D457 Segfault when calling get_motion_intrinsics

jheo4 · