Minor Fixes Error Messages, K4aViewer Button, Multi Device Tests (#876)
* 1) better error messages around multi device delay settings being wrong, 2) a random number generating function, 3) Code uses random number generating common function, adn 4) K4aViewer now has a button to refresh the color controls if they change via firmware state change. * Fixing build break * Fixing Build Breaks * Update src/capturesync/capturesync.c * Update src/capturesync/capturesync.c * Update src/capturesync/capturesync.c * fixed build breaks * Enhanced debug output
This commit is contained in:
wes-b
GitHub
Родитель
a00e353ca0
Коммит
3b8d2ece25
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@ -685,9 +685,10 @@ static k4a_result_t validate_configuration(k4a_context_t *device, const k4a_devi
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if (config->subordinate_delay_off_master_usec > fps_in_usec)
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{
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result = K4A_RESULT_FAILED;
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LOG_ERROR(
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"The configured subordinate device delay from the master device cannot exceed one frame interval.",
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0);
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LOG_ERROR("The configured subordinate device delay from the master device cannot exceed one frame "
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"interval of %d. User requested %d",
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fps_in_usec,
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config->subordinate_delay_off_master_usec);
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}
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}
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@ -719,7 +720,10 @@ static k4a_result_t validate_configuration(k4a_context_t *device, const k4a_devi
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if (config->depth_delay_off_color_usec < -fps || config->depth_delay_off_color_usec > fps)
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{
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result = K4A_RESULT_FAILED;
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LOG_ERROR("The configured depth_delay_off_color_usec must be within +/- one frame interval.", 0);
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LOG_ERROR("The configured depth_delay_off_color_usec must be within +/- one frame interval of %d. User "
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"requested %d",
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fps,
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config->depth_delay_off_color_usec);
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}
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}
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else if (!depth_enabled && !color_enabled)
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@ -17,6 +17,9 @@ std::ostream &operator<<(std::ostream &s, const k4a_buffer_result_t &val);
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extern "C" {
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// Generate a Random number between min and max and is inclive of both min and max
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#define RAND_VALUE(min, max) (((int64_t)((max) - (min) + 1) * (int64_t)(rand()) / (int64_t)RAND_MAX) + min)
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// Initialize default k4a specific unittest behavior
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void k4a_unittest_init();
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void k4a_unittest_deinit();
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@ -20,6 +20,8 @@
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#define NULL_IMAGE 0
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#define NULL_DEVICE 0
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const int SAMPLES_TO_STABILIZE = 10;
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// How close 2 timestamps should be to be considered accurately synchronized.
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const int MAX_SYNC_CAPTURE_DIFFERENCE_USEC = 100;
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@ -242,8 +244,7 @@ static k4a_result_t open_master_and_subordinate(k4a_device_t *master, k4a_device
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*master = device;
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device = NULL;
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}
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if (*subordinate == NULL && sync_in_cable_present)
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else if (*subordinate == NULL && sync_in_cable_present)
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{
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*subordinate = device;
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device = NULL;
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@ -361,8 +362,7 @@ static k4a_result_t verify_ts(int64_t ts_1, int64_t ts_2, int64_t ts_offset, con
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if (ts_result > MAX_SYNC_CAPTURE_DIFFERENCE_USEC)
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{
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printf(" ERROR timestamps are not within range.\n TS1 + TS_Offset should be ~= TS2. %s\n ts1=%" PRId64
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" "
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"ts2=%" PRId64 " ts_offset=%" PRId64 " diff=%" PRId64 "\n",
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" ts2=%" PRId64 " ts_offset=%" PRId64 " diff=%" PRId64 "\n",
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error_message,
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ts_1,
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ts_2,
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@ -377,12 +377,27 @@ TEST_F(multidevice_sync_ft, multi_sync_validation)
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{
