PR #13682 from OhadMeir: Stabilize DDS tests on LibCI

Author: OhadMeir

unit-tests/dds/d455.py

@@ -207,6 +207,7 @@ def color_stream():
     stream = dds.color_stream_server( "Color",  "RGB Camera" )
     stream.init_profiles( color_stream_profiles(), 10 )
     stream.init_options( rgb_camera_options() )
+    stream.set_intrinsics( color_stream_intrinsics() )
     return stream
 
 
@@ -398,4 +399,85 @@ def get_extrinsics():
     extrinsics[("Infrared_2","Infrared_1")] = extr
 
     return extrinsics
-
+  
+def color_stream_intrinsics():
+    intrinsics = []
+
+    intr = dds.video_intrinsics();
+    intr.width = 1280
+    intr.height = 800
+    intr.principal_point.x = 648.580993652344
+    intr.principal_point.y = 398.820983886719
+    intr.focal_length.x = 636.450012207031
+    intr.focal_length.y = 635.621948242188
+    intr.distortion.model = dds.distortion_model.inverse_brown
+    intr.distortion.coeffs = [-0.0569772012531757,0.0660239011049271,0.000211432998185046,0.00068545201793313,-0.0208512991666794]
+    intrinsics.append( intr )
+
+    intr = dds.video_intrinsics();
+    intr.width = 1280
+    intr.height = 720
+    intr.principal_point.x = 648.580993652344
+    intr.principal_point.y = 358.821014404297
+    intr.focal_length.x = 636.450012207031
+    intr.focal_length.y = 635.622009277344
+    intr.distortion.model = dds.distortion_model.inverse_brown
+    intr.distortion.coeffs = [-0.0569772012531757,0.0660239011049271,0.000211432998185046,0.00068545201793313,-0.0208512991666794]
+    intrinsics.append( intr )
+
+    intr = dds.video_intrinsics();
+    intr.width = 848
+    intr.height = 480
+    intr.principal_point.x = 429.684906005859
+    intr.principal_point.y = 239.21891784668
+    intr.focal_length.x = 421.648132324219
+    intr.focal_length.y = 421.099578857422
+    intr.distortion.model = dds.distortion_model.inverse_brown
+    intr.distortion.coeffs = [-0.0569772012531757,0.0660239011049271,0.000211432998185046,0.00068545201793313,-0.0208512991666794]
+    intrinsics.append( intr )
+
+    intr = dds.video_intrinsics();
+    intr.width = 640
+    intr.height = 480
+    intr.principal_point.x = 325.148590087891
+    intr.principal_point.y = 239.292602539062
+    intr.focal_length.x = 381.869995117188
+    intr.focal_length.y = 381.373199462891
+    intr.distortion.model = dds.distortion_model.inverse_brown
+    intr.distortion.coeffs = [-0.0569772012531757,0.0660239011049271,0.000211432998185046,0.00068545201793313,-0.0208512991666794]
+    intrinsics.append( intr )
+
+    intr = dds.video_intrinsics();
+    intr.width = 640
+    intr.height = 360
+    intr.principal_point.x = 324.290496826172
+    intr.principal_point.y = 179.410507202148
+    intr.focal_length.x = 318.225006103516
+    intr.focal_length.y = 317.811004638672
+    intr.distortion.model = dds.distortion_model.inverse_brown
+    intr.distortion.coeffs = [-0.0569772012531757,0.0660239011049271,0.000211432998185046,0.00068545201793313,-0.0208512991666794]
+    intrinsics.append( intr )
+
+    intr = dds.video_intrinsics();
+    intr.width = 480
+    intr.height = 270
+    intr.principal_point.x = 243.217880249023
+    intr.principal_point.y = 134.557876586914
+    intr.focal_length.x = 238.668746948242
+    intr.focal_length.y = 238.358245849609
+    intr.distortion.model = dds.distortion_model.inverse_brown
+    intr.distortion.coeffs = [-0.0569772012531757,0.0660239011049271,0.000211432998185046,0.00068545201793313,-0.0208512991666794]
+    intrinsics.append( intr )
+
+    intr = dds.video_intrinsics();
+    intr.width = 424
+    intr.height = 240
+    intr.principal_point.x = 214.84245300293
+    intr.principal_point.y = 119.60945892334
+    intr.focal_length.x = 210.824066162109
+    intr.focal_length.y = 210.549789428711
+    intr.distortion.model = dds.distortion_model.inverse_brown
+    intr.distortion.coeffs = [-0.0569772012531757,0.0660239011049271,0.000211432998185046,0.00068545201793313,-0.0208512991666794]
+    intrinsics.append( intr )
+
+    return set( intrinsics )

unit-tests/dds/test-device-discovery.py

@@ -68,7 +68,7 @@ def create_server_2( root ):
 
