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PR #12481 from noacoohen: Test projection from recording
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# License: Apache 2.0. See LICENSE file in root directory. | ||
# Copyright(c) 2023 Intel Corporation. All Rights Reserved. | ||
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#temporary fix to prevent the test from running on Win_SH_Py_DDS_CI | ||
#test:donotrun:dds | ||
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import pyrealsense2 as rs | ||
from rspy import test, repo | ||
import os.path | ||
################################################################################################ | ||
with test.closure("Test Projection from recording"): | ||
filename = os.path.join(repo.build, 'unit-tests', 'recordings', 'single_depth_color_640x480.bag') | ||
ctx = rs.context() | ||
dev = ctx.load_device(filename) | ||
dev.set_real_time(False) | ||
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syncer = rs.syncer() | ||
sensors = dev.query_sensors() | ||
for s in sensors: | ||
s.open(s.get_stream_profiles()[0]) | ||
s.start(syncer) | ||
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depth = rs.frame() | ||
depth_profile = rs.stream_profile() | ||
color_profile = rs.stream_profile() | ||
while not depth_profile or not color_profile: | ||
frames = syncer.wait_for_frames() | ||
test.check(frames.size() > 0) | ||
if frames.size() == 1: | ||
if frames.get_profile().stream_type() == rs.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() | ||
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depth_intrin = depth_profile.as_video_stream_profile().get_intrinsics() | ||
color_intrin = color_profile.as_video_stream_profile().get_intrinsics() | ||
depth_extrin_to_color = depth_profile.as_video_stream_profile().get_extrinsics_to(color_profile) | ||
color_extrin_to_depth = color_profile.as_video_stream_profile().get_extrinsics_to(depth_profile) | ||
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depth_scale = 0 | ||
for s in sensors: | ||
depth_sensor = s.is_depth_sensor() | ||
if depth_sensor: | ||
depth_scale = s.as_depth_sensor().get_depth_scale() | ||
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test.check_equal(s.get_info(rs.camera_info.name) == "Stereo Module", s.is_depth_sensor()) | ||
test.check_equal(s.get_info(rs.camera_info.name) == "RGB Camera", s.is_color_sensor()) | ||
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count = 0 | ||
for i in range(depth_intrin.width): | ||
for j in range(depth_intrin.height): | ||
depth_pixel = [i,j] | ||
udist = depth.as_depth_frame().get_distance(int(depth_pixel[0]+0.5),int(depth_pixel[1]+0.5)) | ||
if udist == 0: | ||
continue | ||
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point = rs.rs2_deproject_pixel_to_point(depth_intrin, depth_pixel, udist) | ||
other_point = rs.rs2_transform_point_to_point(depth_extrin_to_color, point) | ||
from_pixel = rs.rs2_project_point_to_pixel(color_intrin, other_point) | ||
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#Search along a projected beam from 0.1m to 10 meter | ||
to_pixel = rs.rs2_project_color_pixel_to_depth_pixel(depth.get_data(), depth_scale, 0.1,10,depth_intrin, color_intrin,color_extrin_to_depth, depth_extrin_to_color, from_pixel) | ||
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dist = ((depth_pixel[1] - to_pixel[1]) ** 2 + (depth_pixel[0] - to_pixel[0]) ** 2) ** 0.5 | ||
if dist > 1: | ||
count += 1 | ||
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MAX_ERROR_PERCENTAGE = 0.1 | ||
test.check(count * 100 / (depth_intrin.width * depth_intrin.height) < MAX_ERROR_PERCENTAGE) | ||
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for s in sensors: | ||
s.stop() | ||
s.close() | ||
################################################################################################ | ||
test.print_results_and_exit() |
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