WIP

2024-09-10 18:30:39 +02:00
parent 44b8394365
commit 3bd5ea4d7a
8 changed files with 451 additions and 65 deletions
--- a/tests/mock_intelrealsense.py
+++ b/tests/mock_intelrealsense.py
@@ -0,0 +1,110 @@
+import enum
+
+import numpy as np
+
+
+class MockStream(enum.Enum):
+    color = 0
+    depth = 1
+
+
+class MockFormat(enum.Enum):
+    rgb8 = 0
+    z16 = 1
+
+
+class MockConfig:
+    def enable_device(self, device_id: str):
+        self.device_enabled = device_id
+
+    def enable_stream(
+        self, stream_type: MockStream, width=None, height=None, color_format: MockFormat = None, fps=None
+    ):
+        self.stream_type = stream_type
+        # Overwrite default values when possible
+        self.width = 848 if width is None else width
+        self.height = 480 if height is None else height
+        self.color_format = MockFormat.rgb8 if color_format is None else color_format
+        self.fps = 30 if fps is None else fps
+
+
+class MockColorProfile:
+    def __init__(self, config: MockConfig):
+        self.config = config
+
+    def fps(self):
+        return self.config.fps
+
+    def width(self):
+        return self.config.width
+
+    def height(self):
+        return self.config.height
+
+
+class MockColorStream:
+    def __init__(self, config: MockConfig):
+        self.config = config
+
+    def as_video_stream_profile(self):
+        return MockColorProfile(self.config)
+
+
+class MockProfile:
+    def __init__(self, config: MockConfig):
+        self.config = config
+
+    def get_stream(self, color_format: MockFormat):
+        del color_format  # unused
+        return MockColorStream(self.config)
+
+
+class MockPipeline:
+    def __init__(self):
+        self.started = False
+        self.config = None
+
+    def start(self, config: MockConfig):
+        self.started = True
+        self.config = config
+        return MockProfile(self.config)
+
+    def stop(self):
+        if not self.started:
+            raise RuntimeError("You need to start the camera before stop.")
+        self.started = False
+        self.config = None
+
+    def wait_for_frames(self, timeout_ms=50000):
+        del timeout_ms  # unused
+        return MockFrames(self.config)
+
+
+class MockFrames:
+    def __init__(self, config: MockConfig):
+        self.config = config
+
+    def get_color_frame(self):
+        return MockColorFrame(self.config)
+
+    def get_depth_frame(self):
+        return MockDepthFrame(self.config)
+
+
+class MockColorFrame:
+    def __init__(self, config: MockConfig):
+        self.config = config
+
+    def get_data(self):
+        data = np.ones((self.config.height, self.config.width, 3), dtype=np.uint8)
+        # Create a difference between rgb and bgr
+        data[:, :, 0] = 2
+        return data
+
+
+class MockDepthFrame:
+    def __init__(self, config: MockConfig):
+        self.config = config
+
+    def get_data(self):
+        return np.ones((self.config.height, self.config.width), dtype=np.uint16)