frameset frames;
// REQUIRE_NOTHROW(frames = p.wait_for_frames(200));
// REQUIRE(frames);
// REQUIRE(frames.size() > 0);
// REQUIRE_NOTHROW(p.stop());
// }
// //Scoping the above code to make sure no one holds the device
// REQUIRE(file_exists(filename));
//
// {
// rs2::pipeline p(ctx);
// rs2::config cfg;
// rs2::pipeline_profile profile;
// REQUIRE_NOTHROW(cfg.enable_device_from_file(filename));
// REQUIRE_NOTHROW(profile = cfg.resolve(p));
// REQUIRE(profile);
// REQUIRE_NOTHROW(p.start(cfg));
// std::this_thread::sleep_for(std::chrono::seconds(5));
// rs2::frameset frames;
// REQUIRE_NOTHROW(frames = p.wait_for_frames(200));
// REQUIRE(frames);
// REQUIRE_NOTHROW(p.stop());
// }
// }
//}
TEST_CASE("Pipeline enable bad configuration", "[pipeline][using_pipeline]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ! ctx )
return;
pipeline pipe(ctx);
rs2::config cfg;
cfg.enable_stream(rs2_stream::RS2_STREAM_COLOR, 1000);
REQUIRE_THROWS(pipe.start(cfg));
}
TEST_CASE("Pipeline stream enable hierarchy", "[pipeline]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ! ctx )
return;
pipeline pipe(ctx);
rs2::config cfg;
std::vector<stream_profile> default_streams = pipe.start(cfg).get_streams();
pipe.stop();
cfg.enable_all_streams();
std::vector<stream_profile> all_streams = pipe.start(cfg).get_streams();
pipe.stop();
cfg.disable_all_streams();
cfg.enable_stream(rs2_stream::RS2_STREAM_DEPTH);
std::vector<stream_profile> wildcards_streams = pipe.start(cfg).get_streams();
pipe.stop();
for (auto d : default_streams)
{
auto it = std::find(begin(all_streams), end(all_streams), d);
REQUIRE(it != std::end(all_streams));
}
for (auto w : wildcards_streams)
{
auto it = std::find(begin(all_streams), end(all_streams), w);
REQUIRE(it != std::end(all_streams));
}
}
TEST_CASE("Pipeline stream with callback", "[live][pipeline][using_pipeline][!mayfail]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ! ctx )
return;
rs2::pipeline pipe(ctx);
rs2::frame_queue q;
auto callback = [&](const rs2::frame& f)
{
q.enqueue(f);
};
// Stream with callback
pipe.start(callback);
REQUIRE_THROWS(pipe.wait_for_frames());
rs2::frameset frame_from_queue;
REQUIRE_THROWS(pipe.poll_for_frames(&frame_from_queue));
REQUIRE_THROWS(pipe.try_wait_for_frames(&frame_from_queue));
rs2::frame frame_from_callback = q.wait_for_frame();
pipe.stop();
REQUIRE(frame_from_callback);
REQUIRE(frame_from_queue == false);
frame_from_callback = rs2::frame();
frame_from_queue = rs2::frameset();
// Stream without callback
pipe.start();
REQUIRE_NOTHROW(pipe.wait_for_frames());
REQUIRE_NOTHROW(pipe.poll_for_frames(&frame_from_queue));
REQUIRE_NOTHROW(pipe.try_wait_for_frames(&frame_from_queue));
pipe.stop();
REQUIRE(frame_from_callback == false);
REQUIRE(frame_from_queue);
}
TEST_CASE("Syncer sanity with software-device device", "[live][software-device][!mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
const int W = 640;
const int H = 480;
const int BPP = 2;
std::shared_ptr<software_device> dev = std::move(std::make_shared<software_device>());
auto s = dev->add_sensor("software_sensor");
rs2_intrinsics intrinsics{ W, H, 0, 0, 0, 0, RS2_DISTORTION_NONE ,{ 0,0,0,0,0 } };
s.add_video_stream({ RS2_STREAM_DEPTH, 0, 0, W, H, 60, BPP, RS2_FORMAT_Z16, intrinsics });
s.add_video_stream({ RS2_STREAM_INFRARED, 1, 1, W, H,60, BPP, RS2_FORMAT_Y8, intrinsics });
dev->create_matcher(RS2_MATCHER_DI);
frame_queue q;
auto profiles = s.get_stream_profiles();
auto depth = profiles[0];
auto ir = profiles[1];
syncer sync;
s.open(profiles);
s.start(sync);
std::vector<uint8_t> pixels(W * H * BPP, 0);
std::weak_ptr<rs2::software_device> weak_dev(dev);
std::thread t([&s, weak_dev, pixels, depth, ir]() mutable {
auto shared_dev = weak_dev.lock();
if (shared_dev == nullptr)
return;
s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 7, depth });
s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 5, ir });
s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 8, depth });
s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 6, ir });
s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 8, ir });
});
t.detach();
std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> expected =
{
{ { RS2_STREAM_DEPTH , 7}},
{ { RS2_STREAM_INFRARED , 5 } },
{ { RS2_STREAM_INFRARED , 6 } },
{ { RS2_STREAM_DEPTH , 8 },{ RS2_STREAM_INFRARED , 8 } }
};
std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> results;
for (auto i = 0UL; i < expected.size(); i++)
{
frameset fs;
REQUIRE_NOTHROW(fs = sync.wait_for_frames(5000));
std::vector < std::pair<rs2_stream, uint64_t>> curr;
for (auto f : fs)
{
curr.push_back({ f.get_profile().stream_type(), f.get_frame_number() });
}
results.push_back(curr);
}
CAPTURE(results.size());
CAPTURE(expected.size());
