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kinect/codes/Azure-Kinect-Sensor-SDK/tests/CaptureSync/capturesync.cpp

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// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#include <utcommon.h>
#include <gtest/gtest.h>
#include <k4ainternal/capturesync.h>
#include <k4ainternal/capture.h>
#include <azure_c_shared_utility/lock.h>
#include <azure_c_shared_utility/threadapi.h>
#include <azure_c_shared_utility/condition.h>
// This wait is effectively an infinite wait, setting to 5 min will prevent the test from blocking indefinately in the
// event the test regresses.
#define WAIT_TEST_INFINITE (5 * 60 * 1000)
#define FPS_30_IN_US (1000000 / 30)
// Generates and FPS time based on the capture number passed in and then adds noise to the time based on percentage
// passed in.
#define FPS_30_US(captureNum, percent) (FPS_30_IN_US * captureNum) + (percent * FPS_30_IN_US / 100)
#define NO_CAPTURE 1
#define COLOR_FIRST 1
#define DEPTH_FIRST 0
#define COLOR_CAPTURE (true)
#define DEPTH_CAPTURE (false)
#define END_TEST_DATA \
{ \
UINT64_MAX, COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE \
}
int main(int argc, char **argv)
{
return k4a_test_common_main(argc, argv);
}
TEST(capturesync_ut, capturesync)
{
k4a_capture_t capture;
capturesync_t sync;
k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
config.color_format = K4A_IMAGE_FORMAT_COLOR_MJPG;
config.color_resolution = K4A_COLOR_RESOLUTION_1080P;
config.depth_mode = K4A_DEPTH_MODE_NFOV_2X2BINNED;
config.camera_fps = K4A_FRAMES_PER_SECOND_5;
ASSERT_EQ(capturesync_create(&sync), K4A_RESULT_SUCCEEDED);
ASSERT_EQ(capturesync_start(NULL, NULL), K4A_RESULT_FAILED);
ASSERT_EQ(capturesync_start(sync, NULL), K4A_RESULT_FAILED);
ASSERT_EQ(capturesync_start(NULL, &config), K4A_RESULT_FAILED);
ASSERT_EQ(capturesync_start(sync, &config), K4A_RESULT_SUCCEEDED);
// 2nd time should pass - public API does not allow start to be called twice, but internally we don't need to push
// that requirement on each sub module
ASSERT_EQ(capturesync_start(sync, &config), K4A_RESULT_SUCCEEDED);
capturesync_stop(NULL);
capturesync_stop(sync);
// 2nd time should not crash or fail
capturesync_stop(sync);
// This should fail because we are in a stopped state.
ASSERT_EQ(capturesync_get_capture(sync, &capture, 0), K4A_WAIT_RESULT_FAILED);
ASSERT_EQ(capturesync_start(sync, &config), K4A_RESULT_SUCCEEDED);
// This should timeout because we are in a running state and there is no data
ASSERT_EQ(capturesync_get_capture(sync, &capture, 0), K4A_WAIT_RESULT_TIMEOUT);
capturesync_destroy(sync);
capturesync_destroy(NULL);
}
typedef struct _capturesync_test_timing_t
{
uint64_t timestamp_usec;
bool color_capture;
int color_result;
int depth_result;
} capturesync_test_timing_t;
static capturesync_test_timing_t Drop1Sample[] = {
{ FPS_30_US(0, 10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, -10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, 25), DEPTH_CAPTURE, -1, 0 },
END_TEST_DATA,
};
static capturesync_test_timing_t Drop3SamplesSampleTsNearEndPeriod[] = {
{ FPS_30_US(0, 10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, -10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(2, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(3, -10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(3, 40), DEPTH_CAPTURE, -1, 0 },
END_TEST_DATA,
};
static capturesync_test_timing_t Drop3SamplesSampleIsNearBeginPeriod[] = {
{ FPS_30_US(0, 10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, -10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(2, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(3, -10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(3, -40), DEPTH_CAPTURE, -2, 0 },
END_TEST_DATA,
};
static capturesync_test_timing_t Drop3SamplesThen3More[] = {
{ FPS_30_US(0, 10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, -10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(2, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(3, -10), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(4, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// Test where we are nearly the 1/4 FPS faster than depth - we are using 24% ahead of depth and expecting a capture
// to be generated.
{ FPS_30_US(5, 10), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(5, 34), COLOR_CAPTURE, 0, -1 },
// Test where we are just pass the 1/4 FPS faster than depth - we are using 26% ahead of depth here and expect there
// not to be a capture - a failure will result in an extra capture waiting at the end of the test.
