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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 "../include/librealsense2/rs_advanced_mode.hpp"
#include <librealsense2/hpp/rs_frame.hpp>
#include <iostream>
#include <chrono>
#include <ctime>
#include <algorithm>
#include <librealsense2/rsutil.h>
using namespace rs2;
# define SECTION_FROM_TEST_NAME space_to_underscore(Catch::getCurrentContext().getResultCapture()->getCurrentTestName()).c_str()
long long current_time()
{
return (std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count() % 10000);
}
//// disable in one place options that are sensitive to frame content
//// this is done to make sure unit-tests are deterministic
void disable_sensitive_options_for(sensor& sen)
{
if (sen.supports(RS2_OPTION_ERROR_POLLING_ENABLED))
REQUIRE_NOTHROW(sen.set_option(RS2_OPTION_ERROR_POLLING_ENABLED, 0));
if (sen.supports(RS2_OPTION_ENABLE_AUTO_EXPOSURE))
REQUIRE_NOTHROW(sen.set_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE, 0));
if (sen.supports(RS2_OPTION_EXPOSURE))
{
option_range range;
REQUIRE_NOTHROW(range = sen.get_option_range(RS2_OPTION_EXPOSURE)); // TODO: fails sometimes with "Element Not Found!"
REQUIRE_NOTHROW(sen.set_option(RS2_OPTION_EXPOSURE, range.def));
}
}
void disable_sensitive_options_for(rs2::device& dev)
{
for (auto&& s : dev.query_sensors())
disable_sensitive_options_for(s);
}
bool wait_for_reset(std::function<bool(void)> func, std::shared_ptr<device> dev)
{
if (func())
return true;
WARN("Reset workaround");
try {
dev->hardware_reset();
}
catch (...)
{
}
return func();
}
bool is_usb3(const rs2::device& dev)
{
bool usb3_device = true;
try
{
std::string usb_type(dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR));
// Device types "3.x" and also "" (for legacy playback records) will be recognized as USB3
usb3_device = (std::string::npos == usb_type.find("2."));
}
catch (...) // In case the feature not provided assume USB3 device
{
}
return usb3_device;
}
// Provides for Device PID , USB3/2 (true/false)
typedef std::pair<std::string, bool > dev_type;
dev_type get_PID(rs2::device& dev)
{
dev_type designator{ "",true };
std::string usb_type{};
bool usb_descriptor = false;
REQUIRE_NOTHROW(designator.first = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID));
REQUIRE_NOTHROW(usb_descriptor = dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR));
if (usb_descriptor)
{
REQUIRE_NOTHROW(usb_type = dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR));
designator.second = (std::string::npos == usb_type.find("2."));
}
return designator;
}
struct stream_request
{
rs2_stream stream;
rs2_format format;
int width;
int height;
int fps;
int index;
bool operator==(const video_stream_profile& other) const
{
return stream == other.stream_type() &&
format == other.format() &&
width == other.width() &&
height == other.height() &&
index == other.stream_index();
}
};
struct profile
{
rs2_stream stream;
rs2_format format;
int width;
int height;
int index;
bool operator==(const profile& other) const
{
return stream == other.stream &&
(format == 0 || other.format == 0 || format == other.format) &&
(width == 0 || other.width == 0 || width == other.width) &&
(height == 0 || other.height == 0 || height == other.height) &&
(index == 0 || other.index == 0 || index == other.index);
}
bool operator!=(const profile& other) const
{
return !(*this == other);
}
bool operator<(const profile& other) const
{
return stream < other.stream;
}
};
struct device_profiles
{
std::vector<profile> streams;
int fps;
bool sync;
};
std::vector<profile> configure_all_supported_streams(rs2::sensor& sensor, int width = 640, int height = 480, int fps = 60)
{
std::vector<profile> all_profiles =
{
{ RS2_STREAM_DEPTH, RS2_FORMAT_Z16, width, height, 0 },
{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, width, height, 0 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, width, height, 1 },
{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, width, height, 2 },
{ RS2_STREAM_FISHEYE, RS2_FORMAT_RAW8, width, height, 0 },
// {RS2_STREAM_GYRO, 0, 0, 0, RS2_FORMAT_MOTION_XYZ32F, 0},
// {RS2_STREAM_ACCEL, 0, 0, 0, RS2_FORMAT_MOTION_XYZ32F, 0}
};
std::vector<profile> profiles;
std::vector<rs2::stream_profile> modes;
auto all_modes = sensor.get_stream_profiles();
for (auto profile : all_profiles)
{
if (std::find_if(all_modes.begin(), all_modes.end(), [&](rs2::stream_profile p)
{
auto video = p.as<rs2::video_stream_profile>();
if (!video) return false;
if (p.fps() == fps &&
p.stream_index() == profile.index &&
p.stream_type() == profile.stream &&
p.format() == profile.format &&
video.width() == profile.width &&
video.height() == profile.height)
{
modes.push_back(p);
return true;
}
return false;
}) != all_modes.end())
{
profiles.push_back(profile);
}
}
if (modes.size() > 0)
REQUIRE_NOTHROW(sensor.open(modes));
return profiles;
}
std::pair<std::vector<sensor>, std::vector<profile>> configure_all_supported_streams(rs2::device& dev, int width = 640, int height = 480, int fps = 30)
{
std::vector<profile > profiles;
