PR #12481 from noacoohen: Test projection from recording

unit-tests/3D/test-projection-from-recording.py

@@ -0,0 +1,80 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+
+#temporary fix to prevent the test from running on Win_SH_Py_DDS_CI
+#test:donotrun:dds
+
+import pyrealsense2 as rs
+from rspy import test, repo
+import os.path
+################################################################################################
+with test.closure("Test Projection from recording"):
+    filename = os.path.join(repo.build, 'unit-tests', 'recordings', 'single_depth_color_640x480.bag')
+    ctx = rs.context()
+    dev = ctx.load_device(filename)
+    dev.set_real_time(False)
+
+    syncer = rs.syncer()
+    sensors = dev.query_sensors()
+    for s in sensors:
+        s.open(s.get_stream_profiles()[0])
+        s.start(syncer)
+
+    depth = rs.frame()
+    depth_profile = rs.stream_profile()
+    color_profile = rs.stream_profile()
+    while not depth_profile or not color_profile:
+        frames = syncer.wait_for_frames()
+        test.check(frames.size() > 0)
+        if frames.size() == 1:
+            if frames.get_profile().stream_type() == rs.stream.depth:
+                depth = frames.get_depth_frame()
+                depth_profile = depth.get_profile()
+            else:
+                color_profile = frames.get_color_frame().get_profile()
+        else:
+            depth = frames.get_depth_frame()
+            depth_profile = depth.get_profile()
+            color_profile = frames.get_color_frame().get_profile()
+
+    depth_intrin = depth_profile.as_video_stream_profile().get_intrinsics()
+    color_intrin = color_profile.as_video_stream_profile().get_intrinsics()
+    depth_extrin_to_color = depth_profile.as_video_stream_profile().get_extrinsics_to(color_profile)
+    color_extrin_to_depth = color_profile.as_video_stream_profile().get_extrinsics_to(depth_profile)
+
+    depth_scale = 0
+    for s in sensors:
+        depth_sensor = s.is_depth_sensor()
+        if depth_sensor:
+            depth_scale = s.as_depth_sensor().get_depth_scale()
+
+        test.check_equal(s.get_info(rs.camera_info.name) == "Stereo Module", s.is_depth_sensor())
+        test.check_equal(s.get_info(rs.camera_info.name) == "RGB Camera", s.is_color_sensor())
+
+    count = 0
+    for i in range(depth_intrin.width):
+        for j in range(depth_intrin.height):
+            depth_pixel = [i,j]
+            udist = depth.as_depth_frame().get_distance(int(depth_pixel[0]+0.5),int(depth_pixel[1]+0.5))
+            if udist == 0:
+                continue
+
+            point = rs.rs2_deproject_pixel_to_point(depth_intrin, depth_pixel, udist)
+            other_point = rs.rs2_transform_point_to_point(depth_extrin_to_color, point)
+            from_pixel = rs.rs2_project_point_to_pixel(color_intrin, other_point)
+
+            #Search along a projected beam from 0.1m to 10 meter
+            to_pixel = rs.rs2_project_color_pixel_to_depth_pixel(depth.get_data(), depth_scale, 0.1,10,depth_intrin,  color_intrin,color_extrin_to_depth, depth_extrin_to_color, from_pixel)
+
+            dist = ((depth_pixel[1] - to_pixel[1]) ** 2 + (depth_pixel[0] - to_pixel[0]) ** 2) ** 0.5
+            if dist > 1:
+                count += 1
+
+    MAX_ERROR_PERCENTAGE = 0.1
+    test.check(count * 100 / (depth_intrin.width * depth_intrin.height) < MAX_ERROR_PERCENTAGE)
+
+    for s in sensors:
+        s.stop()
+        s.close()
+################################################################################################
+test.print_results_and_exit()

unit-tests/live/CMakeLists.txt

@@ -16,3 +16,6 @@ dl_file( ${PP_Rosbag_Recordings_URL} recordings [aligned_2d]_all_combinations_de
 
 # for post-processing/post-processing-from-bag.py
 dl_file( ${PP_Rosbag_Recordings_URL} recordings [pointcloud]_all_combinations_depth_color.bag OFF )
+
+# for 3D/projection-from-recording.bag
+dl_file( ${PP_Rosbag_Recordings_URL} recordings single_depth_color_640x480.bag OFF )

unit-tests/unit-tests-live.cpp

@@ -5094,7 +5094,7 @@ TEST_CASE("Test Motion Module Extension", "[software-device][using_pipeline][pro
 }
 
 // Marked as MayFail due to DSO-11753. TODO -revisit once resolved
-TEST_CASE("Projection from recording", "[software-device][using_pipeline][projection][!mayfail]") {
+TEST_CASE("Projection from recording", "[software-device-disabled][using_pipeline][projection][!mayfail]") {
     rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
     if( ! ctx )
         return;