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kinect/codes/Azure-Kinect-Sensor-SDK/tests/throughput/throughput_perf.cpp

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// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
//************************ Includes *****************************
#include <k4a/k4a.h>
#include <k4ainternal/common.h>
#include <k4ainternal/logging.h>
#include <gtest/gtest.h>
#include <utcommon.h>
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <k4a/k4a.h>
#include <azure_c_shared_utility/threadapi.h>
#include <azure_c_shared_utility/envvariable.h>
#define LLD(val) ((int64_t)(val))
#define TS_TO_MS(ts) (LLD((ts) / 1)) // TS convertion to milliseconds
#define K4A_IMU_SAMPLE_RATE 1666 // +/- 2%
static bool g_skip_delay_off_color_validation = false;
static int32_t g_depth_delay_off_color_usec = 0;
static uint8_t g_device_index = K4A_DEVICE_DEFAULT;
static k4a_wired_sync_mode_t g_wired_sync_mode = K4A_WIRED_SYNC_MODE_STANDALONE;
static int g_capture_count = 100;
static bool g_synchronized_images_only = false;
static bool g_no_imu = false;
static bool g_no_startup_flush = false;
static uint32_t g_subordinate_delay_off_master_usec = 0;
static bool g_manual_exposure = false;
static uint32_t g_exposure_setting = 0;
static bool g_power_line_50_hz = false;
using ::testing::ValuesIn;
struct throughput_parameters
{
int test_number;
const char *test_name;
k4a_fps_t fps;
k4a_image_format_t color_format;
k4a_color_resolution_t color_resolution;
k4a_depth_mode_t depth_mode;
friend std::ostream &operator<<(std::ostream &os, const throughput_parameters &obj)
{
return os << "test index: (" << obj.test_name << ") " << (int)obj.test_number;
}
};
struct thread_data
{
volatile bool enable_counting;
volatile bool exit;
volatile uint32_t imu_samples;
k4a_device_t device;
};
class throughput_perf : public ::testing::Test, public ::testing::WithParamInterface<throughput_parameters>
{
public:
virtual void SetUp()
{
ASSERT_EQ(K4A_RESULT_SUCCEEDED, k4a_device_open(g_device_index, &m_device)) << "Couldn't open device\n";
ASSERT_NE(m_device, nullptr);
}
virtual void TearDown()
{
if (m_device != nullptr)
{
k4a_device_close(m_device);
m_device = nullptr;
}
}
k4a_device_t m_device = nullptr;
};
static const char *get_string_from_color_format(k4a_image_format_t format)
{
switch (format)
{
case K4A_IMAGE_FORMAT_COLOR_NV12:
return "K4A_IMAGE_FORMAT_COLOR_NV12";
break;
case K4A_IMAGE_FORMAT_COLOR_YUY2:
return "K4A_IMAGE_FORMAT_COLOR_YUY2";
break;
case K4A_IMAGE_FORMAT_COLOR_MJPG:
return "K4A_IMAGE_FORMAT_COLOR_MJPG";
break;
case K4A_IMAGE_FORMAT_COLOR_BGRA32:
return "K4A_IMAGE_FORMAT_COLOR_BGRA32";
break;
case K4A_IMAGE_FORMAT_DEPTH16:
return "K4A_IMAGE_FORMAT_DEPTH16";
break;
case K4A_IMAGE_FORMAT_IR16:
return "K4A_IMAGE_FORMAT_IR16";
break;
case K4A_IMAGE_FORMAT_CUSTOM8:
return "K4A_IMAGE_FORMAT_CUSTOM8";
break;
case K4A_IMAGE_FORMAT_CUSTOM16:
return "K4A_IMAGE_FORMAT_CUSTOM16";
break;
case K4A_IMAGE_FORMAT_CUSTOM:
return "K4A_IMAGE_FORMAT_CUSTOM";
break;
}
assert(0);
return "K4A_IMAGE_FORMAT_UNKNOWN";
}
static const char *get_string_from_color_resolution(k4a_color_resolution_t resolution)
{
switch (resolution)
{
