PR #14389 from AviaAv: Add page detection to texture mapping test

Author: Nir-Az

unit-tests/live/image-quality/iq_helper.py

@@ -7,7 +7,7 @@
 import time
 import pyrealsense2 as rs
 
-
+# targets are available on the Wiki page: https://rsconf.realsenseai.com/display/RealSense/Image+Quality+Tests
 # standard size to display / process the target
 WIDTH = 1280
 HEIGHT = 720
@@ -101,3 +101,7 @@ def get_roi_from_frame(frame):
     np_frame = np.asanyarray(frame.get_data())
     warped = cv2.warpPerspective(np_frame, M, (WIDTH, HEIGHT)) # using A4 size for its ratio
     return warped
+
+
+def is_color_close(actual, expected, tolerance):
+    return all(abs(int(a) - int(e)) <= tolerance for a, e in zip(actual, expected))

unit-tests/live/image-quality/test-basic-color.py

@@ -7,7 +7,7 @@
 from rspy import log, test
 import numpy as np
 import cv2
-from iq_helper import find_roi_location, get_roi_from_frame, WIDTH, HEIGHT
+from iq_helper import find_roi_location, get_roi_from_frame, is_color_close, WIDTH, HEIGHT
 
 NUM_FRAMES = 100 # Number of frames to check
 COLOR_TOLERANCE = 60 # Acceptable per-channel deviation in RGB values
@@ -37,9 +37,6 @@
 
 dev, ctx = test.find_first_device_or_exit()
 
-def is_color_close(actual, expected, tolerance):
-    return all(abs(int(a) - int(e)) <= tolerance for a, e in zip(actual, expected))
-
 def draw_debug(frame_bgr, a4_page_bgr):
     """
     Simple debug view:
@@ -74,22 +71,15 @@ def draw_debug(frame_bgr, a4_page_bgr):
     return np.hstack([left, right])
 
 
-def is_cfg_supported(resolution, fps):
-    color_sensor = dev.first_color_sensor()
-    for p in color_sensor.get_stream_profiles():
-        if p.stream_type() == rs.stream.color and p.format() == rs.format.bgr8:
-            v = p.as_video_stream_profile()
-            if (v.width(), v.height()) == resolution and v.fps() == fps:
-                return True
-    return False
-
-
 def run_test(resolution, fps):
     test.start("Basic Color Image Quality Test:", f"{resolution[0]}x{resolution[1]} @ {fps}fps")
     color_match_count = {color: 0 for color in expected_colors.keys()}
     pipeline = rs.pipeline(ctx)
     cfg = rs.config()
     cfg.enable_stream(rs.stream.color, resolution[0], resolution[1], rs.format.bgr8, fps)
+    if not cfg.can_resolve(pipeline):
+        log.i(f"Configuration {resolution[0]}x{resolution[1]}@{fps}fps is not supported by the device")
+        return
     pipeline_profile = pipeline.start(cfg)
     for i in range(60):  # skip initial frames
         pipeline.wait_for_frames()
@@ -138,16 +128,16 @@ def run_test(resolution, fps):
         raise e
     finally:
         cv2.destroyAllWindows()
-
-    pipeline.stop()
-    test.finish()
+        pipeline.stop()
+        test.finish()
 
 
 log.d("context:", test.context)
-if "nightly" not in test.context:
-    configurations = [((1280, 720), 30)]
-else:
-    configurations = [
+
+configurations = [((1280, 720), 30)]
+# on nightly we check additional arbitrary configurations
+if "nightly" in test.context:
+    configurations += [
         ((640,480), 15),
         ((640,480), 30),
         ((640,480), 60),
@@ -159,8 +149,7 @@ def run_test(resolution, fps):
         ((1280,720), 15),
     ]
 