std::vector<sensor > sensors;
auto sens = dev.query_sensors();
for (auto s : sens)
{
auto res = configure_all_supported_streams(s, width, height, fps);
profiles.insert(profiles.end(), res.begin(), res.end());
if (res.size() > 0)
{
sensors.push_back(s);
}
}
return{ sensors, profiles };
}
TEST_CASE("Sync sanity", "[live]") {
rs2::context ctx;
if (make_context(SECTION_FROM_TEST_NAME, &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);
}
std::vector<std::vector<double>> all_timestamps;
auto actual_fps = fps;
bool hw_timestamp_domain = false;
bool system_timestamp_domain = false;
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)
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS));
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;
}
timestamps.push_back(f.get_timestamp());
}
all_timestamps.push_back(timestamps);
}
for (auto i = 0; i < 30; i++)
{
auto frames = sync.wait_for_frames(500);
}
CAPTURE(hw_timestamp_domain);
CAPTURE(system_timestamp_domain);
REQUIRE(hw_timestamp_domain != system_timestamp_domain);
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] <= (float)1000/(float)actual_fps);
}
CAPTURE(num_of_partial_sync_sets);
CAPTURE(all_timestamps.size());
REQUIRE((float(num_of_partial_sync_sets) / all_timestamps.size()) < 0.9f);
for (auto s : dev.query_sensors())
{
s.stop();
}
}
}
TEST_CASE("Sync different fps", "[live][!mayfail]") {
rs2::context ctx;
if (make_context(SECTION_FROM_TEST_NAME, &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]") {
rs2::context ctx;
if (make_context(SECTION_FROM_TEST_NAME, &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;
if (make_context(SECTION_FROM_TEST_NAME, &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;
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
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 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;
if (make_context(SECTION_FROM_TEST_NAME, &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&& dev : list)
{
std::vector<rs2::stream_profile> profs;
REQUIRE_NOTHROW(profs = dev.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;
if (make_context(SECTION_FROM_TEST_NAME, &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 (int 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;
if (make_context(SECTION_FROM_TEST_NAME, &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 = 0; a < adj_devices.size(); ++a)
{
for (auto b = 0; b < adj_devices.size(); ++b)
{
for (auto c = 0; 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
REQUIRE(a_to_c.rotation[0] == Approx(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]));
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]));
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]));
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]));
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]));
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]));
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]));
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]));
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]));
// 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]));
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]));
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]));
}
}
}
}
}
}
std::shared_ptr<device> do_with_waiting_for_camera_connection(rs2::context ctx, std::shared_ptr<device> dev, std::string serial, std::function<void()> operation)
{
std::mutex m;
bool disconnected = false;
bool connected = false;
std::shared_ptr<device> result;
std::condition_variable cv;
ctx.set_devices_changed_callback([&result, dev, &disconnected, &connected, &m, &cv, &serial](rs2::event_information info) mutable
{
if (info.was_removed(*dev))
{
std::unique_lock<std::mutex> lock(m);
disconnected = true;
cv.notify_all();
}
auto list = info.get_new_devices();
if (list.size() > 0)
{
for (auto cam : list)
{
if (serial == cam.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER))
{
std::unique_lock<std::mutex> lock(m);
connected = true;
result = std::make_shared<device>(cam);
disable_sensitive_options_for(*result);
cv.notify_all();
break;
}
}
}
});
operation();
std::unique_lock<std::mutex> lock(m);
REQUIRE(wait_for_reset([&]() {
return cv.wait_for(lock, std::chrono::seconds(20), [&]() { return disconnected; });
}, dev));
REQUIRE(cv.wait_for(lock, std::chrono::seconds(20), [&]() { return connected; }));
REQUIRE(result);
return result;
}
TEST_CASE("Toggle Advanced Mode", "[live][AdvMd]") {
for (int i = 0; i < 3; ++i)
{
rs2::context ctx;
if (make_context(SECTION_FROM_TEST_NAME, &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]")
{
static const std::vector<res_type> resolutions = { low_resolution,
medium_resolution,
high_resolution };
rs2::context ctx;
if (make_context(SECTION_FROM_TEST_NAME, &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)};
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);
REQUIRE_NOTHROW(presets_sensor.set_option(RS2_OPTION_VISUAL_PRESET, (float)preset));
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]") {