test-dds-librs-intrinsics uses two devices to avoid race condition

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-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 )