case K4A_COLOR_RESOLUTION_OFF:
return "OFF";
break;
case K4A_COLOR_RESOLUTION_720P:
return "1280 * 720 16:9";
break;
case K4A_COLOR_RESOLUTION_1080P:
return "1920 * 1080 16:9";
break;
case K4A_COLOR_RESOLUTION_1440P:
return "2560 * 1440 16:9";
break;
case K4A_COLOR_RESOLUTION_1536P:
return "2048 * 1536 4:3";
break;
case K4A_COLOR_RESOLUTION_2160P:
return "3840 * 2160 16:9";
break;
case K4A_COLOR_RESOLUTION_3072P:
return "4096 * 3072 4:3";
break;
}
assert(0);
return "Unknown resolution";
}
static const char *get_string_from_depth_mode(k4a_depth_mode_t mode)
{
switch (mode)
{
case K4A_DEPTH_MODE_OFF:
return "K4A_DEPTH_MODE_OFF";
break;
case K4A_DEPTH_MODE_NFOV_2X2BINNED:
return "K4A_DEPTH_MODE_NFOV_2X2BINNED";
break;
case K4A_DEPTH_MODE_NFOV_UNBINNED:
return "K4A_DEPTH_MODE_NFOV_UNBINNED";
break;
case K4A_DEPTH_MODE_WFOV_2X2BINNED:
return "K4A_DEPTH_MODE_WFOV_2X2BINNED";
break;
case K4A_DEPTH_MODE_WFOV_UNBINNED:
return "K4A_DEPTH_MODE_WFOV_UNBINNED";
break;
case K4A_DEPTH_MODE_PASSIVE_IR:
return "K4A_DEPTH_MODE_PASSIVE_IR";
break;
}
assert(0);
return "Unknown Depth";
}
static int _throughput_imu_thread(void *param)
{
struct thread_data *data = (struct thread_data *)param;
k4a_result_t result;
k4a_imu_sample_t imu;
// Validate that time stamp is always changing and increasing
uint64_t acc_ts = 0;
uint64_t gyro_ts = 0;
result = k4a_device_start_imu(data->device);
if (K4A_FAILED(result))
{
printf("Failed to start imu\n");
return result;
}
while (data->exit == false)
{
k4a_wait_result_t wresult = k4a_device_get_imu_sample(data->device, &imu, 1);
if (wresult == K4A_WAIT_RESULT_SUCCEEDED)
{
if (data->enable_counting == true)
{
data->imu_samples++;
EXPECT_LT(acc_ts, imu.acc_timestamp_usec);
EXPECT_LT(gyro_ts, imu.gyro_timestamp_usec);
if (acc_ts != 0)
{
EXPECT_LT(imu.acc_timestamp_usec, acc_ts + 900);
EXPECT_LT(imu.gyro_timestamp_usec, gyro_ts + 900);
}
acc_ts = imu.acc_timestamp_usec;
gyro_ts = imu.gyro_timestamp_usec;
}
}
else if (wresult == K4A_WAIT_RESULT_FAILED)
{
printf("k4a_device_get_imu_sample failed\n");
result = K4A_RESULT_FAILED;
break;
}
};
k4a_device_stop_imu(data->device);
return result;
}
TEST_P(throughput_perf, testTest)
{
auto as = GetParam();
const int32_t TIMEOUT_IN_MS = 1000;
k4a_capture_t capture = NULL;
int capture_count = g_capture_count;
int both_count = 0;
int depth_count = 0;
int color_count = 0;
int missed_count = 0;
int not_synchronized_count = 0;
uint64_t last_ts = UINT64_MAX;
int32_t fps_in_usec = 0;
uint64_t last_color_ts = 0;
uint64_t last_depth16_ts = 0;
uint64_t last_ir16_ts = 0;
int failure_threshold_percent = 5;
int failure_threshold_count = g_capture_count * failure_threshold_percent / 100; // 5%
bool failed = false;
FILE *file_handle = NULL;
k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
thread_data thread = { 0 };
THREAD_HANDLE th1 = NULL;
int64_t max_sync_delay = 0;
printf("Capturing %d frames for test: %s\n", g_capture_count, as.test_name);
{
int32_t power_line_setting = g_power_line_50_hz ? 1 : 2;
ASSERT_EQ(K4A_RESULT_SUCCEEDED,
k4a_device_set_color_control(m_device,
K4A_COLOR_CONTROL_POWERLINE_FREQUENCY,
K4A_COLOR_CONTROL_MODE_MANUAL,
power_line_setting));
