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How to use rs2 method in wpt

Best JavaScript code snippet using wpt

test-functional.js

Source:test-functional.js

1// Copyright (c) 2017 Intel Corporation. All rights reserved.2// Use of this source code is governed by an Apache 2.0 license3// that can be found in the LICENSE file.4'use strict';5/* global describe, it, before, after */6const assert = require('assert');7const rs2 = require('../index.js');8describe('Pipeline tests', function() {9  it('Default pipeline', () => {10    const pipe = new rs2.Pipeline();11    pipe.start();12    const frames = pipe.waitForFrames();13    assert.equal(frames.size > 0, true);14    pipe.stop();15    pipe.destroy();16    frames.destroy();17  });18  it('Pipeline with context', () => {19    const ctx = new rs2.Context();20    const pipe = new rs2.Pipeline(ctx);21    pipe.start();22    const frames = pipe.waitForFrames();23    assert.equal(frames.size > 0, true);24    pipe.stop();25    pipe.destroy();26    frames.destroy();27  });28});29describe('Frameset test', function() {30  let pipe;31  let frameset;32  before(function() {33    pipe = new rs2.Pipeline();34    pipe.start();35    frameset = pipe.waitForFrames();36  });37  after(function() {38    frameset.destroy();39    pipe.stop();40    pipe.destroy();41  });42  it('depthFrame test', () => {43    let depth = frameset.depthFrame;44    if (depth) {45      assert.equal(depth instanceof rs2.DepthFrame, true);46      depth.destroy();47    }48  });49  it('colorFrame test', () => {50    let color = frameset.colorFrame;51    if (color) {52      assert.equal(color instanceof rs2.VideoFrame, true);53      color.destroy();54    }55  });56  it('at test', () => {57    for (let i=0; i<frameset.size; i++) {58      let frame = frameset.at(i);59      assert.equal(frame instanceof rs2.Frame, true);60      frame.destroy();61    }62  });63  it('getFrame test', () => {64    let color = frameset.getFrame(rs2.stream.STREAM_COLOR);65    let depth = frameset.getFrame(rs2.stream.STREAM_DEPTH);66    if (color) {67      assert.equal(color instanceof rs2.VideoFrame, true);68      color.destroy();69    }70    if (depth) {71      assert.equal(depth instanceof rs2.DepthFrame, true);72      depth.destroy();73    }74  });75});76describe('Frame test', function() {77  let pipe;78  let frameset;79  let color;80  let depth;81  before(function() {82    pipe = new rs2.Pipeline();83    pipe.start();84    frameset = pipe.waitForFrames();85    color = frameset.colorFrame;86    depth = frameset.depthFrame;87  });88  after(function() {89    if (color) color.destroy();90    if (depth) depth.destroy();91    frameset.destroy();92    pipe.stop();93    pipe.destroy();94    pipe = undefined;95    frameset = undefined;96    color = undefined;97    depth = undefined;98  });99  it('format/stream/width/height/frameNumber/timestamp/isValid test', () => {100    if (depth) {101      assert.equal(depth.format, rs2.format.FORMAT_Z16);102      assert.equal(depth.streamType, rs2.format.STREAM_DEPTH);103      assert.equal(depth.isValid, true);104      assert.equal(depth.timestamp > 0, true);105      assert.equal(depth.frameNumber > 0, true);106      assert.equal(depth.width > 0, true);107      assert.equal(depth.height > 0, true);108    }109    if (color) {110      assert.equal(color.format, rs2.format.FORMAT_RGB8);111      assert.equal(color.streamType, rs2.format.STREAM_COLOR);112      assert.equal(color.isValid, true);113      assert.equal(color.timestamp > 0, true);114      assert.equal(color.frameNumber > 0, true);115      assert.equal(color.width > 0, true);116      assert.equal(color.height > 0, true);117    }118  });119  it('frame metadata test', () => {120    for (let i=0; i<rs2.frame_metadata.FRAME_METADATA_COUNT; i++) {121      if (depth && depth.supportsFrameMetadata(i)) {122        assert.equal(depth.frameMetadata(i) != undefined, true);123      }124      if (color && color.supportsFrameMetadata(i)) {125        assert.equal(color.frameMetadata(i) != undefined, true);126      }127    }128  });129  it('frame data test', () => {130    if (depth) {131      assert.equal(depth.data.length*2, depth.dataByteLength);132    }133    if (color) {134      assert.equal(color.data.length, color.dataByteLength);135    }136  });137  it('strideInBytes test', () => {138    if (depth) {139      assert.equal(depth.strideInBytes, depth.width*2);140    }141    if (color) {142      assert.equal(color.strideInBytes, color.width*3);143    }144  });145  it('getData test', () => {146    if (depth) {147      const buf1 = new Buffer(depth.dataByteLength);148      let buf2 = depth.getData(buf1);149      const buf3 = Buffer.from(depth.data.buffer);150      assert.equal(buf3.equals(buf1), true);151      assert.equal(buf3.equals(buf2), true);152    }153    if (color) {154      const buf1 = new Buffer(color.dataByteLength);155      let buf2 = color.getData(buf1);156      const buf3 = Buffer.from(color.data.buffer);157      assert.equal(buf3.equals(buf1), true);158      assert.equal(buf3.equals(buf2), true);159    }160  });161});162describe('Colorizer test', function() {163  let pipe;164  let frameset;165  let color;166  let depth;167  let colorizer;168  before(function() {169    pipe = new rs2.Pipeline();170    pipe.start();171    frameset = pipe.waitForFrames();172    color = frameset.colorFrame;173    depth = frameset.depthFrame;174    colorizer = new rs2.Colorizer();175  });176  after(function() {177    if (color) color.destroy();178    if (depth) depth.destroy();179    frameset.destroy();180    pipe.stop();181    pipe.destroy();182    colorizer.destroy();183    pipe = undefined;184    frameset = undefined;185    color = undefined;186    depth = undefined;187    colorizer = undefined;188  });189  it('colorize test', () => {190    if (depth) {191      const depthRGB = colorizer.colorize(depth);192      assert.equal(depthRGB.height, depth.height);193      assert.equal(depthRGB.width, depth.width);194      assert.equal(depthRGB.format, rs2.format.FORMAT_RGB8);195      depthRGB.destroy();196      depth.destroy();197    }198  });199});200describe('Pointcloud and Points test', function() {201  let pipe;202  let frameset;203  let color;204  let depth;205  let pc;206  let ctx;207  before(function() {208    ctx = new rs2.Context();209    pc = new rs2.Pointcloud();210    pipe = new rs2.Pipeline(ctx);211    pipe.start();212    frameset = pipe.waitForFrames();213    while (frameset.size != 2) {214      frameset.destroy();215      frameset = pipe.waitForFrames();216    }217    color = frameset.colorFrame;218    depth = frameset.depthFrame;219  });220  after(function() {221    if (color) color.destroy();222    if (depth) depth.destroy();223    frameset.destroy();224    pipe.stop();225    pipe.destroy();226    pc.destroy();227    ctx.destroy();228    pc = undefined;229    ctx = undefined;230    pipe = undefined;231    frameset = undefined;232    color = undefined;233    depth = undefined;234  });235  it('map and calculate test', () => {236    assert.equal(pc instanceof rs2.Pointcloud, true);237    pc.mapTo(color);238    const points = pc.calculate(depth);239    const cnt = depth.width*depth.height;240    assert.equal(points instanceof rs2.Points, true);241    assert.equal(points.size, cnt);242    const vertices = points.getVertices();243    const texCoordinates = points.getTextureCoordinates();244    assert.equal(vertices instanceof Float32Array, true);245    assert.equal(texCoordinates instanceof Int32Array, true);246    assert.equal(vertices.length, cnt*3);247    assert.equal(texCoordinates.length, cnt*2);248  });249});250describe('Context tests', function() {251  let ctx;252  before(() => {253    ctx = new rs2.Context();254  });255  after(() => {256    ctx.destroy();257  });258  it('Query devices', () => {259    const devs = ctx.queryDevices();260    assert.equal(devs.length, 1);261    assert.equal(devs[0] instanceof rs2.Device, true);262    devs.forEach((dev) => {263      dev.destroy();264    });265  });266  it('Query sensors', () => {267    const sensors = ctx.querySensors();268    assert.equal(sensors.length, 2);269    assert.equal(sensors[0] instanceof rs2.Sensor, true);270    assert.equal(sensors[1] instanceof rs2.Sensor, true);271    sensors.forEach((sensor) => {272      sensor.destroy();273    });274  });275});276describe('Sensor tests', function() {277  let ctx;278  let sensors;279  before(() => {280    ctx = new rs2.Context();281    sensors = ctx.querySensors();282  });283  after(() => {284    ctx.destroy();285    