removed usage of sensor_from_frame() from rs-data-collect.

add unit-test "get_sensor_from_frame"
ForS1F · May 16, 2019 · 755a251 · 755a251
1 parent 4c37bbe
commit 755a251
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Showing 3 changed files with 40 additions and 8 deletions.
diff --git a/tools/data-collect/rs-data-collect.cpp b/tools/data-collect/rs-data-collect.cpp
@@ -124,7 +124,7 @@ void data_collector::save_data_to_file(const string& out_filename)
 
     for (const auto& elem : data_collection)
     {
-        csv << "\n\nStream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms), SerialNumber"
+        csv << "\n\nStream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms)"
             << (val_in_range(elem.first.first, { RS2_STREAM_GYRO,RS2_STREAM_ACCEL }) ? ",3DOF_x,3DOF_y,3DOF_z" : "")
             << (val_in_range(elem.first.first, { RS2_STREAM_POSE }) ? ",t_x,t_y,t_z,r_x,r_y,r_z,r_w" : "")
             << std::endl;
@@ -161,7 +161,6 @@ void data_collector::collect_frame_attributes(rs2::frame f, std::chrono::time_po
             rec._params = { pose.translation.x, pose.translation.y, pose.translation.z,
                     pose.rotation.x,pose.rotation.y,pose.rotation.z,pose.rotation.w };
         }
-        rec._dev_serial_no = sensor_from_frame(f)->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
 
         data_collection[stream_uid].emplace_back(rec);
     }

diff --git a/tools/data-collect/rs-data-collect.h b/tools/data-collect/rs-data-collect.h
@@ -194,16 +194,14 @@ namespace rs_data_collect
             frame_record(unsigned long long frame_number, double frame_ts, double host_ts,
                        rs2_timestamp_domain domain, rs2_stream stream_type,int stream_index,
                        double _p1=0., double _p2=0., double _p3=0.,
-                       double _p4=0., double _p5=0., double _p6=0., double _p7=0.,
-                       std::string dev_serial=std::string("")):
+                       double _p4=0., double _p5=0., double _p6=0., double _p7=0.):
             _frame_number(frame_number),
             _ts(frame_ts),
             _arrival_time(host_ts),
             _domain(domain),
             _stream_type(stream_type),
             _stream_idx(stream_index),
-            _params({_p1,_p2,_p3,_p4,_p5,_p6,_p7}),
-            _dev_serial_no(dev_serial)
+            _params({_p1,_p2,_p3,_p4,_p5,_p6,_p7})
             {};
 
             std::string to_string() const
@@ -224,7 +222,6 @@ namespace rs_data_collect
                 for (auto i=0; i<specific_attributes; i++)
                     ss << "," << _params[i];
 
-                ss << "," << _dev_serial_no;
                 return ss.str().c_str();
             }
 
@@ -235,7 +232,6 @@ namespace rs_data_collect
             rs2_stream              _stream_type;
             int                     _stream_idx;
             std::array<double,7>    _params;            // |The parameters are optional and sensor specific
-            std::string             _dev_serial_no;
         };
 
     private:

diff --git a/unit-tests/unit-tests-live.cpp b/unit-tests/unit-tests-live.cpp
@@ -5549,3 +5549,40 @@ TEST_CASE("Wheel_Odometry_API", "[live]")
         }
     }
 }
+
+
+TEST_CASE("get_sensor_from_frame", "[live][using_pipeline]")
+{
+    // Require at least one device to be plugged in
+    rs2::context ctx;
+    if (make_context(SECTION_FROM_TEST_NAME, &ctx, "2.13.0"))
+    {
+        std::vector<sensor> list;
+        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
+        REQUIRE(list.size() > 0);
+
+        pipeline pipe(ctx);
+        device dev;
+        // Configure all supported streams to run at 30 frames per second
+
+        rs2::config cfg;
+        rs2::pipeline_profile profile;
+        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
+        REQUIRE(profile);
+        REQUIRE_NOTHROW(dev = profile.get_device());
+        REQUIRE(dev);
+        disable_sensitive_options_for(dev);
+
+        // Test sequence
+        REQUIRE_NOTHROW(pipe.start(cfg));
+        std::string dev_serial_no = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
+        for (auto i = 0; i < 5; i++)
+        {
+            rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
+            auto frame = data.get_color_frame();
+            std::string frame_serail_no = sensor_from_frame(frame)->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
+            REQUIRE(dev_serial_no == frame_serail_no);
+        }
+        REQUIRE_NOTHROW(pipe.stop());
+    }
+}