printf("Power line mode set to manual and %s.\n", power_line_setting == 1 ? "50Hz" : "60Hz");
}
if (g_manual_exposure)
{
k4a_color_control_mode_t read_mode;
int32_t read_exposure;
ASSERT_EQ(K4A_RESULT_SUCCEEDED,
k4a_device_set_color_control(m_device,
K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE,
K4A_COLOR_CONTROL_MODE_MANUAL,
(int32_t)g_exposure_setting));
ASSERT_EQ(K4A_RESULT_SUCCEEDED,
k4a_device_get_color_control(m_device,
K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE,
&read_mode,
&read_exposure));
printf(
"Setting exposure to manual mode, exposure target is: %d. Actual mode is: %s. Actual value is: %d.\n",
g_exposure_setting,
read_mode == K4A_COLOR_CONTROL_MODE_AUTO ? "auto" : "manual",
read_exposure);
}
else
{
ASSERT_EQ(K4A_RESULT_SUCCEEDED,
k4a_device_set_color_control(m_device,
K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE,
K4A_COLOR_CONTROL_MODE_AUTO,
0));
printf("Auto Exposure\n");
}
fps_in_usec = HZ_TO_PERIOD_US(k4a_convert_fps_to_uint(as.fps));
config.color_format = as.color_format;
config.color_resolution = as.color_resolution;
config.depth_mode = as.depth_mode;
config.camera_fps = as.fps;
config.depth_delay_off_color_usec = g_depth_delay_off_color_usec;
config.wired_sync_mode = g_wired_sync_mode;
config.synchronized_images_only = g_synchronized_images_only;
config.subordinate_delay_off_master_usec = g_subordinate_delay_off_master_usec;
if (g_depth_delay_off_color_usec == 0)
{
// Create delay that can be +fps to -fps
config.depth_delay_off_color_usec = (int32_t)RAND_VALUE(-fps_in_usec, fps_in_usec);
}
max_sync_delay = k4a_unittest_get_max_sync_delay_ms(as.fps);
printf("Config being used is:\n");
printf(" color_format:%d\n", config.color_format);
printf(" color_resolution:%d\n", config.color_resolution);
printf(" depth_mode:%d\n", config.depth_mode);
printf(" camera_fps:%d\n", config.camera_fps);
printf(" synchronized_images_only:%d\n", config.synchronized_images_only);
printf(" depth_delay_off_color_usec:%d\n", config.depth_delay_off_color_usec);
printf(" wired_sync_mode:%d\n", config.wired_sync_mode);
printf(" subordinate_delay_off_master_usec:%d\n", config.subordinate_delay_off_master_usec);
printf(" disable_streaming_indicator:%d\n", config.disable_streaming_indicator);
printf("\n");
ASSERT_EQ(K4A_RESULT_SUCCEEDED, k4a_device_start_cameras(m_device, &config));
if (!g_no_imu)
{
thread.device = m_device;
ASSERT_EQ(THREADAPI_OK, ThreadAPI_Create(&th1, _throughput_imu_thread, &thread));
}
if (!g_no_startup_flush)
{
//
// Wait for streams to start and then purge the data collected
//
if (as.fps == K4A_FRAMES_PER_SECOND_30)
{
printf("Flushing first 2s of data\n");
ThreadAPI_Sleep(2000);
}
else if (as.fps == K4A_FRAMES_PER_SECOND_15)
{
printf("Flushing first 3s of data\n");
ThreadAPI_Sleep(3000);
}
else
{
printf("Flushing first 4s of data\n");
ThreadAPI_Sleep(4000);
}
while (K4A_WAIT_RESULT_SUCCEEDED == k4a_device_get_capture(m_device, &capture, 0))
{
// Drain the queue
k4a_capture_release(capture);
};
}
else
{
printf("Flushing no start of stream data\n");
}
// For consistent IMU timing, block entering the while loop until we get 1 sample
if (K4A_WAIT_RESULT_SUCCEEDED == k4a_device_get_capture(m_device, &capture, 1000))
{
k4a_capture_release(capture);
}
printf("All times in us\n");
printf("+---------------------------+-------------------+-------------------+--------+\n");
printf("| Color Info | IR 16 Info | Depth16 Info | TS Del |\n");
printf("| TS [Delta TS][Exposure] | TS [Delta TS] | TS [Delta TS] | (C-D) |\n");
printf("+---------------------------+-------------------+-------------------+--------+\n");
thread.enable_counting = true; // start counting IMU samples
while (capture_count-- > 0)
{
uint64_t adjusted_max_ts = 0;
uint64_t ts;
bool color = false;
bool depth = false;
// Get a depth frame
k4a_wait_result_t wresult = k4a_device_get_capture(m_device, &capture, TIMEOUT_IN_MS);
if (wresult == K4A_WAIT_RESULT_SUCCEEDED)
{
k4a_image_t image;
printf("|");
// Probe for a color image
image = k4a_capture_get_color_image(capture);
if (image)
{
color = true;
ts = k4a_image_get_device_timestamp_usec(image);
adjusted_max_ts = std::max(ts, adjusted_max_ts);
static_assert(sizeof(ts) == 8, "this should not be wrong");
printf(" %9" PRId64 "[%6" PRId64 "][%6" PRId64 "]",
TS_TO_MS(ts),
TS_TO_MS(ts - last_color_ts),
LLD(k4a_image_get_exposure_usec(image)));
// TS should increase
EXPECT_GT(ts, last_color_ts);
last_color_ts = ts;
k4a_image_release(image);
}
else
{
printf(" Color None ");
}
// probe for a IR16 image
image = k4a_capture_get_ir_image(capture);
if (image)
{
depth = true;
ts = k4a_image_get_device_timestamp_usec(image);
adjusted_max_ts = std::max(ts - (uint64_t)config.depth_delay_off_color_usec, adjusted_max_ts);
printf(" | %9" PRId64 "[%6" PRId64 "]", TS_TO_MS(ts), TS_TO_MS(ts - last_ir16_ts));
// TS should increase
EXPECT_GT(ts, last_ir16_ts);
last_ir16_ts = ts;
k4a_image_release(image);
}
else
{
printf(" | ");
}
// Probe for a depth16 image
image = k4a_capture_get_depth_image(capture);
if (image)
{
ts = k4a_image_get_device_timestamp_usec(image);
adjusted_max_ts = std::max(ts - (uint64_t)config.depth_delay_off_color_usec, adjusted_max_ts);
printf(" | %9" PRId64 "[%6" PRId64 "]", TS_TO_MS(ts), TS_TO_MS(ts - last_depth16_ts));
// TS should increase
EXPECT_GT(ts, last_depth16_ts);
last_depth16_ts = ts;
k4a_image_release(image);
}
else
{
printf(" | ");
}
}
else if (wresult == K4A_WAIT_RESULT_TIMEOUT)
{
printf("Timed out waiting for a capture\n");
}
else // wresult == K4A_WAIT_RESULT_FAILED:
{
printf("Failed to read a capture\n");
capture_count = 0;
}
if (depth && color)
{
both_count++;
int64_t delta = (int64_t)(last_ir16_ts - last_color_ts);
printf(" | %6" PRId64, delta);
delta -= config.depth_delay_off_color_usec;
delta = std::abs(delta);
if (delta > max_sync_delay)
{
not_synchronized_count++;
}
}
else if (depth)
{
printf(" | ------");
depth_count++;
}
else if (color)
{
printf(" | ------");
color_count++;
}
printf(" |\n");
EXPECT_NE(adjusted_max_ts, 0);
if (last_ts == UINT64_MAX)
{
last_ts = adjusted_max_ts;
}
else if (last_ts > adjusted_max_ts)
{
// This happens when one queue gets saturated and must drop samples early; i.e. the depth queue is full, but
// the color image is delayed due to perf issues. When this happens we just ignore the sample because our
// time stamp logic has already moved beyond the time this sample was supposed to arrive at.