{ FPS_30_US(6, 10), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(6, 36), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(8, 00), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(8, 00), COLOR_CAPTURE, 0, -1 },
END_TEST_DATA,
};
static capturesync_test_timing_t TwoToChooseFrom[] = {
{ FPS_30_US(0, 10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, 10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(2, -10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(2, 000), DEPTH_CAPTURE, -1, 0 },
END_TEST_DATA,
};
static capturesync_test_timing_t OneSensorIsMultipleFramesAhead[] = {
{ FPS_30_US(0, 10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, 10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(2, -10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(3, -10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(0, 010), DEPTH_CAPTURE, -4, 0 },
{ FPS_30_US(4, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, 000), DEPTH_CAPTURE, -5, 0 },
{ FPS_30_US(5, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(2, 000), DEPTH_CAPTURE, -6, 0 },
{ FPS_30_US(6, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(3, 000), DEPTH_CAPTURE, -7, 0 },
{ FPS_30_US(7, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(10, 10), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(11, 10), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(12, -10), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(13, -10), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(10, 000), COLOR_CAPTURE, 0, -4 },
{ FPS_30_US(14, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(11, 000), COLOR_CAPTURE, 0, -5 },
{ FPS_30_US(15, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(12, 000), COLOR_CAPTURE, 0, -6 },
{ FPS_30_US(16, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(13, 000), COLOR_CAPTURE, 0, -7 },
{ FPS_30_US(17, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
END_TEST_DATA,
};
static capturesync_test_timing_t Drop2Captures1PeriodSamplesThen3More[] = {
{ FPS_30_US(0, 001), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(0, 001), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(1, 010), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, -10), COLOR_CAPTURE, 0, -1 },
{ FPS_30_US(2, 010), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(2, -10), COLOR_CAPTURE, 0, -1 },
{ FPS_30_US(3, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(3, 000), DEPTH_CAPTURE, -1, 0 },
// drop 3 then 3 more dup of Drop3SamplesThen3More
{ FPS_30_US(4, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(5, 010), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(6, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(7, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(8, 010), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(9, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// 2 color captures in 1 period is not supported in this algorythm
//{ FPS_30_US(10, -25), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
//{ FPS_30_US(10, 025), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
//{ FPS_30_US(10, 040), DEPTH_CAPTURE, -2, 0 },
// we should recover and drop the extra frame that came in above
{ FPS_30_US(11, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(11, 0), DEPTH_CAPTURE, -1, 0 },
END_TEST_DATA,
};
static capturesync_test_timing_t RandomTimingAndIssues[] = {
{ FPS_30_US(0, 10), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, -10), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(1, 000), COLOR_CAPTURE, 0, -1 },
{ FPS_30_US(2, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(2, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(3, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(3, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(4, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(4, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(5, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(5, -10), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(6, -10), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(6, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(7, -20), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(7, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(8, -30), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(8, 000), DEPTH_CAPTURE, -1, 0 }, // 16
{ FPS_30_US(9, -40), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(9, 000), DEPTH_CAPTURE, -1, 0 }, // 18
{ FPS_30_US(10, -35), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(10, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(11, -35), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(11, -35), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(12, -35), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(12, -25), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(13, -35), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(13, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(14, -35), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(14, 25), DEPTH_CAPTURE, -1, 0 }, // 28
{ FPS_30_US(15, -35), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(15, 35), DEPTH_CAPTURE, -1, 0 }, // 30
{ FPS_30_US(16, -35), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(16, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(17, -35), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(17, -10), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(18, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// no depth frame
{ FPS_30_US(19, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// no depth frame
{ FPS_30_US(20, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// no depth frame
{ FPS_30_US(21, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// no depth frame
{ FPS_30_US(22, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(22, 000), DEPTH_CAPTURE, -1, 0 }, // 40
// no color depth
{ FPS_30_US(23, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// no color depth
{ FPS_30_US(24, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// no color depth
{ FPS_30_US(25, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// no color depth
{ FPS_30_US(26, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(27, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(27, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(28, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// no depth frame