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k4a_device_t master, subordinate;
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k4a_fps_t frame_rate = K4A_FRAMES_PER_SECOND_30;
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int32_t fps_in_usec = 1000000 / (int32_t)k4a_convert_fps_to_uint(frame_rate);
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int frame_rate_rand = rand(); // Throw away first rand() result
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frame_rate_rand = (int)RAND_VALUE(0, 2);
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switch (frame_rate_rand)
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{
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case 0:
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frame_rate = K4A_FRAMES_PER_SECOND_5;
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break;
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case 1:
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frame_rate = K4A_FRAMES_PER_SECOND_15;
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break;
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default:
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frame_rate = K4A_FRAMES_PER_SECOND_30;
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break;
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}
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int32_t fps_in_usec = 1000000 / (int32_t)k4a_convert_fps_to_uint(frame_rate);
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ASSERT_EQ(open_master_and_subordinate(&master, &subordinate), K4A_RESULT_SUCCEEDED);
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ASSERT_EQ(K4A_RESULT_SUCCEEDED, set_power_and_exposure(master, 8330, 2));
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ASSERT_EQ(K4A_RESULT_SUCCEEDED, set_power_and_exposure(subordinate, 8330, 2));
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ASSERT_EQ(K4A_RESULT_SUCCEEDED, set_power_and_exposure(master, 8330, 2)) << "Master Device";
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ASSERT_EQ(K4A_RESULT_SUCCEEDED, set_power_and_exposure(subordinate, 8330, 2)) << "Subordinate Device";
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k4a_device_configuration_t default_config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
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default_config.color_format = K4A_IMAGE_FORMAT_COLOR_MJPG;
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@ -395,23 +410,26 @@ TEST_F(multidevice_sync_ft, multi_sync_validation)
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k4a_device_configuration_t s_config = default_config;
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s_config.wired_sync_mode = K4A_WIRED_SYNC_MODE_SUBORDINATE;
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s_config.depth_delay_off_color_usec = (2 * fps_in_usec * rand() / RAND_MAX - fps_in_usec);
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s_config.subordinate_delay_off_master_usec = (uint32_t)(1 * fps_in_usec * rand() / RAND_MAX);
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ASSERT_EQ(K4A_RESULT_SUCCEEDED, k4a_device_start_cameras(subordinate, &s_config));
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s_config.depth_delay_off_color_usec = (int32_t)RAND_VALUE(-fps_in_usec, fps_in_usec);
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s_config.subordinate_delay_off_master_usec = (uint32_t)RAND_VALUE(0, fps_in_usec);
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ASSERT_EQ(K4A_RESULT_SUCCEEDED, k4a_device_start_cameras(subordinate, &s_config)) << "Subordinate Device";
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k4a_device_configuration_t m_config = default_config;
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m_config.wired_sync_mode = K4A_WIRED_SYNC_MODE_MASTER;
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m_config.depth_delay_off_color_usec = (2 * fps_in_usec * rand() / RAND_MAX - fps_in_usec);
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ASSERT_EQ(K4A_RESULT_SUCCEEDED, k4a_device_start_cameras(master, &m_config));
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m_config.depth_delay_off_color_usec = (int32_t)RAND_VALUE(-fps_in_usec, fps_in_usec);
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ASSERT_EQ(K4A_RESULT_SUCCEEDED, k4a_device_start_cameras(master, &m_config)) << "Master Device";
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printf("Test Running with the following settings:\n");
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printf(" Frame Rate: %s\n",
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frame_rate == K4A_FRAMES_PER_SECOND_5 ? "5" : (frame_rate == K4A_FRAMES_PER_SECOND_15 ? "15" : "30"));
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printf(" Master depth_delay_off_color_usec: %d\n", m_config.depth_delay_off_color_usec);
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printf(" Sub depth_delay_off_color_usec: %d\n", s_config.depth_delay_off_color_usec);
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printf(" Sub subordinate_delay_off_master_usec: %d\n", s_config.subordinate_delay_off_master_usec);
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printf("\nDelta = Time off master color.\n");
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printf("\nDelta = Time off master color. All times in usec\n");
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printf("Master Color, Master IR(Delta), Sub Color(Delta), Sub IR(Delta)\n");
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printf("---------------------------------------------------------------\n");
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for (int x = 0; x < 100; x++)
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{
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k4a_capture_t cap_m, cap_s;
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@ -431,30 +449,34 @@ TEST_F(multidevice_sync_ft, multi_sync_validation)
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ts_m_ir = (int64_t)k4a_image_get_device_timestamp_usec(image_ir_m);