}
else if ((adjusted_max_ts - last_ts) >= ((unsigned)(fps_in_usec * 15 / 10)))
{
// Calc how many captures we didn't get. If the delta between the last two time stamps is more than 1.5
// * fps_in_usec then we count
int32_t missed_this_period = (int32_t)(adjusted_max_ts - last_ts) / fps_in_usec;
missed_this_period--; // We got a new time stamp to do this math, so this count has 1 too many, remove
// it
if (((adjusted_max_ts - last_ts) % ((unsigned)fps_in_usec)) > ((unsigned)fps_in_usec) / 2)
{
missed_this_period++;
}
printf("Missed %d captures before previous capture %" PRId64 " %" PRId64 "\n",
missed_this_period,
LLD(adjusted_max_ts),
LLD(last_ts));
if (missed_this_period > capture_count)
{
missed_count += capture_count;
capture_count = 0;
}
else
{
missed_count += missed_this_period;
capture_count -= missed_this_period;
}
}
last_ts = std::max(last_ts, adjusted_max_ts);
// release capture
if (wresult == K4A_WAIT_RESULT_SUCCEEDED)
{
k4a_capture_release(capture);
}
}
thread.enable_counting = false; // stop counting IMU samples
thread.exit = true; // shut down IMU thread
k4a_device_stop_cameras(m_device);
if (!g_no_imu)
{
int thread_result;
ASSERT_EQ(THREADAPI_OK, ThreadAPI_Join(th1, &thread_result));
ASSERT_EQ(thread_result, (int)K4A_RESULT_SUCCEEDED);
}
int imu_samples_per_sec_usec = 1000000 / K4A_IMU_SAMPLE_RATE;
int target_imu_samples = (g_capture_count * (int)fps_in_usec) / imu_samples_per_sec_usec;
float imu_percent = ((float)thread.imu_samples - (float)target_imu_samples) / (float)target_imu_samples;
imu_percent *= 100;
failed = false;
printf("\nRESULTS Captures\n");
{
bool criteria_failed = false;
if (abs(both_count - g_capture_count) > failure_threshold_count)
{
failed = true;
criteria_failed = true;
}
printf(" Synchronized:%d %s\n", both_count, criteria_failed ? "FAILED" : "PASSED");
}
{
bool criteria_failed = false;
if (abs(depth_count) > failure_threshold_count)
{
failed = true;
criteria_failed = true;
}
printf(" Depth Only:%d %s\n", depth_count, criteria_failed ? "FAILED" : "PASSED");
}
{
bool criteria_failed = false;
if (abs(color_count) > failure_threshold_count)
{
failed = true;
criteria_failed = true;
}
printf(" Color Only:%d %s\n", color_count, criteria_failed ? "FAILED" : "PASSED");
}
{
bool criteria_failed = false;
if (abs(missed_count) > failure_threshold_count)
{
failed = true;
criteria_failed = true;
}
printf(" Missed Captures:%d %s\n", missed_count, criteria_failed ? "FAILED" : "PASSED");
}
{
bool criteria_failed = false;
if (!g_no_imu)
{
if (imu_percent > failure_threshold_percent || imu_percent < -failure_threshold_percent)
{
failed = true;
criteria_failed = true;
}
}
printf(" Imu Samples:%d %0.01f%% of target(%d) %s\n",
thread.imu_samples,
(double)imu_percent,
target_imu_samples,
g_no_imu ? "Disabled" : (criteria_failed ? "FAILED" : "PASSED"));
}
{
bool criteria_failed = false;
if (not_synchronized_count > failure_threshold_count)
{
if (!g_skip_delay_off_color_validation)
{
failed = true;
}
criteria_failed = true;
}
printf(" TS not sync'd:%d %s\n", not_synchronized_count, criteria_failed ? "FAILED" : "PASSED");
}
printf(" Total captures:%d\n\n", both_count + depth_count + color_count + missed_count);
file_handle = fopen("testResults.csv", "a");
if (file_handle != 0)
{
std::time_t date_time = std::time(NULL);
char buffer_date_time[100];
std::strftime(buffer_date_time, sizeof(buffer_date_time), "%c", localtime(&date_time));
const char *user_name = environment_get_variable("USERNAME");
const char *computer_name = environment_get_variable("COMPUTERNAME");
char buffer[1024];
snprintf(buffer,
sizeof(buffer),
"%s, %s, %s, %s, %s, %s, %s, fps, %d, %s, captures, %d, syncd captures, %d, depth only, %d, color "
"only, %d, missing capture periods, %d, imu %%, %0.01f, not_synchronized, %d, %d\n",
buffer_date_time,
failed ? "FAILED" : "PASSED",
computer_name ? computer_name : "computer name not set",
user_name ? user_name : "user name not set",
as.test_name,
get_string_from_color_format(as.color_format),
get_string_from_color_resolution(as.color_resolution),
k4a_convert_fps_to_uint(as.fps),
get_string_from_depth_mode(as.depth_mode),
g_capture_count,
both_count,
depth_count,
color_count,
missed_count,
(double)imu_percent,
not_synchronized_count,
config.depth_delay_off_color_usec);
fputs(buffer, file_handle);
fclose(file_handle);
}
ASSERT_EQ(K4A_RESULT_SUCCEEDED,
k4a_device_set_color_control(m_device,
K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE,
K4A_COLOR_CONTROL_MODE_AUTO,
0));
ASSERT_EQ(failed, false);
return;
}
// K4A_DEPTH_MODE_WFOV_UNBINNED is the most demanding depth mode, only runs at 15FPS or less
// clang-format off
static struct throughput_parameters tests_30fps[] = {
