pointcloud_test.cpp

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#include <catch2/catch_all.hpp>
#include <catch2/catch_test_macros.hpp>
#include <depthai/depthai.hpp>
 
#include "depthai-shared/properties/StereoDepthProperties.hpp"
#include "depthai/pipeline/datatype/PointCloudData.hpp"
 
dai::Pipeline getPipeline(bool sparse) {
    dai::Pipeline pipeline;
    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
    auto monoRight = pipeline.create<dai::node::MonoCamera>();
    auto stereo = pipeline.create<dai::node::StereoDepth>();
    auto pointcloud = pipeline.create<dai::node::PointCloud>();
    auto xout = pipeline.create<dai::node::XLinkOut>();
 
    monoLeft->setCamera("left");
    monoRight->setCamera("right");
 
    monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
    monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
 
    stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
    stereo->setOutputSize(1280, 720);
 
    xout->setStreamName("out");
 
    pointcloud->initialConfig.setSparse(sparse);
 
    monoLeft->out.link(stereo->left);
    monoRight->out.link(stereo->right);
    stereo->depth.link(pointcloud->inputDepth);
    pointcloud->outputPointCloud.link(xout->input);
 
    return pipeline;
}
 
TEST_CASE("dense pointcloud") {
    dai::Device device(getPipeline(false));
 
    auto outQ = device.getOutputQueue("out");
    for(int i = 0; i < 10; ++i) {
        auto pcl = outQ->get<dai::PointCloudData>();
        REQUIRE(pcl != nullptr);
        REQUIRE(pcl->getWidth() == 1280);
        REQUIRE(pcl->getHeight() == 720);
        REQUIRE(pcl->getPoints().size() == 1280UL * 720UL);
        REQUIRE(pcl->getMinX() < 0.0f);
        REQUIRE(pcl->getMaxX() > 0.0f);
        REQUIRE(pcl->getMinY() < 0.0f);
        REQUIRE(pcl->getMaxY() > 0.0f);
    }
}
 
TEST_CASE("sparse pointcloud") {
    dai::Device device(getPipeline(true));
 
    auto outQ = device.getOutputQueue("out");
    for(int i = 0; i < 10; ++i) {
        auto pcl = outQ->get<dai::PointCloudData>();
        REQUIRE(pcl != nullptr);
        REQUIRE(pcl->getWidth() == 1280);
        REQUIRE(pcl->getHeight() == 720);
        REQUIRE(pcl->getPoints().size() < 1280UL * 720UL);
        REQUIRE(pcl->getMinX() < 0.0f);
        REQUIRE(pcl->getMaxX() > 0.0f);
        REQUIRE(pcl->getMinY() < 0.0f);
        REQUIRE(pcl->getMaxY() > 0.0f);
        REQUIRE(pcl->getMinZ() > 0.0f);
    }
}