-for cfg in configurations:
-    if is_cfg_supported(*cfg):
-        run_test(*cfg)
+for resolution, fps in configurations:
+    run_test(resolution, fps)
 
 test.print_results_and_exit()

unit-tests/live/image-quality/test-basic-depth.py

@@ -9,84 +9,109 @@
 import numpy as np
 import cv2
 import time
-from iq_helper import find_roi_location, get_roi_from_frame
+from iq_helper import find_roi_location, get_roi_from_frame, WIDTH, HEIGHT
 
 NUM_FRAMES = 100 # Number of frames to check
 DEPTH_TOLERANCE = 0.05  # Acceptable deviation from expected depth in meters
 FRAMES_PASS_THRESHOLD =0.8 # Percentage of frames that needs to pass
 DEBUG_MODE = False
 
-test.start("Basic Depth Image Quality Test")
+DISTANCE_FROM_CUBE = 0.53
+DISTANCE_FROM_BACKGROUND = 0.67
+dev, ctx = test.find_first_device_or_exit()
 
-try:
-    dev, ctx = test.find_first_device_or_exit()
+def run_test(resolution, fps):
+    test.start("Basic Depth Image Quality Test", f"{resolution[0]}x{resolution[1]} @ {fps}fps")
 
-    pipeline = rs.pipeline(ctx)
-    cfg = rs.config()
-    cfg.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
-    cfg.enable_stream(rs.stream.infrared, 1, 640, 480, rs.format.y8, 30)  # needed for finding the ArUco markers
-    profile = pipeline.start(cfg)
-    time.sleep(2)
+    try:
+        pipeline = rs.pipeline(ctx)
+        cfg = rs.config()
+        cfg.enable_stream(rs.stream.depth, resolution[0], resolution[1], rs.format.z16, fps)
+        cfg.enable_stream(rs.stream.infrared, 1, 640, 480, rs.format.y8, 30)  # needed for finding the ArUco markers
+        if not cfg.can_resolve(pipeline):
+            log.i(f"Configuration {resolution[0]}x{resolution[1]} @ {fps}fps is not supported by the device")
+            return
+        profile = pipeline.start(cfg)
+        time.sleep(2)
 
-    depth_sensor = profile.get_device().first_depth_sensor()
-    depth_scale = depth_sensor.get_depth_scale()
+        depth_sensor = profile.get_device().first_depth_sensor()
+        depth_scale = depth_sensor.get_depth_scale()
 
-    # find region of interest (page) and get the transformation matrix
-    find_roi_location(pipeline, (4,5,6,7), DEBUG_MODE)  # markers in the lab are 4,5,6,7
-    depth_passes = {}
-    for i in range(NUM_FRAMES):
-        frames = pipeline.wait_for_frames()
-        depth_frame = frames.get_depth_frame()
-        infrared_frame = frames.get_infrared_frame()
-        if not depth_frame:
-            continue
-
-        depth_image = get_roi_from_frame(depth_frame)
+        # find region of interest (page) and get the transformation matrix
+        find_roi_location(pipeline, (4,5,6,7), DEBUG_MODE)  # markers in the lab are 4,5,6,7
 