{ 0, "FPS_30_MJPEG_2160P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 1, "FPS_30_MJPEG_2160P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 2, "FPS_30_MJPEG_2160P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 3, "FPS_30_MJPEG_2160P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 4, "FPS_30_MJPEG_1536P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 5, "FPS_30_MJPEG_1536P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 6, "FPS_30_MJPEG_1536P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 7, "FPS_30_MJPEG_1536P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 8, "FPS_30_MJPEG_1440P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 9, "FPS_30_MJPEG_1440P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 10, "FPS_30_MJPEG_1440P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 11, "FPS_30_MJPEG_1440P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 12, "FPS_30_MJPEG_1080P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 13, "FPS_30_MJPEG_1080P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 14, "FPS_30_MJPEG_1080P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 15, "FPS_30_MJPEG_1080P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 16, "FPS_30_MJPEG_0720P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 17, "FPS_30_MJPEG_0720P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 18, "FPS_30_MJPEG_0720P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 19, "FPS_30_MJPEG_0720P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 20, "FPS_30_NV12__0720P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 21, "FPS_30_NV12__0720P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 22, "FPS_30_NV12__0720P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 23, "FPS_30_NV12__0720P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 24, "FPS_30_YUY2__0720P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 25, "FPS_30_YUY2__0720P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 26, "FPS_30_YUY2__0720P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 27, "FPS_30_YUY2__0720P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_PASSIVE_IR},
// RGB modes use one of the above modes and performs a conversion, so we don't test EVERY combination
{ 28, "FPS_30_BGRA32_2160P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_BGRA32, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 29, "FPS_30_BGRA32_1536P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_BGRA32, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 30, "FPS_30_BGRA32_1440P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_BGRA32, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 31, "FPS_30_BGRA32_1080P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_BGRA32, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 32, "FPS_30_BGRA32_0720P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_30, K4A_IMAGE_FORMAT_COLOR_BGRA32, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
};
INSTANTIATE_TEST_CASE_P(30FPS_TESTS, throughput_perf, ValuesIn(tests_30fps));
static struct throughput_parameters tests_15fps[] = {
{ 0, "FPS_15_MJPEG_3072P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_3072P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 1, "FPS_15_MJPEG_3072P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_3072P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 2, "FPS_15_MJPEG_3072P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_3072P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 3, "FPS_15_MJPEG_3072P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_3072P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 4, "FPS_15_MJPEG_3072P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_3072P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 5, "FPS_15_MJPEG_2160P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 6, "FPS_15_MJPEG_2160P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 7, "FPS_15_MJPEG_2160P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 8, "FPS_15_MJPEG_2160P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 9, "FPS_15_MJPEG_2160P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 10, "FPS_15_MJPEG_1536P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 11, "FPS_15_MJPEG_1536P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 12, "FPS_15_MJPEG_1536P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 13, "FPS_15_MJPEG_1536P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 14, "FPS_15_MJPEG_1536P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 15, "FPS_15_MJPEG_1440P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 16, "FPS_15_MJPEG_1440P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 17, "FPS_15_MJPEG_1440P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 18, "FPS_15_MJPEG_1440P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 19, "FPS_15_MJPEG_1440P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 20, "FPS_15_MJPEG_1080P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 21, "FPS_15_MJPEG_1080P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 22, "FPS_15_MJPEG_1080P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 23, "FPS_15_MJPEG_1080P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 24, "FPS_15_MJPEG_1080P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 25, "FPS_15_MJPEG_0720P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 26, "FPS_15_MJPEG_0720P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 27, "FPS_15_MJPEG_0720P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 28, "FPS_15_MJPEG_0720P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 