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ts_s_ir = (int64_t)k4a_image_get_device_timestamp_usec(image_ir_s);
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printf("%9" PRId64 ", %9" PRId64 "(%5" PRId64 "), %9" PRId64 "(%5" PRId64 "), %9" PRId64 "(%5" PRId64 ")\n",
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printf("%9" PRId64 ", %9" PRId64 "(%5" PRId64 "), %9" PRId64 "(%5" PRId64 "), %9" PRId64 "(%5" PRId64 ") %s\n",
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ts_m_c,
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ts_m_ir,
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ts_m_ir - ts_m_c,
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ts_s_c,
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ts_s_c - ts_m_c,
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ts_s_ir,
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ts_s_ir - ts_m_c);
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ts_s_ir - ts_s_c,
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x > SAMPLES_TO_STABILIZE ? "Validating" : "Stabilizing");
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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verify_ts(ts_m_c,
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ts_m_ir,
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m_config.depth_delay_off_color_usec,
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"TS1 is Master Color, TS2 is Master Ir"));
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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verify_ts(ts_s_c,
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ts_s_ir,
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s_config.depth_delay_off_color_usec,
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"TS1 is Subordinate Color, TS2 is Subordinate Ir"));
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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verify_ts(ts_m_c,
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ts_s_c,
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(int64_t)s_config.subordinate_delay_off_master_usec,
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"TS1 is Master Color, TS2 is Subordinate Color"));
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if (x > SAMPLES_TO_STABILIZE)
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{
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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verify_ts(ts_m_c,
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ts_m_ir,
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m_config.depth_delay_off_color_usec,
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"TS1 is Master Color, TS2 is Master Ir"));
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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verify_ts(ts_s_c,
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ts_s_ir,
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s_config.depth_delay_off_color_usec,
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"TS1 is Subordinate Color, TS2 is Subordinate Ir"));
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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verify_ts(ts_m_c,
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ts_s_c,
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(int64_t)s_config.subordinate_delay_off_master_usec,
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"TS1 is Master Color, TS2 is Subordinate Color"));
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}
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k4a_image_release(image_c_m);
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k4a_image_release(image_c_s);
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@ -15,7 +15,8 @@
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#include <azure_c_shared_utility/threadapi.h>
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#include <azure_c_shared_utility/envvariable.h>
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#define TS_TO_MS(ts) ((long long)((ts) / 1)) // TS convertion to milliseconds
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#define LLD(val) ((int64_t)(val))
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#define TS_TO_MS(ts) (LLD((ts) / 1)) // TS convertion to milliseconds
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#define K4A_IMU_SAMPLE_RATE 1666 // +/- 2%
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@ -234,7 +235,7 @@ TEST_P(throughput_perf, testTest)
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int missed_count = 0;
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int not_synchronized_count = 0;
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uint64_t last_ts = UINT64_MAX;
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uint64_t fps_in_usec = 0;
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int32_t fps_in_usec = 0;
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uint64_t last_color_ts = 0;
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uint64_t last_depth16_ts = 0;
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uint64_t last_ir16_ts = 0;
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@ -301,7 +302,7 @@ TEST_P(throughput_perf, testTest)
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if (g_depth_delay_off_color_usec == 0)
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{
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// Create delay that can be +fps to -fps
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config.depth_delay_off_color_usec = (int32_t)(2 * fps_in_usec * ((uint64_t)rand()) / RAND_MAX - fps_in_usec);
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config.depth_delay_off_color_usec = (int32_t)RAND_VALUE(-fps_in_usec, fps_in_usec);
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}
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printf("Config being used is:\n");
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@ -391,10 +392,10 @@ TEST_P(throughput_perf, testTest)
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ts = k4a_image_get_device_timestamp_usec(image);