{ FPS_30_US(29, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// no depth frame
// no color depth
{ FPS_30_US(30, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
// no color depth
{ FPS_30_US(31, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE }, // 50
// no color depth
{ FPS_30_US(32, 000), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(33, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(33, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(34, 012), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(34, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(35, -12), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(35, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(36, -12), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(36, -12), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(37, -12), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE }, // 60
{ FPS_30_US(37, 012), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(38, 012), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(38, -12), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(40, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(40, 000), DEPTH_CAPTURE, -1, 0 },
END_TEST_DATA,
};
// This test validates the implementation of synchronized_images_only. This test should provide enough data to over flow
// and queue and confirm that it is not sending captures to the user when synchronized_images_only=true,
static capturesync_test_timing_t DropIndividualSamplesToCaller[] = {
{ FPS_30_US(0, 1), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(0, 1), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(1, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(2, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(3, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(4, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(5, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(6, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(7, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(8, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(9, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(10, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(11, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(12, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(13, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(14, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(15, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(16, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(17, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(18, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(19, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(20, 0), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(21, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(21, 000), DEPTH_CAPTURE, -1, 0 },
{ FPS_30_US(22, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(23, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(24, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(25, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(26, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(27, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(28, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(29, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(30, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(31, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(32, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(33, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(34, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(35, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(36, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(37, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(38, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(39, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(40, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(41, 0), DEPTH_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(42, 000), COLOR_CAPTURE, NO_CAPTURE, NO_CAPTURE },
{ FPS_30_US(42, 000), DEPTH_CAPTURE, -1, 0 },
END_TEST_DATA,
};
typedef struct _capturesync_test_t
{
capturesync_test_timing_t *timing;
bool color_capture;
LOCK_HANDLE lock;
capturesync_t sync;
COND_HANDLE condition;
bool thread_waiting;
} capturesync_test_t;
static k4a_result_t
capturesync_push_single_capture(k4a_result_t status, capturesync_t sync, bool color_capture, uint64_t timestamp)
{
k4a_capture_t capture;
k4a_image_t image = NULL;
k4a_result_t result;
const char *zone = color_capture ? "cs_color_test_thread" : "cs_depth_test_thread";
result = TRACE_CALL(capture_create(&capture));
if (K4A_SUCCEEDED(result))
{
if (color_capture)
{
result = TRACE_CALL(image_create_empty_internal(ALLOCATION_SOURCE_COLOR, 10, &image));
}
else
{
result = TRACE_CALL(image_create_empty_internal(ALLOCATION_SOURCE_DEPTH, 10, &image));
}
}
if (K4A_SUCCEEDED(result))
{
image_set_device_timestamp_usec(image, timestamp);
if (color_capture)
{
capture_set_color_image(capture, image);
image_dec_ref(image);
image = NULL;
}
else
{
capture_set_ir_image(capture, image);
capture_set_depth_image(capture, image);
image_dec_ref(image);
image = NULL;
}
LOG_INFO("%s: Pushing a capture", zone);
capturesync_add_capture(sync, status, capture, color_capture);
capture_dec_ref(capture);
}
return result;
}
// Simulate either a streaming depth thread or streaming color thread
static void capturesync_thread_generate_sample_ready(capturesync_test_t *test, k4a_result_t *result)
{
capturesync_test_timing_t *timing;
uint32_t i = 0;
bool color_capture;
timing = test->timing;
color_capture = test->color_capture;
*result = K4A_RESULT_SUCCEEDED;
const char *zone = color_capture ? "cs_color_test_thread" : "cs_depth_test_thread";
// Synchronize with test start
Lock(test->lock);
Unlock(test->lock);
do
{
if (timing[i].color_capture == color_capture)
{
*result = capturesync_push_single_capture(K4A_RESULT_SUCCEEDED,
test->sync,
timing[i].color_capture,
timing[i].timestamp_usec);
}
// Send data without delay until we know we should get a sync'd capture, then wait - this keeps the internal
// queue's from becomming saturated.