sensors.forEach((sensor) => {286      sensor.destroy();287    });288    ctx = undefined;289    sensors = undefined;290  });291  it('Stream profiles', () => {292    const profiles0 = sensors[0].getStreamProfiles();293    const profiles1 = sensors[1].getStreamProfiles();294    assert.equal(profiles1.length > 0, true);295    assert.equal(profiles0.length > 0, true);296    profiles0.forEach((p) => {297      assert.equal(p instanceof rs2.StreamProfile, true);298      assert.equal(p instanceof rs2.StreamProfile, true);299      assert.equal(p.streamType >= rs2.stream.STREAM_DEPTH &&300                   p.streamType < rs2.stream.STREAM_COUNT, true);301      assert.equal(p.format >= rs2.format.FORMAT_Z16 && p.format < rs2.format.FORMAT_COUNT, true);302      assert.equal(p.fps>0, true);303      assert.equal(typeof p.uniqueID, 'number');304      assert.equal(typeof p.isDefault, 'boolean');305    });306    profiles1.forEach((p) => {307      assert.equal(p instanceof rs2.StreamProfile, true);308      assert.equal(p instanceof rs2.StreamProfile, true);309    });310  });311  it('Open and start', () => {312    return new Promise((resolve, reject) => {313      const profiles0 = sensors[0].getStreamProfiles();314      sensors[0].open(profiles0[0]);315      sensors[0].start((frame) => {316        assert.equal(frame instanceof rs2.Frame, true);317        frame.destroy();318        sensors[0].stop();319        sensors[0].close();320        resolve();321      });322    });323  });324  it('Get depth scale', () => {325    for (let i = 0; i < sensors.length; i++) {326      if (sensors[i] instanceof rs2.DepthSensor) {327        assert.equal(typeof sensors[i].depthScale === 'number', true);328      }329    }330  });331  it('getOptionDescription', () => {332    sensors.forEach((s) => {333      for (let i = rs2.option.OPTION_BACKLIGHT_COMPENSATION; i < rs2.option.OPTION_COUNT; i++) {334        let des = s.getOptionDescription(i);335        assert.equal((des === undefined) || (typeof des === 'string'), true);336      }337    });338  });339  it('getOption', () => {340    sensors.forEach((s) => {341      for (let i = rs2.option.OPTION_BACKLIGHT_COMPENSATION; i < rs2.option.OPTION_COUNT; i++) {342        let value = s.getOption(i);343        assert.equal((value === undefined) || (typeof value === 'number'), true);344      }345    });346  });347  it('getOptionValueDescription', () => {348    sensors.forEach((s) => {349      for (let i = rs2.option.OPTION_BACKLIGHT_COMPENSATION; i < rs2.option.OPTION_COUNT; i++) {350        let des = s.getOptionValueDescription(i, 1);351        assert.equal((des === undefined) || (typeof des === 'string'), true);352      }353    });354  });355  it('setOption', () => {356    sensors.forEach((s) => {357      for (let i = rs2.option.OPTION_BACKLIGHT_COMPENSATION; i < rs2.option.OPTION_COUNT; i++) {358        if (s.supportsOption(i) && !s.isOptionReadOnly(i)) {359          let range = s.getOptionRange(i);360          for (let j = range.minvalue; j <= range.maxValue; j += range.step) {361            s.setOption(i, j);362            let val = s.getOption(i);363            assert.equal(val, j);364          }365        }366      }367    });368  });369});370describe('Align tests', function() {371  let ctx;372  let align;373  let pipe;374  before(() => {375    ctx = new rs2.Context();376    align = new rs2.Align(rs2.stream.STREAM_COLOR);377    pipe = new rs2.Pipeline();378  });379  after(() => {380    pipe.stop();381    pipe.destroy();382    align.destroy();383    ctx.destroy();384    ctx = undefined;385    align = undefined;386    pipe = undefined;387  });388  it('process', () => {389    pipe.start();390    const frameset = pipe.waitForFrames();391    if (!frameset) {392      return;393    }394    const output = align.process(frameset);395    if (!output) {396      frameset.destroy();397      return;398    }399    const color = output.colorFrame;400    const depth = output.depthFrame;401    if (color) {402      assert.equal(color instanceof rs2.VideoFrame, true);403      color.destroy();404    }405    if (depth) {406      assert.equal(depth instanceof rs2.DepthFrame, true);407      depth.destroy();408    }409    output.destroy();410    frameset.destroy();411  });...

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