REQUIRE(results.size() == expected.size());
for (size_t i = 0; i < expected.size(); i++)
{
auto exp = expected[i];
auto curr = results[i];
CAPTURE(i);
CAPTURE(exp.size());
CAPTURE(curr.size());
REQUIRE(exp.size() == curr.size());
for (size_t j = 0; j < exp.size(); j++)
{
CAPTURE(j);
CAPTURE(exp[j].first);
CAPTURE(exp[j].second);
CAPTURE(curr[j].first);
CAPTURE(curr[j].second);
REQUIRE(std::find(curr.begin(), curr.end(), exp[j]) != curr.end());
}
}
}
}
TEST_CASE("Syncer clean_inactive_streams by frame number with software-device device", "[live][software-device]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
log_to_file(RS2_LOG_SEVERITY_DEBUG);
const int W = 640;
const int H = 480;
const int BPP = 2;
std::shared_ptr<software_device> dev = std::make_shared<software_device>();
auto s = dev->add_sensor("software_sensor");
rs2_intrinsics intrinsics{ W, H, 0, 0, 0, 0, RS2_DISTORTION_NONE ,{ 0,0,0,0,0 } };
s.add_video_stream({ RS2_STREAM_DEPTH, 0, 0, W, H, 60, BPP, RS2_FORMAT_Z16, intrinsics });
s.add_video_stream({ RS2_STREAM_INFRARED, 1, 1, W, H,60, BPP, RS2_FORMAT_Y8, intrinsics });
dev->create_matcher(RS2_MATCHER_DI);
frame_queue q;
auto profiles = s.get_stream_profiles();
auto depth = profiles[0];
auto ir = profiles[1];
syncer sync(10);
s.open(profiles);
s.start(sync);
std::vector<uint8_t> pixels(W * H * BPP, 0);
std::weak_ptr<rs2::software_device> weak_dev(dev);
std::thread t([s, weak_dev, pixels, depth, ir]() mutable {
auto shared_dev = weak_dev.lock();
if (shared_dev == nullptr)
return;
s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 1, depth });
s.on_video_frame({ pixels.data(), [](void*) {}, 0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 1, ir });
s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 3, depth });
s.on_video_frame({ pixels.data(), [](void*) {}, 0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 4, depth });
s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 5, depth });
s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 6, depth });
s.on_video_frame({ pixels.data(), [](void*) {}, 0, 0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 7, depth });
});
t.detach();
std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> expected =
{
{ { RS2_STREAM_DEPTH , 1 } },
{ { RS2_STREAM_INFRARED , 1 } },
{ { RS2_STREAM_DEPTH , 3 } },
{ { RS2_STREAM_DEPTH , 4 } },
{ { RS2_STREAM_DEPTH , 5 } },
{ { RS2_STREAM_DEPTH , 6 } },
{ { RS2_STREAM_DEPTH , 7 } },
};
std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> results;
for (auto i = 0UL; i < expected.size(); i++)
{
frameset fs;
CAPTURE(i);
REQUIRE_NOTHROW(fs = sync.wait_for_frames(5000));
std::vector < std::pair<rs2_stream, uint64_t>> curr;
for (auto f : fs)
{
curr.push_back({ f.get_profile().stream_type(), f.get_frame_number() });
}
results.push_back(curr);
}
CAPTURE(results.size());
CAPTURE(expected.size());
REQUIRE(results.size() == expected.size());
for (size_t i = 0; i < expected.size(); i++)
{
auto exp = expected[i];
auto curr = results[i];
CAPTURE(i);
CAPTURE(exp.size());
CAPTURE(curr.size());
REQUIRE(exp.size() == exp.size());
for (size_t j = 0; j < exp.size(); j++)
{
CAPTURE(j);
CAPTURE(exp[j].first);
CAPTURE(exp[j].second);
CAPTURE(curr[j].first);
CAPTURE(curr[j].second);
REQUIRE(std::find(curr.begin(), curr.end(), exp[j]) != curr.end());
}
}
}
}
//ported to python test
TEST_CASE("Unit transform test", "[live][software-device-disabled]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ! ctx )
return;
log_to_file(RS2_LOG_SEVERITY_DEBUG);
const int W = 640;
const int H = 480;
const int BPP = 2;
int expected_frames = 1;
int fps = 60;
float depth_unit = 1.5;
units_transform ut;
rs2_intrinsics intrinsics{ W, H, 0, 0, 0, 0, RS2_DISTORTION_NONE ,{ 0,0,0,0,0 } };
std::shared_ptr<software_device> dev = std::make_shared<software_device>();
auto s = dev->add_sensor("software_sensor");
s.add_read_only_option(RS2_OPTION_DEPTH_UNITS, depth_unit);
s.add_video_stream({ RS2_STREAM_DEPTH, 0, 0, W, H, fps, BPP, RS2_FORMAT_Z16, intrinsics });
auto profiles = s.get_stream_profiles();
auto depth = profiles[0];
syncer sync;
s.open(profiles);
s.start(sync);
std::vector<uint16_t> pixels(W * H, 0);
for (int i = 0; i < W * H; i++) {
pixels[i] = i % 10;
}
std::weak_ptr<rs2::software_device> weak_dev(dev);
std::thread t([s, weak_dev, &pixels, depth, expected_frames]() mutable {
auto shared_dev = weak_dev.lock();
if (shared_dev == nullptr)
return;
for (int i = 1; i <= expected_frames; i++)
s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,rs2_time_t(i * 100), RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, i, depth });
});
t.detach();
for (auto i = 0; i < expected_frames; i++)
{
frame f;
REQUIRE_NOTHROW(f = sync.wait_for_frames(5000));
auto f_format = f.get_profile().format();
