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88 lines
2.8 KiB
88 lines
2.8 KiB
# License: Apache 2.0. See LICENSE file in root directory.
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# Copyright(c) 2022 Intel Corporation. All Rights Reserved.
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# test:device each(D400*)
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import time
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import pyrealsense2 as rs
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from rspy import test
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def close_resources(sensor):
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"""
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Stop and Close sensor.
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:sensor: sensor of device
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"""
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if len(sensor.get_active_streams()) > 0:
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sensor.stop()
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sensor.close()
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def set_and_verify_timestamp_domain(sensor, frame_queue, global_time_enabled: bool, sleep_time: float = 0.5):
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"""
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Perform sensor (depth or color) test according given global time
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:sensor: depth or color sensor in device
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:global_time_enabled bool: True - timestamp is enabled otherwise false
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"""
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sensor.set_option(rs.option.global_time_enabled, global_time_enabled)
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time.sleep(sleep_time) # Waiting for new frame from device. Need in case low FPS.
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frame = frame_queue.wait_for_frame()
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if not frame:
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test.fail()
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expected_ts_domain = rs.timestamp_domain.global_time if global_time_enabled else \
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rs.timestamp_domain.hardware_clock
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test.check_equal(bool(sensor.get_option(rs.option.global_time_enabled)), global_time_enabled)
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test.info(str(frame.get_profile().stream_type()) + " frame", frame)
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test.check_equal(frame.get_frame_timestamp_domain(), expected_ts_domain)
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queue_capacity = 1
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device = test.find_first_device_or_exit()
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# Depth sensor test
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depth_frame_queue = rs.frame_queue(queue_capacity, keep_frames=False)
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depth_sensor = device.first_depth_sensor()
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depth_profile = next(p for p in depth_sensor.profiles if p.stream_type() == rs.stream.depth)
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depth_sensor.open(depth_profile)
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depth_sensor.start(depth_frame_queue)
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# Test #1
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test.start('Check setting global time domain: depth sensor - timestamp domain is OFF')
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set_and_verify_timestamp_domain(depth_sensor, depth_frame_queue, False)
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test.finish()
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# Test #2
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test.start('Check setting global time domain: depth sensor - timestamp domain is ON')
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set_and_verify_timestamp_domain(depth_sensor, depth_frame_queue, True)
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test.finish()
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close_resources(depth_sensor)
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# Color sensor test
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color_frame_queue = rs.frame_queue(queue_capacity, keep_frames=False)
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color_sensor = device.first_color_sensor()
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color_profile = next(p for p in color_sensor.profiles if p.stream_type() == rs.stream.color)
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color_sensor.open(color_profile)
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color_sensor.start(color_frame_queue)
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# Test #3
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test.start('Check setting global time domain: color sensor - timestamp domain is OFF')
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set_and_verify_timestamp_domain(color_sensor, color_frame_queue, False)
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test.finish()
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# Test #4
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test.start('Check setting global time domain: color sensor - timestamp domain is ON')
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set_and_verify_timestamp_domain(color_sensor, color_frame_queue, True)
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test.finish()
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close_resources(color_sensor)
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test.print_results_and_exit()
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