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Enhance depth test #14187

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Merged
Nir-Az merged 2 commits into from
Aug 4, 2025
Merged

Enhance depth test #14187

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fe89d88
enhance depth test
Nir-Az Aug 3, 2025
bd1b4b4
add largest bin size to log
Nir-Az Aug 3, 2025
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29 changes: 20 additions & 9 deletions unit-tests/live/frames/test-depth.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,11 @@
DEBUG_MODE = False

# Defines how far in cm do pixels have to be, to be considered in a different distance
# for example, 10 for 10cm, will define the range 100-109 cm as one (as 100)
DETAIL_LEVEL = 10
FRAMES_TO_CHECK = 30
# for example, 5 for 5cm, will define the range 100-104 cm as one (as 100)
DETAIL_LEVEL = 5
BLACK_PIXEL_THRESHOLD = 0.8 # Fail if more than 80% pixels are zero
DEPTH_PERCENTAGE = 0.5 # Percentage of pixels that need to have different values to be considered meaningful
FRAMES_TO_CHECK = 30 # Number of frames to check for meaningful depth

dev, ctx = test.find_first_device_or_exit()
tw.start_wrapper( dev )
Expand Down Expand Up @@ -125,14 +127,23 @@ def is_depth_meaningful(save_image=False, show_image=False):
log.e("Error getting color frame")

dists, total = get_distances(depth)

# save or display image (only possible through manual debugging)
num_blank_pixels = dists.get(0, 0)
# Check for mostly black image
if num_blank_pixels > total * BLACK_PIXEL_THRESHOLD:
percent_blank = 100.0 * num_blank_pixels / total if total > 0 else 0
log.f(f"Too many blank pixels: {num_blank_pixels}/{total} ({percent_blank:.1f}%)")
return False, num_blank_pixels
# Remove zero values from dists for meaningful depth check
dists_no_zero = {k: v for k, v in dists.items() if k != 0}
if save_image or show_image:
frames_to_image(depth, color, save_image, show_image)

# If any distance is the same on more than 90% of the pixels, there is no meaningful depth
meaningful_depth = not any(v > total * 0.9 for v in dists.values())
num_blank_pixels = dists[0]
# If any distance is the same on more than DEPTH_PERCENTAGE of the pixels, there is no meaningful depth
# Find the largest non-zero depth bin
max_nonzero_count = max(dists_no_zero.values()) if dists_no_zero else 0
max_nonzero_percent = 100.0 * max_nonzero_count / total if total > 0 else 0
meaningful_depth = not (max_nonzero_count > total * DEPTH_PERCENTAGE)
fill_rate = 100.0 * (total - num_blank_pixels) / total if total > 0 else 0
log.i(f"Depth fill rate: {fill_rate:.1f}% (blank pixels: {num_blank_pixels}/{total}), meaningful depth: {meaningful_depth} (largest bin: {max_nonzero_percent:.1f}% - max allowed {DEPTH_PERCENTAGE * 100:.1f}%)")
return meaningful_depth, num_blank_pixels


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