29, "FPS_15_MJPEG_0720P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 30, "FPS_15_NV12__0720P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 31, "FPS_15_NV12__0720P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 32, "FPS_15_NV12__0720P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 33, "FPS_15_NV12__0720P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 34, "FPS_15_NV12__0720P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 35, "FPS_15_YUY2__0720P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 36, "FPS_15_YUY2__0720P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 37, "FPS_15_YUY2__0720P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 38, "FPS_15_YUY2__0720P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 39, "FPS_15_YUY2__0720P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_15, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_PASSIVE_IR},
};
INSTANTIATE_TEST_CASE_P(15FPS_TESTS, throughput_perf, ValuesIn(tests_15fps));
static struct throughput_parameters tests_5fps[] = {
{ 0, "FPS_05_MJPEG_3072P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_3072P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 1, "FPS_05_MJPEG_3072P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_3072P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 2, "FPS_05_MJPEG_3072P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_3072P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 3, "FPS_05_MJPEG_3072P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_3072P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 4, "FPS_05_MJPEG_3072P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_3072P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 5, "FPS_05_MJPEG_2160P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 6, "FPS_05_MJPEG_2160P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 7, "FPS_05_MJPEG_2160P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 8, "FPS_05_MJPEG_2160P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 9, "FPS_05_MJPEG_2160P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_2160P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 10, "FPS_05_MJPEG_1536P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 11, "FPS_05_MJPEG_1536P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 12, "FPS_05_MJPEG_1536P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 13, "FPS_05_MJPEG_1536P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 14, "FPS_05_MJPEG_1536P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1536P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 15, "FPS_05_MJPEG_1440P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 16, "FPS_05_MJPEG_1440P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 17, "FPS_05_MJPEG_1440P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 18, "FPS_05_MJPEG_1440P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 19, "FPS_05_MJPEG_1440P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1440P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 20, "FPS_05_MJPEG_1080P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 21, "FPS_05_MJPEG_1080P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 22, "FPS_05_MJPEG_1080P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 23, "FPS_05_MJPEG_1080P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 24, "FPS_05_MJPEG_1080P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_1080P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 25, "FPS_05_MJPEG_0720P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 26, "FPS_05_MJPEG_0720P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 27, "FPS_05_MJPEG_0720P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 28, "FPS_05_MJPEG_0720P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 29, "FPS_05_MJPEG_0720P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_MJPG, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 30, "FPS_05_NV12__0720P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 31, "FPS_05_NV12__0720P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 32, "FPS_05_NV12__0720P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 33, "FPS_05_NV12__0720P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 34, "FPS_05_NV12__0720P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_NV12, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_PASSIVE_IR},
{ 35, "FPS_05_YUY2__0720P_NFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_2X2BINNED},
{ 36, "FPS_05_YUY2__0720P_NFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_NFOV_UNBINNED},
{ 37, "FPS_05_YUY2__0720P_WFOV_2X2BINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_2X2BINNED},
{ 38, "FPS_05_YUY2__0720P_WFOV_UNBINNED", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_WFOV_UNBINNED},
{ 39, "FPS_05_YUY2__0720P_PASSIVE_IR", K4A_FRAMES_PER_SECOND_5, K4A_IMAGE_FORMAT_COLOR_YUY2, K4A_COLOR_RESOLUTION_720P, K4A_DEPTH_MODE_PASSIVE_IR},
};
// clang-format on
INSTANTIATE_TEST_CASE_P(5FPS_TESTS, throughput_perf, ValuesIn(tests_5fps));
int main(int argc, char **argv)
{
bool error = false;
k4a_unittest_init();