REQUIRE(RS2_FORMAT_Z16 == f_format);
auto depth_distance = ut.process(f);
auto depth_distance_format = depth_distance.get_profile().format();
REQUIRE(RS2_FORMAT_DISTANCE == depth_distance_format);
auto frame_data = reinterpret_cast<const uint16_t*>(f.get_data());
auto depth_distance_data = reinterpret_cast<const float*>(depth_distance.get_data());
for (size_t i = 0; i < W*H; i++)
{
auto frame_data_units_transformed = (frame_data[i] * depth_unit);
REQUIRE(depth_distance_data[i] == frame_data_units_transformed);
}
}
}
#define ADD_ENUM_TEST_CASE(rs2_enum_type, RS2_ENUM_COUNT) \
TEST_CASE(#rs2_enum_type " enum test", "[live]") { \
int last_item_index = static_cast<int>(RS2_ENUM_COUNT); \
for (int i = 0; i < last_item_index; i++) \
{ \
rs2_enum_type enum_value = static_cast<rs2_enum_type>(i); \
std::string str; \
REQUIRE_NOTHROW(str = rs2_enum_type##_to_string(enum_value)); \
REQUIRE(str.empty() == false); \
std::string error = "Unknown enum value passed to " #rs2_enum_type "_to_string"; \
error += " (Value: " + std::to_string(i) + ")"; \
error += "\nDid you add a new value but forgot to add it to:\n" \
" librealsense::get_string(" #rs2_enum_type ") ?"; \
CAPTURE(error); \
REQUIRE(str != "UNKNOWN"); \
} \
/* Test for false positive*/ \
for (int i = last_item_index; i < last_item_index + 1; i++) \
{ \
rs2_enum_type enum_value = static_cast<rs2_enum_type>(i); \
std::string str; \
REQUIRE_NOTHROW(str = rs2_enum_type##_to_string(enum_value)); \
REQUIRE(str == "UNKNOWN"); \
} \
}
ADD_ENUM_TEST_CASE(rs2_stream, RS2_STREAM_COUNT)
ADD_ENUM_TEST_CASE(rs2_format, RS2_FORMAT_COUNT)
ADD_ENUM_TEST_CASE(rs2_distortion, RS2_DISTORTION_COUNT)
ADD_ENUM_TEST_CASE(rs2_option, RS2_OPTION_COUNT)
ADD_ENUM_TEST_CASE(rs2_camera_info, RS2_CAMERA_INFO_COUNT)
ADD_ENUM_TEST_CASE(rs2_timestamp_domain, RS2_TIMESTAMP_DOMAIN_COUNT)
ADD_ENUM_TEST_CASE(rs2_notification_category, RS2_NOTIFICATION_CATEGORY_COUNT)
ADD_ENUM_TEST_CASE(rs2_sr300_visual_preset, RS2_SR300_VISUAL_PRESET_COUNT)
ADD_ENUM_TEST_CASE(rs2_log_severity, RS2_LOG_SEVERITY_COUNT)
ADD_ENUM_TEST_CASE(rs2_exception_type, RS2_EXCEPTION_TYPE_COUNT)
ADD_ENUM_TEST_CASE(rs2_playback_status, RS2_PLAYBACK_STATUS_COUNT)
ADD_ENUM_TEST_CASE(rs2_extension, RS2_EXTENSION_COUNT)
ADD_ENUM_TEST_CASE(rs2_frame_metadata_value, RS2_FRAME_METADATA_COUNT)
ADD_ENUM_TEST_CASE(rs2_rs400_visual_preset, RS2_RS400_VISUAL_PRESET_COUNT)
void dev_changed(rs2_device_list* removed_devs, rs2_device_list* added_devs, void* ptr) {}
TEST_CASE("C API Compilation", "[live]") {
rs2_error* e;
REQUIRE_NOTHROW(rs2_set_devices_changed_callback(NULL, dev_changed, NULL, &e));
REQUIRE(e != nullptr);
}
// added [!mayfail] , syncing by frame number has known issues
TEST_CASE("Syncer try wait for frames", "[live][software-device][!mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::shared_ptr<software_device> dev = std::move(std::make_shared<software_device>());
auto s = dev->add_sensor("software_sensor");
const int W = 640, H = 480, BPP = 2;
rs2_intrinsics intrinsics{ W, H, 0, 0, 0, 0, RS2_DISTORTION_NONE ,{ 0,0,0,0,0 } };
s.add_video_stream({ RS2_STREAM_DEPTH, 0, 0, W, H, 60, BPP, RS2_FORMAT_Z16, intrinsics });
s.add_video_stream({ RS2_STREAM_INFRARED, 1, 1, W, H,60, BPP, RS2_FORMAT_Y8, intrinsics });
dev->create_matcher(RS2_MATCHER_DI);
auto profiles = s.get_stream_profiles();
syncer sync;
s.open(profiles);
s.start(sync);
std::vector<uint8_t> pixels(W * H * BPP, 0);
std::weak_ptr<rs2::software_device> weak_dev(dev);
auto depth = profiles[0];
auto ir = profiles[1];
std::thread t([&s, weak_dev, pixels, depth, ir]() mutable {
auto shared_dev = weak_dev.lock();
if (shared_dev == nullptr)
return;
s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 7, depth });
s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 5, ir });
s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 8, depth });
s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 6, ir });
s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 8, ir });
});
t.detach();
std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> expected =
{
{ { RS2_STREAM_DEPTH , 7 } },
{ { RS2_STREAM_INFRARED , 5 } },
{ { RS2_STREAM_INFRARED , 6 } },
{ { RS2_STREAM_DEPTH , 8 },{ RS2_STREAM_INFRARED , 8 } }
};
std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> results;
for (auto i = 0UL; i < expected.size(); i++)
{
frameset fs;
REQUIRE(sync.try_wait_for_frames(&fs, 5000));
std::vector < std::pair<rs2_stream, uint64_t>> curr;
for (auto f : fs)
{
curr.push_back({ f.get_profile().stream_type(), f.get_frame_number() });
}
results.push_back(curr);
}
CAPTURE(results.size());
CAPTURE(expected.size());
REQUIRE(results.size() == expected.size());
for (size_t i = 0; i < expected.size(); i++)
{
auto exp = expected[i];
