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Add support for ColorSensor, MotionSensor, FisheyeSensor in C#, node-JS
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| // Copyright (c) 2017 Intel Corporation. All rights reserved. | ||
| // Use of this source code is governed by an Apache 2.0 license | ||
| // that can be found in the LICENSE file. | ||
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| 'use strict'; | ||
| /* global describe, it, before, after */ | ||
| const assert = require('assert'); | ||
| let rs2; | ||
| let pipeline; | ||
| try { | ||
| rs2 = require('node-librealsense'); | ||
| } catch (e) { | ||
| rs2 = require('../index.js'); | ||
| } | ||
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| let device; | ||
| let frameset; | ||
| let dev_info; | ||
| let motion_product_list = ["0AD5", "0AFE", "0AFF", "0B00", "0B01", "0B3A", "0B3D"]; | ||
| const ctx = new rs2.Context(); | ||
| let devices = ctx.queryDevices().devices; | ||
| assert(devices.length > 0); // Device must be connected | ||
| device = devices[0] | ||
| dev_info = device.getCameraInfo(); | ||
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| describe('Sensor extensions test', function() { | ||
| before(function() { | ||
| // const ctx = new rs2.Context(); | ||
| // let devices = ctx.queryDevices().devices; | ||
| // assert(devices.length > 0); // Device must be connected | ||
| // device = devices[0] | ||
| // dev_info = device.getCameraInfo(); | ||
| }); | ||
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| after(function() { | ||
| rs2.cleanup(); | ||
| }); | ||
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| it('Testing constructor - 0 argument', () => { | ||
| assert.throws(() => { | ||
| new rs2.Align(); | ||
| }); | ||
| }); | ||
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| it('Testing ColorSensor extention', () => { | ||
| var products_list = ["0AA5, 0B48, 0AD3, 0AD4, 0AD5, 0B01, 0B07, 0B3A, 0B3D"]; | ||
| let rtn = device.getCameraInfo(); | ||
| if (products_list.includes(rtn.productId)) | ||
| { | ||
| const sensors = device.querySensors(); | ||
| let is_found = false; | ||
| for (let i = 0; i < sensors.length; i++) { | ||
| if (sensors[i] instanceof rs2.ColorSensor) { | ||
| const sensor = sensors[i]; | ||
| const profile = sensor.getStreamProfiles()[0]; | ||
| assert(profile.streamType === rs2.stream.STREAM_COLOR && profile.format == rs2.format.FORMAT_RGB8); | ||
| is_found = true; | ||
| } | ||
| } | ||
| assert(is_found); | ||
| } | ||
| }); | ||
|
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| it('Testing FisheyeSensor extention', () => { | ||
| var products_list = ["0AD5", "0AFE", "0AFF", "0B00", "0B01"]; | ||
| let rtn = device.getCameraInfo(); | ||
| if (products_list.includes(rtn.productId)) | ||
| { | ||
| const sensors = device.querySensors(); | ||
| let is_found = false; | ||
| for (let i = 0; i < sensors.length; i++) { | ||
| if (sensors[i] instanceof rs2.FisheyeSensor) { | ||
| const sensor = sensors[i]; | ||
| const profile = sensor.getStreamProfiles()[0]; | ||
| assert(profile.streamType === rs2.stream.STREAM_COLOR && profile.format == rs2.format.FORMAT_RGB8); | ||
| is_found = true; | ||
| } | ||
| } | ||
| assert(is_found); | ||
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| } | ||
| }); | ||
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| if (motion_product_list.includes(dev_info.productId)) | ||
| { | ||
| it('Testing MotionSensor extention', () => { | ||
| var products_list = ["0AD5", "0AFE", "0AFF", "0B00", "0B01", "0B3A", "0B3D"]; | ||
| let rtn = device.getCameraInfo(); | ||
| if (products_list.includes(rtn.productId)) | ||
| { | ||
| const sensors = device.querySensors(); | ||
| let is_found = false; | ||
| for (let i = 0; i < sensors.length; i++) { | ||
| if (sensors[i] instanceof rs2.MotionSensor) { | ||
| const sensor = sensors[i]; | ||
| const profile = sensor.getStreamProfiles()[0]; | ||
| assert([rs2.stream.STREAM_GYRO, rs2.stream.STREAM_ACCEL].includes(profile.streamType)) | ||
| assert([rs2.format.FORMAT_MOTION_RAW, rs2.format.FORMAT_MOTION_XYZ32F].includes(profile.format)); | ||
| is_found = true; | ||
| } | ||
| } | ||
| assert(is_found); | ||
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| } | ||
| }); | ||
| }; | ||
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| }); |