srand((unsigned int)time(0)); // use current time as seed for random generator
::testing::InitGoogleTest(&argc, argv);
for (int i = 1; i < argc; ++i)
{
char *argument = argv[i];
for (int j = 0; argument[j]; j++)
{
argument[j] = (char)tolower(argument[j]);
}
if (strcmp(argument, "--depth_delay_off_color") == 0)
{
if (i + 1 <= argc)
{
g_depth_delay_off_color_usec = (int32_t)strtol(argv[i + 1], NULL, 10);
printf("Setting g_depth_delay_off_color_usec = %d\n", g_depth_delay_off_color_usec);
i++;
}
else
{
printf("Error: depth_delay_off_color parameter missing\n");
error = true;
}
}
else if (strcmp(argument, "--skip_delay_off_color_validation") == 0)
{
g_skip_delay_off_color_validation = true;
}
else if (strcmp(argument, "--no_imu") == 0)
{
g_no_imu = true;
}
else if (strcmp(argument, "--master") == 0)
{
g_wired_sync_mode = K4A_WIRED_SYNC_MODE_MASTER;
printf("Setting g_wired_sync_mode = K4A_WIRED_SYNC_MODE_MASTER\n");
}
else if (strcmp(argument, "--subordinate") == 0)
{
g_wired_sync_mode = K4A_WIRED_SYNC_MODE_SUBORDINATE;
printf("Setting g_wired_sync_mode = K4A_WIRED_SYNC_MODE_SUBORDINATE\n");
}
else if (strcmp(argument, "--synchronized_images_only") == 0)
{
g_synchronized_images_only = true;
printf("g_synchronized_images_only = true\n");
}
else if (strcmp(argument, "--no_startup_flush") == 0)
{
g_no_startup_flush = true;
printf("g_no_startup_flush = true\n");
}
else if (strcmp(argument, "--60hz") == 0)
{
g_power_line_50_hz = false;
printf("g_power_line_50_hz = false\n");
}
else if (strcmp(argument, "--50hz") == 0)
{
g_power_line_50_hz = true;
printf("g_power_line_50_hz = true\n");
}
else if (strcmp(argument, "--index") == 0)
{
if (i + 1 <= argc)
{
g_device_index = (uint8_t)strtol(argv[i + 1], NULL, 10);
printf("setting g_device_index = %d\n", g_device_index);
i++;
}
else
{
printf("Error: index parameter missing\n");
error = true;
}
}
else if (strcmp(argument, "--subordinate_delay_off_master_usec") == 0)
{
if (i + 1 <= argc)
{
g_subordinate_delay_off_master_usec = (uint32_t)strtol(argv[i + 1], NULL, 10);
printf("g_subordinate_delay_off_master_usec = %d\n", g_subordinate_delay_off_master_usec);
i++;
}
else
{
printf("Error: index parameter missing\n");
error = true;
}
}
else if (strcmp(argument, "--capture_count") == 0)
{
if (i + 1 <= argc)
{
g_capture_count = (int)strtol(argv[i + 1], NULL, 10);
printf("g_capture_count g_device_index = %d\n", g_capture_count);
i++;
}
else
{
printf("Error: index parameter missing\n");
error = true;
}
}
else if (strcmp(argument, "--exposure") == 0)
{
if (i + 1 <= argc)
{
g_exposure_setting = (uint32_t)strtol(argv[i + 1], NULL, 10);
printf("g_exposure_setting = %d\n", g_capture_count);
g_manual_exposure = true;
i++;
}
else
{
printf("Error: index parameter missing\n");
error = true;
}
}
if ((strcmp(argument, "-h") == 0) || (strcmp(argument, "/h") == 0) || (strcmp(argument, "-?") == 0) ||
(strcmp(argument, "/?") == 0))
{
error = true;
}
}
if (error)
{
printf("\n\nOptional Custom Test Settings:\n");
printf(" --depth_delay_off_color <+/- microseconds>\n");
printf(" This is the time delay the depth image capture is delayed off the color.\n");
printf(" valid ranges for this are -1 frame time to +1 frame time. The percentage\n");
printf(" needs to be multiplied by 100 to achieve correct behavior; 10000 is \n");
printf(" 100.00%%, 100 is 1.00%%.\n");
printf(" --skip_delay_off_color_validation\n");
printf(" Set this when don't want the results of color to depth timestamp \n"
" measurements to allow your test run to fail. They will still be logged\n"
" to output and the CSV file.\n");
printf(" --master\n");
printf(" Run device in master mode\n");
printf(" --subordinate\n");
printf(" Run device in subordinate mode\n");
printf(" --index\n");
printf(" The device index to target when calling k4a_device_open()\n");
printf(" --no_imu\n");
printf(" Disables IMU in the test.\n");
printf(" --capture_count\n");
printf(" The number of captures the test should read; default is 100\n");
printf(" --synchronized_images_only\n");
printf(" By default this setting is false, enabling this will for the test to wait for\n");
printf(" both and depth images to be available.\n");
printf(" --subordinate_delay_off_master_usec <+ microseconds>\n");
printf(" This is the time delay the device captures off the master devices capture sync\n");
printf(" pulse. This value needs to be less than one image sample period, i.e for 30FPS \n");
printf(" this needs to be less than 33333us.\n");
printf(" --no_startup_flush\n");
printf(" By default the test will wait for streams to run for X seconds to stabilize. This\n");
printf(" disables that.\n");
printf(" --exposure <exposure in usec>\n");
printf(" By default the test uses auto exposure. This will test with the manual exposure setting\n");
printf(" that is passed in.\n");
printf(" --60hz\n");
printf(" <default> Sets the power line compensation frequency to 60Hz\n");
printf(" --50hz\n");
printf(" Sets the power line compensation frequency to 50Hz\n");
return 1; // Indicates an error or warning
}
int results = RUN_ALL_TESTS();
k4a_unittest_deinit();
return results;
}
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