auto curr = results[i];
CAPTURE(exp.size());
CAPTURE(curr.size());
REQUIRE(exp.size() == curr.size());
for (size_t j = 0; j < exp.size(); j++)
{
CAPTURE(exp[j].first);
CAPTURE(exp[j].second);
REQUIRE(std::find(curr.begin(), curr.end(), exp[j]) != curr.end());
}
}
}
}
TEST_CASE("Test Motion Module Extension", "[software-device][using_pipeline][projection]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ! ctx )
return;
std::string folder_name = get_folder_path(special_folder::temp_folder);
const std::string filename = folder_name + "D435i_Depth_and_IMU.bag";
REQUIRE(file_exists(filename));
auto dev = ctx.load_device(filename);
dev.set_real_time(false);
syncer sync;
std::vector<sensor> sensors = dev.query_sensors();
for (auto s : sensors)
{
REQUIRE((std::string(s.get_info(RS2_CAMERA_INFO_NAME)) == "Stereo Module") == (s.is<rs2::depth_sensor>()));
REQUIRE((std::string(s.get_info(RS2_CAMERA_INFO_NAME)) == "RGB Camera") == (s.is<rs2::color_sensor>()));
REQUIRE((std::string(s.get_info(RS2_CAMERA_INFO_NAME)) == "Motion Module") == (s.is<rs2::motion_sensor>()));
}
}
// Marked as MayFail due to DSO-11753. TODO -revisit once resolved
TEST_CASE("Projection from recording", "[software-device-disabled][using_pipeline][projection][!mayfail]") {
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ! ctx )
return;
std::string folder_name = get_folder_path(special_folder::temp_folder);
const std::string filename = folder_name + "single_depth_color_640x480.bag";
REQUIRE(file_exists(filename));
auto dev = ctx.load_device(filename);
dev.set_real_time(false);
syncer sync;
std::vector<sensor> sensors = dev.query_sensors();
REQUIRE(sensors.size() == 2);
for (auto s : sensors)
{
REQUIRE_NOTHROW(s.open(s.get_stream_profiles().front()));
REQUIRE_NOTHROW(s.start(sync));
}
rs2::frame depth;
rs2::stream_profile depth_profile;
rs2::stream_profile color_profile;
while (!depth_profile || !color_profile)
{
frameset frames = sync.wait_for_frames();
REQUIRE(frames.size() > 0);
if (frames.size() == 1)
{
if (frames.get_profile().stream_type() == RS2_STREAM_DEPTH)
{
depth = frames.get_depth_frame();
depth_profile = depth.get_profile();
}
else
{
color_profile = frames.get_color_frame().get_profile();
}
}
else
{
depth = frames.get_depth_frame();
depth_profile = depth.get_profile();
color_profile = frames.get_color_frame().get_profile();
}
}
auto depth_intrin = depth_profile.as<rs2::video_stream_profile>().get_intrinsics();
auto color_intrin = color_profile.as<rs2::video_stream_profile>().get_intrinsics();
auto depth_extrin_to_color = depth_profile.as<rs2::video_stream_profile>().get_extrinsics_to(color_profile);
auto color_extrin_to_depth = color_profile.as<rs2::video_stream_profile>().get_extrinsics_to(depth_profile);
float depth_scale = 0;
for (auto s : sensors)
{
auto depth_sensor = s.is<rs2::depth_sensor>();
if (s.is<rs2::depth_sensor>())
{
REQUIRE_NOTHROW(depth_scale = s.as<rs2::depth_sensor>().get_depth_scale());
}
REQUIRE((std::string(s.get_info(RS2_CAMERA_INFO_NAME)) == "Stereo Module") == (s.is<rs2::depth_sensor>()));
REQUIRE((std::string(s.get_info(RS2_CAMERA_INFO_NAME)) == "RGB Camera") == (s.is<rs2::color_sensor>()));
}
int count = 0;
for (float i = 0; i < depth_intrin.width; i++)
{
for (float j = 0; j < depth_intrin.height; j++)
{
float depth_pixel[2] = { i, j };
auto udist = depth.as<rs2::depth_frame>().get_distance(static_cast<int>(depth_pixel[0]+0.5f), static_cast<int>(depth_pixel[1]+0.5f));
if (udist == 0) continue;
float from_pixel[2] = { 0 }, to_pixel[2] = { 0 }, point[3] = { 0 }, other_point[3] = { 0 };
rs2_deproject_pixel_to_point(point, &depth_intrin, depth_pixel, udist);
rs2_transform_point_to_point(other_point, &depth_extrin_to_color, point);
rs2_project_point_to_pixel(from_pixel, &color_intrin, other_point);
// Search along a projected beam from 0.1m to 10 meter
rs2_project_color_pixel_to_depth_pixel(to_pixel, reinterpret_cast<const uint16_t*>(depth.get_data()), depth_scale, 0.1f, 10,
&depth_intrin, &color_intrin,
&color_extrin_to_depth, &depth_extrin_to_color, from_pixel);
float dist = static_cast<float>(sqrt(pow((depth_pixel[1] - to_pixel[1]), 2) + pow((depth_pixel[0] - to_pixel[0]), 2)));
if (dist > 1)
count++;
if (dist > 2)
{
WARN("Projecting color->depth, distance > 2 pixels. Origin: ["
<< depth_pixel[0] << "," << depth_pixel[1] <<"], Projected << "
<< to_pixel[0] << "," << to_pixel[1] << "]");
}
}
}
const double MAX_ERROR_PERCENTAGE = 0.1;
CAPTURE(count);
REQUIRE(count * 100 / (depth_intrin.width * depth_intrin.height) < MAX_ERROR_PERCENTAGE);
for (auto s : sensors)
{
s.stop();
s.close();
}
}
TEST_CASE("software-device pose stream", "[software-device]")
{
rs2::software_device dev;
auto sensor = dev.add_sensor("Pose"); // Define single sensor
