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94 lines
2.6 KiB
94 lines
2.6 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 test
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from threading import Thread
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import numpy as np
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################################################################################################
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test.start("Unit transform test")
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ctx = rs.context()
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W = 640
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H = 480
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BPP = 2
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expected_frames = 1
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fps = 60
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depth_unit = 1.5
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ut = rs.units_transform()
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intrinsics = rs.intrinsics()
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intrinsics.width = W
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intrinsics.height = H
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intrinsics.ppx = 0
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intrinsics.ppy = 0
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intrinsics.fx = 0
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intrinsics.fy = 0
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intrinsics.model = rs.distortion.none
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intrinsics.coeffs = [0, 0, 0, 0, 0]
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sd = rs.software_device()
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software_sensor = sd.add_sensor("software_sensor")
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software_sensor.add_read_only_option(rs.option.depth_units, depth_unit)
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vs = rs.video_stream()
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vs.type = rs.stream.depth
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vs.index = 0
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vs.uid = 0
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vs.width = W
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vs.height = H
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vs.fps = fps
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vs.bpp = BPP
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vs.fmt = rs.format.z16
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vs.intrinsics = intrinsics
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software_sensor.add_video_stream(vs)
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profiles = software_sensor.get_stream_profiles()
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depth = profiles[0].as_video_stream_profile()
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sync = rs.syncer()
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software_sensor.open(profiles)
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software_sensor.start(sync)
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pixels = np.array([(i % 10) for i in range(W*H)], dtype=np.uint16)
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def helper_func(s, p, d, frame_expected):
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for k in range(1, frame_expected + 1):
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frame = rs.software_video_frame()
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frame.pixels = p
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frame.bpp = 2
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frame.stride = frame.bpp * W
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frame.timestamp = float(k * 100)
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frame.domain = rs.timestamp_domain.hardware_clock
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frame.frame_number = k
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frame.profile = d
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s.on_video_frame(frame)
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t = Thread(target=helper_func, args=(software_sensor, pixels, depth, expected_frames))
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t.start()
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for i in range(expected_frames):
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synced_f = sync.wait_for_frames()
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f = synced_f.get_depth_frame()
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f_format = f.get_profile().format()
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test.check_equal(rs.format.z16, f_format)
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depth_distance = ut.process(f)
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origin_frame = np.hstack(np.asarray(f.get_data(), dtype=np.uint16))
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ut_frame = np.hstack(np.asarray(depth_distance.get_data())).view(dtype=np.float32)
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depth_distance_format = depth_distance.get_profile().format()
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test.check_equal(rs.format.distance, depth_distance_format)
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for j in range(W*H):
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frame_data_units_transformed = (origin_frame[j] * depth_unit)
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test.check_equal(ut_frame[j], np.float32(frame_data_units_transformed))
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test.finish()
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################################################################################################
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test.print_results_and_exit()
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