8 #if !defined(MAKEFILE) || ( defined(LIVE_TEST) ) 12 TEST_CASE(
"Device metadata enumerates correctly",
"[live]" )
20 for(
int i=0; i<device_count; ++i)
25 SECTION(
"device metadata strings are nonempty" )
32 SECTION(
"device supports standard picture options" )
52 std::vector<rs_stream> supported_streams;
55 for(
int i=0; i<device_count; ++i)
62 supported_streams.push_back((
rs_stream)i);
65 for (
auto &
stream : supported_streams)
68 for (
int i = 0; i< 5; i++)
75 for (
auto &
stream : supported_streams)
84 TEST_CASE(
"no extrinsic transformation between a stream and itself",
"[live]" )
92 for(
int i=0; i<device_count; ++i)
111 TEST_CASE(
"extrinsic transformation between two streams is a rigid transform",
"[live]" )
119 for(
int i=0; i<device_count; ++i)
158 TEST_CASE(
"extrinsic transformations are transitive",
"[live]" )
166 for(
int i=0; i<device_count; ++i)
180 rs_error * a_to_b_e =
nullptr,* a_to_c_e =
nullptr, * b_to_c_e =
nullptr;
186 if ((!a_to_b_e) && (!b_to_c_e) && (!a_to_c_e))
210 TEST_CASE(
"aligned images have no extrinsic transformation from the image they are aligned to",
"[live]" )
218 for(
int i=0; i<device_count; ++i)
245 TEST_CASE(
"streaming mode intrinsics are sane",
"[live]" )
253 for(
int i=0; i<device_count; ++i)
263 REQUIRE(stream_mode_count > 0);
266 for(
int j=0; j<stream_mode_count; ++j)
int rs_supports(rs_device *device, rs_capabilities capability, rs_error **error)
Determines device capabilities.
void rs_get_stream_intrinsics(const rs_device *device, rs_stream stream, rs_intrinsics *intrin, rs_error **error)
Retrieves intrinsic camera parameters for a specific stream.
const char * rs_stream_to_string(rs_stream stream)
int rs_get_device_count(const rs_context *context, rs_error **error)
Determines number of connected devices.
GLint GLint GLsizei GLsizei height
GLsizei const GLchar *const * string
const char * rs_get_device_name(const rs_device *device, rs_error **error)
Retrieves human-readable device model string.
rs_option
Defines general configuration controls.
void require_zero_vector(const float(&vector)[3])
void rs_get_stream_mode(const rs_device *device, rs_stream stream, int index, int *width, int *height, rs_format *format, int *framerate, rs_error **error)
Determines the properties of a specific streaming mode.
int rs_get_stream_mode_count(const rs_device *device, rs_stream stream, rs_error **error)
Determines the number of streaming modes available for a given stream.
rs_format rs_get_stream_format(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the pixel format for a specific stream.
void rs_disable_stream(rs_device *device, rs_stream stream, rs_error **error)
Disables a specific stream.
void rs_get_device_extrinsics(const rs_device *device, rs_stream from_stream, rs_stream to_stream, rs_extrinsics *extrin, rs_error **error)
Retrieves extrinsic transformation between the viewpoints of two different streams.
int rs_device_supports_option(const rs_device *device, rs_option option, rs_error **error)
Determines if the device allows a specific option to be queried and set.
typedef int(WINAPI *PFNWGLRELEASEPBUFFERDCARBPROC)(HPBUFFERARB hPbuffer
void require_rotation_matrix(const float(&matrix)[9])
const char * rs_get_device_firmware_version(const rs_device *device, rs_error **error)
Retrieves the version of the firmware currently installed on the device.
void require_transposed(const float(&a)[9], const float(&b)[9])
void rs_enable_stream(rs_device *device, rs_stream stream, int width, int height, rs_format format, int framerate, rs_error **error)
Enables a specific stream and requests specific properties.
rs_format
Formats: defines how each stream can be encoded.
float vector_length(const float(&v)[3])
GLboolean GLboolean GLboolean GLboolean a
TEST_CASE("Device metadata enumerates correctly","[live]")
void require_identity_matrix(const float(&matrix)[9])
GLboolean GLboolean GLboolean b
Cross-stream extrinsics: encode the topology describing how the different devices are connected...
int rs_get_stream_framerate(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the frame rate for a specific stream.
rs_stream
Streams are different types of data provided by RealSense devices.
GLint GLint GLsizei width
rs_capabilities
Specifies various capabilities of a RealSense device.
rs_device * rs_get_device(rs_context *context, int index, rs_error **error)
Retrieves connected device by index.
const char * rs_get_device_serial(const rs_device *device, rs_error **error)
Retrieves unique serial number of the device.
void rs_enable_stream_preset(rs_device *device, rs_stream stream, rs_preset preset, rs_error **error)
Enables a specific stream and requests properties using a preset.
GLint GLint GLsizei GLsizei GLsizei GLint GLenum format
#define SECTION(name, description)
void rs_start_device(rs_device *device, rs_error **error)
Begins streaming on all enabled streams for this device.
void rs_stop_device(rs_device *device, rs_error **error)
Ends data acquisition for the specified source providers.
int rs_is_stream_enabled(const rs_device *device, rs_stream stream, rs_error **error)
Determines if a specific stream is enabled.