rs2_pose_stream stream = { RS2_STREAM_POSE, 0, 0, 200, RS2_FORMAT_6DOF };
auto stream_profile = sensor.add_pose_stream(stream);
rs2::syncer sync;
sensor.open(stream_profile);
sensor.start(sync);
rs2_software_pose_frame::pose_frame_info info = { { 1, 1, 1 },{ 2, 2, 2 },{ 3, 3, 3 },{ 4, 4 ,4 ,4 },{ 5, 5, 5 },{ 6, 6 ,6 }, 0, 0 };
rs2_software_pose_frame frame = { &info, [](void*) {}, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK , 0, stream_profile};
sensor.on_pose_frame(frame);
rs2::frameset fset = sync.wait_for_frames();
rs2::frame pose = fset.first_or_default(RS2_STREAM_POSE);
REQUIRE(pose);
REQUIRE(((memcmp(frame.data, pose.get_data(), sizeof(rs2_software_pose_frame::pose_frame_info)) == 0) &&
frame.frame_number == pose.get_frame_number() &&
frame.domain == pose.get_frame_timestamp_domain() &&
frame.timestamp == pose.get_timestamp()));
}
TEST_CASE("software-device motion stream", "[software-device-disabled]")
{
rs2::software_device dev;
auto sensor = dev.add_sensor("Motion"); // Define single sensor
rs2_motion_device_intrinsic intrinsics = { { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },{ 2, 2, 2 },{ 3, 3 ,3 } };
rs2_motion_stream stream = { RS2_STREAM_ACCEL, 0, 0, 200, RS2_FORMAT_MOTION_RAW, intrinsics };
auto stream_profile = sensor.add_motion_stream(stream);
rs2::syncer sync;
sensor.open(stream_profile);
sensor.start(sync);
float data[3] = { 1, 1, 1 };
rs2_software_motion_frame frame = { data, [](void*) {}, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 0, stream_profile };
sensor.on_motion_frame(frame);
rs2::frameset fset = sync.wait_for_frames();
rs2::frame motion = fset.first_or_default(RS2_STREAM_ACCEL);
REQUIRE(motion);
REQUIRE(((memcmp(frame.data, motion.get_data(), sizeof(float) * 3) == 0) &&
frame.frame_number == motion.get_frame_number() &&
frame.domain == motion.get_frame_timestamp_domain() &&
frame.timestamp == motion.get_timestamp()));
}
TEST_CASE("Record software-device", "[software-device-disabled][record][!mayfail]")
{
const int W = 640;
const int H = 480;
const int BPP = 2;
std::string folder_name = get_folder_path(special_folder::temp_folder);
const std::string filename = folder_name + "recording.bag";
rs2_software_video_frame video_frame;
rs2_software_motion_frame motion_frame;
rs2_software_pose_frame pose_frame;
std::vector<uint8_t> pixels(W * H * BPP, 100);
float motion_data[3] = { 1, 1, 1 };
rs2_software_pose_frame::pose_frame_info pose_info = { { 1, 1, 1 },{ 2, 2, 2 },{ 3, 3, 3 },{ 4, 4 ,4 ,4 },{ 5, 5, 5 },{ 6, 6 ,6 }, 0, 0 };
//Software device, streams and frames definition
{
rs2::software_device dev;
auto sensor = dev.add_sensor("Synthetic");
rs2_intrinsics depth_intrinsics = { W, H, (float)W / 2, H / 2, (float)W, (float)H,
RS2_DISTORTION_BROWN_CONRADY ,{ 0,0,0,0,0 } };
rs2_video_stream video_stream = { RS2_STREAM_DEPTH, 0, 0, W, H, 60, BPP, RS2_FORMAT_Z16, depth_intrinsics };
auto depth_stream_profile = sensor.add_video_stream(video_stream);
rs2_motion_device_intrinsic motion_intrinsics = { { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },{ 2, 2, 2 },{ 3, 3 ,3 } };
rs2_motion_stream motion_stream = { RS2_STREAM_ACCEL, 0, 1, 200, RS2_FORMAT_MOTION_RAW, motion_intrinsics };
auto motion_stream_profile = sensor.add_motion_stream(motion_stream);
rs2_pose_stream pose_stream = { RS2_STREAM_POSE, 0, 2, 200, RS2_FORMAT_6DOF };
auto pose_stream_profile = sensor.add_pose_stream(pose_stream);
rs2::syncer sync;
std::vector<stream_profile> stream_profiles;
stream_profiles.push_back(depth_stream_profile);
stream_profiles.push_back(motion_stream_profile);
stream_profiles.push_back(pose_stream_profile);
video_frame = { pixels.data(), [](void*) {},W * BPP, BPP, 10000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 0, depth_stream_profile };
motion_frame = { motion_data, [](void*) {}, 20000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 0, motion_stream_profile };
pose_frame = { &pose_info, [](void*) {}, 30000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK , 0, pose_stream_profile };
//Record software device
{
recorder recorder(filename, dev);
sensor.open(stream_profiles);
sensor.start(sync);
sensor.on_video_frame(video_frame);
sensor.on_motion_frame(motion_frame);
sensor.on_pose_frame(pose_frame);
sensor.stop();
sensor.close();
}
}
//Playback software device
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ! ctx )
return;
auto player_dev = ctx.load_device(filename);
player_dev.set_real_time(false);
syncer player_sync;
auto s = player_dev.query_sensors()[0];
REQUIRE_NOTHROW(s.open(s.get_stream_profiles()));
REQUIRE_NOTHROW(s.start(player_sync));
rs2::frameset fset;
rs2::frame recorded_depth, recorded_accel, recorded_pose;
while (player_sync.try_wait_for_frames(&fset))
{
if (fset.first_or_default(RS2_STREAM_DEPTH))