         # Known pixel positions and expected depth values (in meters)
         # Using temporary values until setup in lab is completed
-        h, w = depth_image.shape
         depth_points = {
-            "cube":  ((h // 2, w // 2), 0.45), # center of page, cube at 0.45m
-            "background": ((h // 2, int(w * 0.1)), 0.6), # left edge, background at 0.6m
+            "cube": ((HEIGHT // 2, WIDTH // 2), DISTANCE_FROM_CUBE),  # cube expected to be at the center of page
+            "background": ((HEIGHT // 2, int(WIDTH * 0.1)), DISTANCE_FROM_BACKGROUND)  # left edge, background
         }
-        if not depth_passes:
-            depth_passes = {name: 0 for name in depth_points}
-        for point_name, ((x, y), expected_depth) in depth_points.items():
-            raw_depth = depth_image[y, x]
-            depth_value = raw_depth * depth_scale  # Convert to meters
-
-            if abs(depth_value - expected_depth) <= DEPTH_TOLERANCE:
-                depth_passes[point_name] += 1
-            else:
-                log.d(f"Frame {i} - {point_name} at ({x},{y}): {depth_value:.3f}m ≠ {expected_depth:.3f}m")
-
+        depth_passes = {name: 0 for name in depth_points}
+        for i in range(NUM_FRAMES):
+            frames = pipeline.wait_for_frames()
+            depth_frame = frames.get_depth_frame()
+            infrared_frame = frames.get_infrared_frame()
+            if not depth_frame:
+                continue
+
+            depth_image = get_roi_from_frame(depth_frame)
+
+            for point_name, ((x, y), expected_depth) in depth_points.items():
+                raw_depth = depth_image[y, x]
+                depth_value = raw_depth * depth_scale  # Convert to meters
+
+                if abs(depth_value - expected_depth) <= DEPTH_TOLERANCE:
+                    depth_passes[point_name] += 1
+                else:
+                    log.d(f"Frame {i} - {point_name} at ({x},{y}): {depth_value:.3f}m ≠ {expected_depth:.3f}m")
+
+            if DEBUG_MODE:
+                # display IR image along with transformed view of IR, get_roi_from_frame(infrared_frame)
+                infrared_np = np.asanyarray(infrared_frame.get_data())
+                w, h = infrared_np.shape
+                dbg_resized = cv2.resize(get_roi_from_frame(infrared_frame), (h, w))
+
+                dbg = np.hstack([infrared_np, dbg_resized])
+                cv2.imshow("Depth IQ - IR | Depth", dbg)
+                cv2.waitKey(1)
+
+        # wait for close
         if DEBUG_MODE:
-            # display IR image along with transformed view of IR, get_roi_from_frame(infrared_frame)
-            infrared_np = np.asanyarray(infrared_frame.get_data())
-            w, h = infrared_np.shape
-            dbg_resized = cv2.resize(get_roi_from_frame(infrared_frame), (h, w))
-
-            dbg = np.hstack([infrared_np, dbg_resized])
-            cv2.imshow("Depth IQ - IR | Depth", dbg)
-            cv2.waitKey(1)
-
-    # wait for close
-    if DEBUG_MODE:
-        cv2.waitKey(0)
-
-    # Check that each point passed the threshold
-    min_passes = int(NUM_FRAMES * FRAMES_PASS_THRESHOLD)
-    for point_name, count in depth_passes.items():
-        log.i(f"{point_name.title()} passed in {count}/{NUM_FRAMES} frames")
-        test.check(count >= min_passes)
-
-except Exception as e:
-    test.fail()
-    raise e
-finally:
-    cv2.destroyAllWindows()
-
-pipeline.stop()
-test.finish()
+            cv2.waitKey(0)
+
+        # Check that each point passed the threshold
+        min_passes = int(NUM_FRAMES * FRAMES_PASS_THRESHOLD)
+        for point_name, count in depth_passes.items():
+            log.i(f"{point_name.title()} passed in {count}/{NUM_FRAMES} frames")
+            test.check(count >= min_passes)
+
+    except Exception as e:
+        test.fail()
+        raise e
+    finally:
+        cv2.destroyAllWindows()
+        pipeline.stop()
+        test.finish()
+
+
+log.d("context:", test.context)
+
+configurations = [((1280, 720), 30)]
+# on nightly we check additional arbitrary configurations
+if "nightly" in test.context:
+    configurations += [
+        ((640,480), 15),
+        ((640,480), 30),
+        ((640,480), 60),
+        ((848,480), 15),
+        ((848,480), 30),
+        ((848,480), 60),
+        ((1280,720), 5),
+        ((1280,720), 10),
+        ((1280,720), 15),
+    ]
+
+for resolution, fps in configurations:
+    run_test(resolution, fps)
+
 test.print_results_and_exit()