if (timing[i].color_result != NO_CAPTURE && timing[i].depth_result != NO_CAPTURE)
{
Lock(test->lock);
test->thread_waiting = true;
COND_RESULT cond_result = Condition_Wait(test->condition, test->lock, 300000);
Unlock(test->lock);
ASSERT_EQ(cond_result, COND_OK) << "waiting on entry " << i << "\n";
}
i++;
} while ((timing[i].timestamp_usec != UINT64_MAX) && (*result == K4A_RESULT_SUCCEEDED));
LOG_INFO("%s: Thread exiting", zone);
}
// Simulate either a streaming depth thread or streaming color thread
static int _capturesync_thread_generate_sample_ready(void *param)
{
capturesync_test_t *test;
k4a_result_t result = K4A_RESULT_SUCCEEDED;
test = (capturesync_test_t *)param;
capturesync_thread_generate_sample_ready(test, &result);
return result;
}
static void capturesync_validate_synchronization(capturesync_test_timing_t *test_data,
bool color_first,
bool synchd_images_only = false)
{
capturesync_test_t depth_test;
capturesync_test_t color_test;
THREAD_HANDLE th1, th2;
k4a_capture_t capture = NULL;
capturesync_t sync;
k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
k4a_result_t result;
ASSERT_EQ(capturesync_create(&sync), K4A_RESULT_SUCCEEDED);
depth_test.timing = color_test.timing = test_data;
depth_test.sync = color_test.sync = sync;
depth_test.color_capture = DEPTH_CAPTURE;
color_test.color_capture = COLOR_CAPTURE;
depth_test.thread_waiting = false;
color_test.thread_waiting = false;
depth_test.lock = Lock_Init();
color_test.lock = depth_test.lock;
ASSERT_NE(depth_test.lock, (LOCK_HANDLE)NULL);
ASSERT_NE(color_test.condition = Condition_Init(), (COND_HANDLE)NULL);
ASSERT_NE(depth_test.condition = Condition_Init(), (COND_HANDLE)NULL);
config.color_format = K4A_IMAGE_FORMAT_COLOR_MJPG;
config.color_resolution = K4A_COLOR_RESOLUTION_720P;
config.depth_mode = K4A_DEPTH_MODE_WFOV_2X2BINNED;
config.camera_fps = K4A_FRAMES_PER_SECOND_30;
config.synchronized_images_only = synchd_images_only;
if (color_first)
{
config.depth_delay_off_color_usec = 1;
}
else
{
config.depth_delay_off_color_usec = -1;
}
ASSERT_EQ(capturesync_start(sync, &config), K4A_RESULT_SUCCEEDED);
// prevent the threads from running yet
Lock(depth_test.lock);
ASSERT_EQ(THREADAPI_OK, ThreadAPI_Create(&th1, _capturesync_thread_generate_sample_ready, &depth_test));
ASSERT_EQ(THREADAPI_OK, ThreadAPI_Create(&th2, _capturesync_thread_generate_sample_ready, &color_test));
Unlock(depth_test.lock);
int32_t successfull_captures = 0;
int i = 0;
do
{
LOG_INFO("TS: %10lld C:%lld.%lld type: %s",
test_data[i].timestamp_usec,
test_data[i].timestamp_usec / FPS_30_IN_US, // frame period
test_data[i].timestamp_usec % FPS_30_IN_US * 10 / FPS_30_IN_US, // tenths of a frame period
(test_data[i].color_capture ? "color" : "depth"));
if (test_data[i].color_result != NO_CAPTURE && test_data[i].depth_result != NO_CAPTURE)
{
uint64_t ts_color = 0;
uint64_t ts_depth = 0;
uint64_t ts_ir16 = 0;
LOG_INFO("Waiting for capture upto %dms", WAIT_TEST_INFINITE);
while (ts_color == 0 || ts_depth == 0 || ts_ir16 == 0)
{
if (capture)
{
capture_dec_ref(capture);
capture = NULL;
}
// we will get unsynchronized captures, we have other tests for those. So skip a capture that doesn't
// have both a color and depth/ir16 image
ASSERT_EQ(capturesync_get_capture(sync, &capture, WAIT_TEST_INFINITE), (int)K4A_WAIT_RESULT_SUCCEEDED)
<< "Test iteration is:" << i;
for (int ts_loop = 0; ts_loop < 3; ts_loop++)
{
k4a_image_t image;
uint64_t *ts;
switch (ts_loop)
{
case 0:
ts = &ts_color;
image = capture_get_color_image(capture);
break;
case 1:
ts = &ts_depth;
image = capture_get_depth_image(capture);
break;
default:
ts = &ts_ir16;
image = capture_get_ir_image(capture);
break;
}
*ts = 0;
if (image)
{
*ts = image_get_device_timestamp_usec(image);
image_dec_ref(image);
}
}
if (synchd_images_only)
{
// When synchd_images_only is true, we should not recieve depth only or color only images.