recorded_depth = fset.first_or_default(RS2_STREAM_DEPTH);
if (fset.first_or_default(RS2_STREAM_ACCEL))
recorded_accel = fset.first_or_default(RS2_STREAM_ACCEL);
if (fset.first_or_default(RS2_STREAM_POSE))
recorded_pose = fset.first_or_default(RS2_STREAM_POSE);
}
REQUIRE(recorded_depth);
REQUIRE(recorded_accel);
REQUIRE(recorded_pose);
//Compare input frames with recorded frames
REQUIRE(((memcmp(video_frame.pixels, recorded_depth.get_data(), W * H * BPP) == 0) &&
video_frame.frame_number == recorded_depth.get_frame_number() &&
video_frame.domain == recorded_depth.get_frame_timestamp_domain() &&
video_frame.timestamp == recorded_depth.get_timestamp()));
REQUIRE(((memcmp(motion_frame.data, recorded_accel.get_data(), sizeof(float) * 3) == 0) &&
motion_frame.frame_number == recorded_accel.get_frame_number() &&
motion_frame.domain == recorded_accel.get_frame_timestamp_domain() &&
motion_frame.timestamp == recorded_accel.get_timestamp()));
REQUIRE(((memcmp(pose_frame.data, recorded_pose.get_data(), sizeof(rs2_software_pose_frame::pose_frame_info)) == 0) &&
pose_frame.frame_number == recorded_pose.get_frame_number() &&
pose_frame.domain == recorded_pose.get_frame_timestamp_domain() &&
pose_frame.timestamp == recorded_pose.get_timestamp()));
s.stop();
s.close();
}
void compare(filter first, filter second)
{
CAPTURE(first.get_info(RS2_CAMERA_INFO_NAME));
CAPTURE(second.get_info(RS2_CAMERA_INFO_NAME));
REQUIRE(strcmp(first.get_info(RS2_CAMERA_INFO_NAME), second.get_info(RS2_CAMERA_INFO_NAME)) == 0);
auto first_options = first.get_supported_options();
auto second_options = second.get_supported_options();
REQUIRE(first_options.size() == second_options.size());
REQUIRE(first_options == second_options);
for (auto i = 0UL;i < first_options.size();i++)
{
auto opt = static_cast<rs2_option>(first_options[i]);
CAPTURE(opt);
CAPTURE(first.get_option(opt));
CAPTURE(second.get_option(opt));
REQUIRE(first.get_option(opt) == second.get_option(opt));
}
}
void compare(std::vector<filter> first, std::vector<std::shared_ptr<filter>> second)
{
REQUIRE(first.size() == second.size());
for (size_t i = 0;i < first.size();i++)
{
compare(first[i], (*second[i]));
}
}
TEST_CASE("Sensor get recommended filters", "[live][!mayfail]") {
//Require at least one device to be plugged in
enum sensors
{
depth,
depth_stereo,
color
};
std::map<sensors, std::vector<std::shared_ptr<filter>>> sensors_to_filters;
auto dec_color = std::make_shared<decimation_filter>();
dec_color->set_option(RS2_OPTION_STREAM_FILTER, RS2_STREAM_COLOR);
dec_color->set_option(RS2_OPTION_STREAM_FORMAT_FILTER, RS2_FORMAT_ANY);
sensors_to_filters[color] = {
dec_color
};
auto dec_depth = std::make_shared<decimation_filter>();
dec_depth->set_option(RS2_OPTION_STREAM_FILTER, RS2_STREAM_DEPTH);
dec_depth->set_option(RS2_OPTION_STREAM_FORMAT_FILTER, RS2_FORMAT_Z16);
auto threshold = std::make_shared<threshold_filter>(0.1f, 4.f);
auto spatial = std::make_shared<spatial_filter>();
auto temporal = std::make_shared<temporal_filter>();
auto hole_filling = std::make_shared<hole_filling_filter>();
sensors_to_filters[depth] = {
dec_depth,
threshold,
spatial,
temporal,
hole_filling
};
auto depth2disparity = std::make_shared<disparity_transform>(true);
auto disparity2depth = std::make_shared<disparity_transform>(false);
sensors_to_filters[depth_stereo] = {
dec_depth,
threshold,
depth2disparity,
spatial,
temporal,
hole_filling,
disparity2depth
};
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> sensors;
REQUIRE_NOTHROW(sensors = ctx.query_all_sensors());
REQUIRE(sensors.size() > 0);
for (auto sensor : sensors)
{
auto processing_blocks = sensor.get_recommended_filters();
auto stream_profiles = sensor.get_stream_profiles();
if (sensor.is<depth_stereo_sensor>())
{
compare(processing_blocks, sensors_to_filters[depth_stereo]);
}
else if (sensor.is<depth_sensor>())
{
compare(processing_blocks, sensors_to_filters[depth]);
}
else if (std::find_if(stream_profiles.begin(), stream_profiles.end(), [](stream_profile profile) { return profile.stream_type() == RS2_STREAM_COLOR;}) != stream_profiles.end())
{
compare(processing_blocks, sensors_to_filters[color]);
}
}
}
}
TEST_CASE("Positional_Sensors_API", "[live]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
log_to_console(RS2_LOG_SEVERITY_WARN);
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
// T265 Only
if (!librealsense::val_in_range(PID.first, { std::string("0B37")}))
{
WARN("Skipping test - Applicable for Positional Tracking sensors only. Current device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
CAPTURE(dev);
REQUIRE_NOTHROW(dev.first<rs2::pose_sensor>());
auto pose_snr = dev.first<rs2::pose_sensor>();
CAPTURE(pose_snr);
REQUIRE(pose_snr);
WHEN("Sequence - Streaming.")
