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58 lines
2.1 KiB
58 lines
2.1 KiB
# License: Apache 2.0. See LICENSE file in root directory.
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# Copyright(c) 2023 Intel Corporation. All Rights Reserved.
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import pyrealsense2 as rs
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from rspy import log, test
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import sw
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with sw.sensor( "Stereo Module" ) as sensor:
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depth = sensor.video_stream( "Depth", rs.stream.depth, rs.format.z16 )
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sensor.start( depth )
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with test.closure( "By default, frames do not have units" ):
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f = depth.frame()
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test.check_equal( f.depth_units, 0. )
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# Publish it
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f = sensor.publish( f )
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with test.closure( "rs.stream.depth should generate depth-frames", on_fail=test.ABORT ):
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df = rs.depth_frame( f )
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test.check( df )
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with test.closure( "No DEPTH_UNITS; Units should be 0" ):
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test.check_false( sensor.supports( rs.option.depth_units ) )
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test.check_equal( df.get_units(), 0. )
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test.check_equal( df.get_distance( 0, 0 ), 0. )
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with test.closure( "Set the sensor DEPTH_UNITS" ):
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sensor.add_option( rs.option.depth_units, rs.option_range( 0, 1, 0.000001, 0.001 ), True )
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#test.check_equal( sensor.get_option( rs.option.depth_units ), 0.001 ) it's not set yet
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sensor.set_option( rs.option.depth_units, 0.001 )
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with test.closure( "Frame units should not change after the fact" ):
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sensor.set_option( rs.option.depth_units, 0.001 )
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test.check_equal( df.get_units(), 0. )
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test.check_equal( df.get_distance( 0, 0 ), 0. )
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with test.closure( "But if we generate a new frame..." ):
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f = depth.frame()
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test.check_equal( f.depth_units, 0. )
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# Publish it
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f = sensor.publish( f )
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df = rs.depth_frame( f )
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with test.closure( "New frame should pick up DEPTH_UNITS" ):
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test.check_approx_abs( df.get_units(), 0.001, 0.00000001 )
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# sw.py uses 0x69 to fill the buffer, and Z16 is 16-bit so the pixel value should be 0x6969
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# and the units are 0.001, so distance (pixel*units) should be 26.985:
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test.check_approx_abs( df.get_distance( 0, 0 ), 26.985, 0.000001 )
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#
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#############################################################################################
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test.print_results_and_exit()
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