ASSERT_NE(ts_color, 0);
ASSERT_NE(ts_depth, 0);
ASSERT_NE(ts_ir16, 0);
}
}
// Validate the color, depth, and IR16 capture timestamps
ASSERT_EQ(ts_color, test_data[i + test_data[i].color_result].timestamp_usec) << "Test iteration is:" << i;
ASSERT_EQ(ts_depth, test_data[i + test_data[i].depth_result].timestamp_usec) << "Test iteration is:" << i;
ASSERT_EQ(ts_ir16, test_data[i + test_data[i].depth_result].timestamp_usec) << "Test iteration is:" << i;
capture_dec_ref(capture);
capture = NULL;
successfull_captures++;
// Synchronize with the worker threads, we don't want them to put so much data into the queues that data has
// to be dropped
int delay = 0;
Lock(depth_test.lock);
while (color_test.thread_waiting == false || depth_test.thread_waiting == false)
{
Unlock(depth_test.lock);
ThreadAPI_Sleep(10); // yield while the worker threads get to a parked state
Lock(depth_test.lock);
ASSERT_LT(delay += 10, 60000);
};
Condition_Post(color_test.condition); // Allow publishing threads to run
Condition_Post(depth_test.condition); // Allow publishing threads to run
color_test.thread_waiting = false;
depth_test.thread_waiting = false;
Unlock(depth_test.lock);
}
i++;
} while (test_data[i].timestamp_usec != UINT64_MAX);
// verify we didn't unexpectedly leave a capture in the queue
ASSERT_EQ(capturesync_get_capture(sync, &capture, 0), (int)K4A_WAIT_RESULT_TIMEOUT);
ASSERT_GT(successfull_captures, 0);
ASSERT_EQ(THREADAPI_OK, ThreadAPI_Join(th1, (int *)&result));
ASSERT_EQ(result, (int)K4A_RESULT_SUCCEEDED);
ASSERT_EQ(THREADAPI_OK, ThreadAPI_Join(th2, (int *)&result));
ASSERT_EQ(result, (int)K4A_RESULT_SUCCEEDED);
// inject error in data stream and verify this results in error with API
if (color_first)
{
ASSERT_EQ((int)K4A_RESULT_SUCCEEDED,
capturesync_push_single_capture(K4A_RESULT_SUCCEEDED, sync, DEPTH_CAPTURE, 0));
ASSERT_EQ((int)K4A_RESULT_SUCCEEDED,
capturesync_push_single_capture(K4A_RESULT_FAILED, sync, COLOR_CAPTURE, 0));
}
else
{
ASSERT_EQ((int)K4A_RESULT_SUCCEEDED,
capturesync_push_single_capture(K4A_RESULT_FAILED, sync, DEPTH_CAPTURE, 0));
ASSERT_EQ((int)K4A_RESULT_SUCCEEDED,
capturesync_push_single_capture(K4A_RESULT_SUCCEEDED, sync, COLOR_CAPTURE, 0));
}
ASSERT_EQ(capturesync_get_capture(sync, &capture, WAIT_TEST_INFINITE), (int)K4A_WAIT_RESULT_FAILED)
<< "Sync capture failed to detect stream error";
// capturesync_stop(sync);
capturesync_destroy(sync);
ASSERT_EQ(0, allocator_test_for_leaks());
Condition_Deinit(color_test.condition);
Condition_Deinit(depth_test.condition);
}
static capturesync_test_timing_t *invert_test_data_for_depth_first(capturesync_test_timing_t *test_data,
size_t size_in_bytes)
{
capturesync_test_timing_t *copy = (capturesync_test_timing_t *)malloc(size_in_bytes);
if (copy)
{
for (unsigned int i = 0; i < size_in_bytes / sizeof(capturesync_test_timing_t); i++)
{
copy[i] = test_data[i];
// Swaps types for running depth first based tests
copy[i].color_capture = !test_data[i].color_capture;
// Swap result locations
int result = copy[i].color_result;
copy[i].color_result = test_data[i].depth_result;
copy[i].depth_result = result;
}
}
return copy;
}
TEST(capturesync_ut, test_c_Drop1Sample)
{
capturesync_validate_synchronization(Drop1Sample, COLOR_FIRST);
}
TEST(capturesync_ut, test_d_Drop1Sample)
{
capturesync_test_timing_t *copy = invert_test_data_for_depth_first(Drop1Sample, sizeof(Drop1Sample));
capturesync_validate_synchronization(copy, DEPTH_FIRST);
free(copy);
}
TEST(capturesync_ut, test_c_Drop3SamplesSampleTsNearEndPeriod)
{
capturesync_validate_synchronization(Drop3SamplesSampleTsNearEndPeriod, COLOR_FIRST);