{
THEN("Export/Import must Fail")
{
rs2::pipeline_profile pf;
REQUIRE_NOTHROW(pf = pipe.start(cfg));
rs2::device d = pf.get_device();
REQUIRE(d);
auto pose_snr = d.first<rs2::pose_sensor>();
CAPTURE(pose_snr);
REQUIRE(pose_snr);
WARN("T2xx Collecting frames started");
rs2::frameset frames;
// The frames are required to generate some initial localization map
for (auto i = 0; i < 200; i++)
{
REQUIRE_NOTHROW(frames = pipe.wait_for_frames());
REQUIRE(frames.size() > 0);
}
std::vector<uint8_t> results{}, vnv{};
WARN("T2xx export map");
REQUIRE_THROWS(results = pose_snr.export_localization_map());
CAPTURE(results.size());
REQUIRE(0 == results.size());
WARN("T2xx import map");
REQUIRE_THROWS(pose_snr.import_localization_map({ 0, 1, 2, 3, 4 }));
REQUIRE_NOTHROW(pipe.stop());
WARN("T2xx import/export during streaming finished");
}
}
WHEN("Sequence - idle.")
{
THEN("Export/Import Success")
{
std::vector<uint8_t> results, vnv;
REQUIRE_NOTHROW(results = pose_snr.export_localization_map());
CAPTURE(results.size());
REQUIRE(results.size());
bool ret = false;
REQUIRE_NOTHROW(ret = pose_snr.import_localization_map(results));
CAPTURE(ret);
REQUIRE(ret);
REQUIRE_NOTHROW(vnv = pose_snr.export_localization_map());
CAPTURE(vnv.size());
REQUIRE(vnv.size());
REQUIRE(vnv == results);
}
}
WHEN("Sequence - Streaming.")
{
THEN("Set/Get Static node functionality")
{
rs2::pipeline_profile pf;
REQUIRE_NOTHROW(pf = pipe.start(cfg));
rs2::device d = pf.get_device();
REQUIRE(d);
auto pose_snr = d.first<rs2::pose_sensor>();
CAPTURE(pose_snr);
REQUIRE(pose_snr);
rs2::frameset frames;
// The frames are required to get pose with sufficient confidence for static node marker
for (auto i = 0; i < 100; i++)
{
REQUIRE_NOTHROW(frames = pipe.wait_for_frames());
REQUIRE(frames.size() > 0);
}
rs2_vector init_pose{}, test_pose{ 1,2,3 }, vnv_pose{};
rs2_quaternion init_or{}, test_or{ 4,5,6,7 }, vnv_or{};
auto res = 0;
REQUIRE_NOTHROW(res = pose_snr.set_static_node("wp1", test_pose, test_or));
CAPTURE(res);
REQUIRE(res != 0);
std::this_thread::sleep_for(std::chrono::milliseconds(500));
REQUIRE_NOTHROW(res = pose_snr.get_static_node("wp1", vnv_pose, vnv_or));
CAPTURE(vnv_pose);
CAPTURE(vnv_or);
CAPTURE(res);
REQUIRE(test_pose.x == approx(vnv_pose.x));
REQUIRE(test_pose.y == approx(vnv_pose.y));
REQUIRE(test_pose.z == approx(vnv_pose.z));
REQUIRE(test_or.x == approx(vnv_or.x));
REQUIRE(test_or.y == approx(vnv_or.y));
REQUIRE(test_or.z == approx(vnv_or.z));
REQUIRE(test_or.w == approx(vnv_or.w));
REQUIRE_NOTHROW(res = pose_snr.remove_static_node("wp1"));
REQUIRE_NOTHROW(!(res = pose_snr.remove_static_node("wp1")));
REQUIRE_NOTHROW(pipe.stop());
}
}
}
}
}
TEST_CASE("Wheel_Odometry_API", "[live]")
{
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
log_to_console(RS2_LOG_SEVERITY_WARN);
rs2::device dev;
rs2::pipeline pipe(ctx);
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
dev_type PID = get_PID(dev);
CAPTURE(PID.first);
// T265 Only
if (!librealsense::val_in_range(PID.first, { std::string("0B37")}))
{
WARN("Skipping test - Applicable for Positional Tracking sensors only. Current device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
}
else
{
CAPTURE(dev);
auto wheel_odom_snr = dev.first<rs2::wheel_odometer>();
CAPTURE(wheel_odom_snr);
REQUIRE(wheel_odom_snr);
WHEN("Sequence - idle.")
{
THEN("Load wheel odometry calibration")
{
std::ifstream calibrationFile("calibration_odometry.json");
REQUIRE(calibrationFile);
{
const std::string json_str((std::istreambuf_iterator<char>(calibrationFile)),
std::istreambuf_iterator<char>());
const std::vector<uint8_t> wo_calib(json_str.begin(), json_str.end());
bool b;
REQUIRE_NOTHROW(b = wheel_odom_snr.load_wheel_odometery_config(wo_calib));
REQUIRE(b);
}
}
}
WHEN("Sequence - Streaming.")