     # We listen directly on the device-info topic
     device_info_topic = dds.message.device_info.create_topic( participant, dds.topics.device_info )
-    device_info = dds.topic_reader( device_info_topic )
+    device_info_reader = dds.topic_reader( device_info_topic )
     broadcast_received = threading.Event()
     broadcast_devices = []
     def on_device_info_available( reader ):
@@ -81,8 +81,8 @@ def on_device_info_available( reader ):
             global broadcast_devices
             broadcast_devices.append( j )
         broadcast_received.set()
-    device_info.on_data_available( on_device_info_available )
-    device_info.run( dds.topic_reader.qos() )
+    device_info_reader.on_data_available( on_device_info_available )
+    device_info_reader.run( dds.topic_reader.qos() )
 
     def detect_broadcast():
         global broadcast_received, broadcast_devices
@@ -203,6 +203,9 @@ def __exit__( self, type, value, traceback ):
             reader_2 = dds.topic_reader( device_info_topic )
             reader_2.run( dds.topic_reader.qos() )
         test.check_equal( len(broadcast_devices), 2 )
+        # Add short sleep to avoid a possible deadlock. Devices broadcast is handled by `on_device_info_available` callback,
+        # we may still be checking for messages (in eProcima reader thread) when trying to delete reader_2.
+        sleep( 0.1 )
         del reader_2
 
     #############################################################################################
@@ -300,7 +303,7 @@ def __exit__( self, type, value, traceback ):
 
 
     del watcher
-    device_info.stop()
-    del device_info
+    device_info_reader.stop()
+    del device_info_reader
     del participant
     test.print_results_and_exit()

unit-tests/dds/test-librs-intrinsics.py

@@ -11,6 +11,7 @@
 
         import pyrealdds as dds
         import d435i
+        import d455
 
         dds.debug( log.is_debug_on(), log.nested )
 
@@ -34,22 +35,22 @@ def broadcast_device( server, device_info ):
 
         def build_scaled_intrinsics_server():
             color = dds.color_stream_server( 'Color', 'RGB Camera' )
-            color.init_profiles( d435i.color_stream_profiles(), 8 )
+            color.init_profiles( d455.color_stream_profiles(), 5 )
             color.init_options( [] )
 
             # Add only a single set of intrinsics for 1920x1080, from which we expect to scale to all resolutions:
             i = dds.video_intrinsics();
-            i.width = 1920
-            i.height = 1080
-            i.principal_point.x = 970.4506225585938
-            i.principal_point.y = 542.8473510742188
-            i.focal_length.x = 1362.133056640625
-            i.focal_length.y = 1362.629638671875
+            i.width = 1280
+            i.height = 720
+            i.principal_point.x = 648.580993652344
+            i.principal_point.y = 358.821014404297
+            i.focal_length.x = 636.450012207031
+            i.focal_length.y = 635.622009277344
             i.distortion.model = dds.distortion_model.inverse_brown
-            i.distortion.coeffs = [0.0,0.0,0.0,0.0,0.0]
+            i.distortion.coeffs = [-0.0569772012531757,0.0660239011049271,0.000211432998185046,0.00068545201793313,-0.0208512991666794]
             color.set_intrinsics( set( [i] ) )
 
-            dev = dds.device_server( participant, d435i.device_info.topic_root )
+            dev = dds.device_server( participant, d455.device_info.topic_root )
             dev.init( [color], [], {} )
             return dev
 
@@ -167,7 +168,7 @@ def close_server( instance ):
         dev = None
 
     with test.closure( 'Scaled intrinsics' ):
-        remote.run( 'instance = broadcast_device( build_scaled_intrinsics_server(), d435i.device_info )' )
+        remote.run( 'instance = broadcast_device( build_scaled_intrinsics_server(), d455.device_info )' )
         dev = rs.wait_for_devices( context, rs.only_sw_devices, n=1. )
         sensors = dev.query_sensors()
         test.check_equal( len(sensors), 1 )

unit-tests/dds/test-md-syncer.py

@@ -354,7 +354,7 @@ def md_thread():
 
     def frame_callback( image, metadata ):
         on_frame_ready( image, metadata )  # for reporting
-        sleep( 0.1 )
+        sleep( 0.2 )
         log.d( f'<{image_id(image):->4} {dds.now()} [{threading.get_native_id()}]' )
 
     syncer = new_syncer( on_frame_ready=frame_callback )
@@ -366,11 +366,11 @@ def frame_thread():
             idstr = f'i{image_id(image)}'
             log.d( f'{idstr:>5} {dds.now()} [{threadid}] enqueue {image}' )
             syncer.enqueue_frame( i, image )
-            sleep( 0.05 )
+            sleep( 0.1 )
 
     threadA = threading.Thread( target=frame_thread )
     threadA.start()
-    sleep( 0.12 ) # Between 2nd and 3rd enqueue_frame
+    sleep( 0.22 ) # Between 2nd and 3rd enqueue_frame
     md = new_metadata( 1, time_stamp( 1 ) )
     syncer.enqueue_metadata( 1, md )
     threadA.join()