microsoft
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Azure-Kinect-Sensor-SDK
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Throughput subordinate delay off master usec (#399) 

* added subordinate_delay_off_master_usec command flag

* Fixed non-error being report: ERROR LibUSB transfer status of 00000000 unexpected

* Added no_startup_flush and exposure

* fixing build break
This commit is contained in:
wes-b 2019-06-12 11:26:53 -07:00 коммит произвёл GitHub
Родитель dae5171267
Коммит 640f16b933
Не найден ключ, соответствующий данной подписи
Идентификатор ключа GPG: 4AEE18F83AFDEB23
2 изменённых файлов: 101 добавлений и 16 удалений
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3
src/usbcommand/usbstreaming.c
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@ -111,7 +111,8 @@ void LIBUSB_CALL usb_cmd_libusb_cb(struct libusb_transfer *bulk_transfer)
}
else
{
if (bulk_transfer->status != LIBUSB_TRANSFER_CANCELLED)
if ((bulk_transfer->status != LIBUSB_TRANSFER_CANCELLED) &&
(bulk_transfer->status != LIBUSB_TRANSFER_COMPLETED))
{
LOG_ERROR("LibUSB transfer status of %08X unexpected", bulk_transfer->status);
}

114
tests/throughput/throughput_perf.cpp
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@ -26,6 +26,10 @@ 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;
using ::testing::ValuesIn;
@ -237,6 +241,25 @@ TEST_P(throughput_perf, testTest)
printf("Capturing %d frames for test: %s\n", g_capture_count, as.test_name);
if (g_manual_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));
printf("Manual Exposure: %d\n", g_exposure_setting);
}
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 = 1000000 / k4a_convert_fps_to_uint(as.fps);
config.color_format = as.color_format;
@ -246,6 +269,7 @@ TEST_P(throughput_perf, testTest)
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
@ -271,26 +295,36 @@ TEST_P(throughput_perf, testTest)
ASSERT_EQ(THREADAPI_OK, ThreadAPI_Create(&th1, _throughput_imu_thread, &thread));
}
//
// Wait allow streams to start and then purge the data collected
//
if (as.fps == K4A_FRAMES_PER_SECOND_30)
if (!g_no_startup_flush)
{
ThreadAPI_Sleep(2000);
}
else if (as.fps == K4A_FRAMES_PER_SECOND_15)
{
ThreadAPI_Sleep(3000);
//
// 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
{
ThreadAPI_Sleep(4000);
printf("Flushing no start of stream data\n");
}
while (K4A_WAIT_RESULT_SUCCEEDED == k4a_device_get_capture(m_device, &capture, 0))
{
// Drain the queue
k4a_capture_release(capture);
};
// 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))
@ -585,6 +619,12 @@ TEST_P(throughput_perf, testTest)
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;
}
@ -777,6 +817,11 @@ int main(int argc, char **argv)
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, "--index") == 0)
{
if (i + 1 <= argc)
@ -791,6 +836,20 @@ int main(int argc, char **argv)
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)
@ -805,6 +864,21 @@ int main(int argc, char **argv)
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))
@ -838,6 +912,16 @@ int main(int argc, char **argv)
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");
return 1; // Indicates an error or warning
}