{
THEN("Send wheel odometry data")
{
rs2::pipeline_profile pf;
REQUIRE_NOTHROW(pf = pipe.start(cfg));
rs2::device d = pf.get_device();
REQUIRE(d);
auto wo_snr = d.first<rs2::wheel_odometer>();
CAPTURE(wo_snr);
REQUIRE(wo_snr);
bool b;
float norm_max = 0;
WARN("T2xx Collecting frames started - Keep device static");
rs2::frameset frames;
for (int i = 0; i < 100; i++)
{
REQUIRE_NOTHROW(frames = pipe.wait_for_frames());
REQUIRE(frames.size() > 0);
auto f = frames.first_or_default(RS2_STREAM_POSE);
auto pose_data = f.as<rs2::pose_frame>().get_pose_data();
float norm = sqrt(pose_data.translation.x*pose_data.translation.x + pose_data.translation.y*pose_data.translation.y
+ pose_data.translation.z*pose_data.translation.z);
if (norm > norm_max) norm_max = norm;
REQUIRE_NOTHROW(b = wo_snr.send_wheel_odometry(0, 0, { 1,0,0 }));
REQUIRE(b);
}
Catch::Approx approx_norm(0);
approx_norm.epsilon(0.005); // 0.5cm threshold
REQUIRE_FALSE(norm_max == approx_norm);
REQUIRE_NOTHROW(pipe.stop());
}
}
}
}
}
TEST_CASE("get_sensor_from_frame", "[live][using_pipeline][!mayfail]")
{
// Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
pipeline pipe(ctx);
device dev;
// Configure all supported streams to run at 30 frames per second
rs2::config cfg;
rs2::pipeline_profile profile;
REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
REQUIRE(profile);
REQUIRE_NOTHROW(dev = profile.get_device());
REQUIRE(dev);
disable_sensitive_options_for(dev);
// Test sequence
REQUIRE_NOTHROW(pipe.start(cfg));
std::string dev_serial_no = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
for (auto i = 0; i < 5; i++)
{
rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
for (auto&& frame : data)
{
std::string frame_serial_no = sensor_from_frame(frame)->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
REQUIRE(dev_serial_no == frame_serial_no);
// TODO: Add additinal sensor attribiutions checks.
}
}
REQUIRE_NOTHROW(pipe.stop());
}
}
TEST_CASE("l500_presets_set_preset", "[live]")
{
std::vector<rs2_option> _hw_controls = { RS2_OPTION_VISUAL_PRESET, RS2_OPTION_PRE_PROCESSING_SHARPENING, RS2_OPTION_CONFIDENCE_THRESHOLD, RS2_OPTION_POST_PROCESSING_SHARPENING, RS2_OPTION_NOISE_FILTERING, RS2_OPTION_AVALANCHE_PHOTO_DIODE, RS2_OPTION_LASER_POWER ,RS2_OPTION_MIN_DISTANCE, RS2_OPTION_INVALIDATION_BYPASS };
// Require at least one device to be plugged in
rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
if( ctx )
{
std::vector<sensor> list;
REQUIRE_NOTHROW(list = ctx.query_all_sensors());
REQUIRE(list.size() > 0);
sensor ds;
for (auto&& s : list)
{
if (s.is < rs2::depth_sensor>())
{
ds = s.as < rs2::depth_sensor>();
break;
}
}
REQUIRE(ds);
for (auto&& option : _hw_controls)
{
REQUIRE(ds.supports(option));
}
REQUIRE(ds.supports(RS2_OPTION_SENSOR_MODE));
auto presets = ds.get_option_range(RS2_OPTION_VISUAL_PRESET);
REQUIRE(presets.min == RS2_L500_VISUAL_PRESET_CUSTOM);
REQUIRE(presets.max == RS2_L500_VISUAL_PRESET_COUNT - 1);
REQUIRE(presets.step == 1);
REQUIRE(presets.def == RS2_L500_VISUAL_PRESET_DEFAULT);
std::map< rs2_option, option_range> options_range;
for (auto&& option : _hw_controls)
{
if (option != RS2_OPTION_VISUAL_PRESET)
{
options_range[option] = ds.get_option_range(option);
}
}
std::map<int, int> expected_ambient_per_preset =
{
{RS2_L500_VISUAL_PRESET_NO_AMBIENT, RS2_DIGITAL_GAIN_HIGH},
{RS2_L500_VISUAL_PRESET_LOW_AMBIENT, RS2_DIGITAL_GAIN_LOW},
{RS2_L500_VISUAL_PRESET_MAX_RANGE, RS2_DIGITAL_GAIN_HIGH},
{RS2_L500_VISUAL_PRESET_SHORT_RANGE, RS2_DIGITAL_GAIN_LOW}
};
std::map<int, int> expected_laser_power_per_preset =
{
{RS2_L500_VISUAL_PRESET_LOW_AMBIENT, 100},
{RS2_L500_VISUAL_PRESET_MAX_RANGE, 100}
};
std::map< float, float> apd_per_ambient;
for (auto i : expected_ambient_per_preset)
{
std::vector<int> resolutions{ RS2_SENSOR_MODE_XGA, RS2_SENSOR_MODE_VGA };
for (auto res : resolutions)
{
ds.set_option(RS2_OPTION_SENSOR_MODE, (float)res);
ds.set_option(RS2_OPTION_VISUAL_PRESET, (float)i.first);
CAPTURE(ds.get_option(RS2_OPTION_DIGITAL_GAIN));
REQUIRE(ds.get_option(RS2_OPTION_DIGITAL_GAIN) == i.second);
apd_per_ambient[ds.get_option(RS2_OPTION_DIGITAL_GAIN)] = ds.get_option(RS2_OPTION_AVALANCHE_PHOTO_DIODE);
auto expected_laser_power = expected_laser_power_per_preset.find(i.first);
if (expected_laser_power != expected_laser_power_per_preset.end())
{
CAPTURE(ds.get_option(RS2_OPTION_LASER_POWER));
REQUIRE(ds.get_option(RS2_OPTION_LASER_POWER) == expected_laser_power->second);
}
}
}
CAPTURE(apd_per_ambient[RS2_SENSOR_MODE_XGA]);
CAPTURE(apd_per_ambient[RS2_SENSOR_MODE_VGA]);
REQUIRE(apd_per_ambient[RS2_SENSOR_MODE_XGA] != apd_per_ambient[RS2_SENSOR_MODE_VGA]);
for (auto&& opt : options_range)
{
ds.set_option(opt.first, opt.second.min);
CAPTURE(ds.get_option(RS2_OPTION_VISUAL_PRESET));
REQUIRE(ds.get_option(RS2_OPTION_VISUAL_PRESET) == RS2_L500_VISUAL_PRESET_CUSTOM);
ds.set_option(RS2_OPTION_VISUAL_PRESET, RS2_L500_VISUAL_PRESET_LOW_AMBIENT);
}
}
}
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