}
TEST(capturesync_ut, test_d_Drop3SamplesSampleTsNearEndPeriod)
{
capturesync_test_timing_t *copy = invert_test_data_for_depth_first(Drop3SamplesSampleTsNearEndPeriod,
sizeof(Drop3SamplesSampleTsNearEndPeriod));
capturesync_validate_synchronization(copy, DEPTH_FIRST);
free(copy);
}
TEST(capturesync_ut, test_c_Drop3SamplesSampleIsNearBeginPeriod)
{
capturesync_validate_synchronization(Drop3SamplesSampleIsNearBeginPeriod, COLOR_FIRST);
}
TEST(capturesync_ut, test_d_Drop3SamplesSampleIsNearBeginPeriod)
{
capturesync_test_timing_t *copy = invert_test_data_for_depth_first(Drop3SamplesSampleIsNearBeginPeriod,
sizeof(Drop3SamplesSampleIsNearBeginPeriod));
capturesync_validate_synchronization(copy, DEPTH_FIRST);
free(copy);
}
TEST(capturesync_ut, test_c_Drop3SamplesThen3More)
{
capturesync_validate_synchronization(Drop3SamplesThen3More, COLOR_FIRST);
}
TEST(capturesync_ut, test_d_Drop3SamplesThen3More)
{
capturesync_test_timing_t *copy = invert_test_data_for_depth_first(Drop3SamplesThen3More,
sizeof(Drop3SamplesThen3More));
capturesync_validate_synchronization(copy, DEPTH_FIRST);
free(copy);
}
TEST(capturesync_ut, test_c_Drop2Captures1PeriodSamplesThen3More)
{
capturesync_validate_synchronization(Drop2Captures1PeriodSamplesThen3More, COLOR_FIRST);
}
TEST(capturesync_ut, test_d_Drop2Captures1PeriodSamplesThen3More)
{
capturesync_test_timing_t *copy = invert_test_data_for_depth_first(Drop2Captures1PeriodSamplesThen3More,
sizeof(Drop2Captures1PeriodSamplesThen3More));
capturesync_validate_synchronization(copy, DEPTH_FIRST);
free(copy);
}
TEST(capturesync_ut, test_c_RandomTimingAndIssues)
{
capturesync_validate_synchronization(RandomTimingAndIssues, COLOR_FIRST);
}
TEST(capturesync_ut, test_d_RandomTimingAndIssues)
{
capturesync_test_timing_t *copy = invert_test_data_for_depth_first(RandomTimingAndIssues,
sizeof(RandomTimingAndIssues));
capturesync_validate_synchronization(copy, DEPTH_FIRST);
free(copy);
}
TEST(capturesync_ut, test_c_TwoToChooseFrom)
{
capturesync_validate_synchronization(TwoToChooseFrom, COLOR_FIRST);
}
TEST(capturesync_ut, test_d_TwoToChooseFrom)
{
capturesync_test_timing_t *copy = invert_test_data_for_depth_first(TwoToChooseFrom, sizeof(TwoToChooseFrom));
capturesync_validate_synchronization(copy, DEPTH_FIRST);
free(copy);
}
TEST(capturesync_ut, test_c_OneSensorIsMultipleFramesAhead)
{
capturesync_validate_synchronization(OneSensorIsMultipleFramesAhead, COLOR_FIRST);
}
TEST(capturesync_ut, test_d_OneSensorIsMultipleFramesAhead)
{
capturesync_test_timing_t *copy = invert_test_data_for_depth_first(OneSensorIsMultipleFramesAhead,
sizeof(OneSensorIsMultipleFramesAhead));
capturesync_validate_synchronization(copy, DEPTH_FIRST);
free(copy);
}
TEST(capturesync_ut, test_c_DropIndividualSamplesToCaller)
{
capturesync_validate_synchronization(DropIndividualSamplesToCaller, COLOR_FIRST);
}
TEST(capturesync_ut, test_d_DropIndividualSamplesToCaller)
{
capturesync_test_timing_t *copy = invert_test_data_for_depth_first(DropIndividualSamplesToCaller,
sizeof(DropIndividualSamplesToCaller));
capturesync_validate_synchronization(copy, DEPTH_FIRST);
free(copy);
}
TEST(capturesync_ut, test_c_DropIndividualSamplesToCaller_v2)
{
capturesync_validate_synchronization(DropIndividualSamplesToCaller, COLOR_FIRST, true);
}
TEST(capturesync_ut, test_d_DropIndividualSamplesToCaller_v2)
{
capturesync_test_timing_t *copy = invert_test_data_for_depth_first(DropIndividualSamplesToCaller,
sizeof(DropIndividualSamplesToCaller));
capturesync_validate_synchronization(copy, DEPTH_FIRST, true);
free(copy);
}
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