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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/io/sensor/azure_kinect/AzureKinectSensorConfig.h"
#include <json/json.h>
#include <k4a/k4a.h>
#include <string>
#include <unordered_map>
#include "tests/Tests.h"
namespace open3d {
namespace tests {
static std::unordered_map<std::string, std::string> defult_config{
{"color_format", "K4A_IMAGE_FORMAT_COLOR_MJPG"},
{"color_resolution", "K4A_COLOR_RESOLUTION_720P"},
{"depth_mode", "K4A_DEPTH_MODE_WFOV_2X2BINNED"},
{"camera_fps", "K4A_FRAMES_PER_SECOND_30"},
{"synchronized_images_only", "false"},
{"depth_delay_off_color_usec", "0"},
{"wired_sync_mode", "K4A_WIRED_SYNC_MODE_STANDALONE"},
{"subordinate_delay_off_master_usec", "0"},
{"disable_streaming_indicator", "false"},
};
static std::unordered_map<std::string, std::string> special_config{
{"color_format", "K4A_IMAGE_FORMAT_COLOR_NV12"},
{"color_resolution", "K4A_COLOR_RESOLUTION_1080P"},
{"depth_mode", "K4A_DEPTH_MODE_WFOV_UNBINNED"},
{"camera_fps", "K4A_FRAMES_PER_SECOND_5"},
{"synchronized_images_only", "true"},
{"depth_delay_off_color_usec", "12"},
{"wired_sync_mode", "K4A_WIRED_SYNC_MODE_MASTER"},
{"subordinate_delay_off_master_usec", "34"},
{"disable_streaming_indicator", "true"},
};
static k4a_device_configuration_t special_native_config = {
K4A_IMAGE_FORMAT_COLOR_NV12,
K4A_COLOR_RESOLUTION_1080P,
K4A_DEPTH_MODE_WFOV_UNBINNED,
K4A_FRAMES_PER_SECOND_5,
true,
12,
K4A_WIRED_SYNC_MODE_MASTER,
34,
true};
TEST(AzureKinectSensorConfig, DefaultConstructor) {
io::AzureKinectSensorConfig kinect_config;
EXPECT_TRUE(kinect_config.config_ == defult_config);
}
TEST(AzureKinectSensorConfig, CustomConstructor) {
io::AzureKinectSensorConfig default_config;
EXPECT_EQ(default_config.config_["color_format"],
"K4A_IMAGE_FORMAT_COLOR_MJPG");
std::unordered_map<std::string, std::string> custom_config_map;
custom_config_map["color_format"] = "K4A_IMAGE_FORMAT_COLOR_NV12";
io::AzureKinectSensorConfig custom_config(custom_config_map);
EXPECT_EQ(custom_config.config_["color_format"],
"K4A_IMAGE_FORMAT_COLOR_NV12");
}
TEST(AzureKinectSensorConfig, ConvertFromNativeConfig) {
// Use non-default configs to check
io::AzureKinectSensorConfig kinect_config;
kinect_config.ConvertFromNativeConfig(special_native_config);
EXPECT_TRUE(kinect_config.config_ == special_config);
}
TEST(AzureKinectSensorConfig, ConvertToNativeConfig) {
io::AzureKinectSensorConfig kinect_config_a(special_config);
k4a_device_configuration_t native_config_a =
kinect_config_a.ConvertToNativeConfig();
io::AzureKinectSensorConfig kinect_config_b;
kinect_config_b.ConvertFromNativeConfig(native_config_a);
EXPECT_EQ(kinect_config_a.config_, kinect_config_b.config_);
}
} // namespace tests
} // namespace open3d
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