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adjusted_max_ts = std::max(ts, adjusted_max_ts);
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static_assert(sizeof(ts) == 8, "this should not be wrong");
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printf(" %9lld[%6lld][%6lld]",
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printf(" %9" PRId64 "[%6" PRId64 "][%6" PRId64 "]",
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TS_TO_MS(ts),
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TS_TO_MS(ts - last_color_ts),
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(long long int)k4a_image_get_exposure_usec(image));
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LLD(k4a_image_get_exposure_usec(image)));
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// TS should increase
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EXPECT_GT(ts, last_color_ts);
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@ -414,7 +415,7 @@ TEST_P(throughput_perf, testTest)
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depth = true;
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ts = k4a_image_get_device_timestamp_usec(image);
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adjusted_max_ts = std::max(ts - (uint64_t)config.depth_delay_off_color_usec, adjusted_max_ts);
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printf(" | %9lld[%6lld]", TS_TO_MS(ts), TS_TO_MS(ts - last_ir16_ts));
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printf(" | %9" PRId64 "[%6" PRId64 "]", TS_TO_MS(ts), TS_TO_MS(ts - last_ir16_ts));
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// TS should increase
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EXPECT_GT(ts, last_ir16_ts);
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@ -433,7 +434,7 @@ TEST_P(throughput_perf, testTest)
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{
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ts = k4a_image_get_device_timestamp_usec(image);
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adjusted_max_ts = std::max(ts - (uint64_t)config.depth_delay_off_color_usec, adjusted_max_ts);
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printf(" | %9lld[%6lld]", TS_TO_MS(ts), TS_TO_MS(ts - last_depth16_ts));
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printf(" | %9" PRId64 "[%6" PRId64 "]", TS_TO_MS(ts), TS_TO_MS(ts - last_depth16_ts));
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// TS should increase
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EXPECT_GT(ts, last_depth16_ts);
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@ -497,21 +498,21 @@ TEST_P(throughput_perf, testTest)
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// the color image is delayed due to perf issues. When this happens we just ignore the sample because our
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// time stamp logic has already moved beyond the time this sample was supposed to arrive at.
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}
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else if ((adjusted_max_ts - last_ts) >= (fps_in_usec * 15 / 10))
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else if ((adjusted_max_ts - last_ts) >= ((unsigned)(fps_in_usec * 15 / 10)))
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{
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// Calc how many captures we didn't get. If the delta between the last two time stamps is more than 1.5
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// * fps_in_usec then we count
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int missed_this_period = ((int)((adjusted_max_ts - last_ts) / fps_in_usec));
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int32_t missed_this_period = (int32_t)(adjusted_max_ts - last_ts) / fps_in_usec;
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missed_this_period--; // We got a new time stamp to do this math, so this count has 1 too many, remove
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// it
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if (((adjusted_max_ts - last_ts) % fps_in_usec) > fps_in_usec / 2)
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if (((adjusted_max_ts - last_ts) % ((unsigned)fps_in_usec)) > ((unsigned)fps_in_usec) / 2)
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{
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missed_this_period++;
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}
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printf("Missed %d captures before previous capture %lld %lld\n",
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printf("Missed %d captures before previous capture %" PRId64 " %" PRId64 "\n",
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missed_this_period,
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(long long)adjusted_max_ts,
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(long long)last_ts);
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LLD(adjusted_max_ts),
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LLD(last_ts));
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if (missed_this_period > capture_count)
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{
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missed_count += capture_count;
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@ -588,6 +588,13 @@ K4ADockControlStatus K4ADeviceDockControl::Show()
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// clang-format on
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if (ImGui::Button("Refresh"))
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{
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LoadColorSettingsCache();
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}
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ImGui::SameLine();
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if (ImGui::Button("Reset to default##RGB"))
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{
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ApplyDefaultColorSettings();
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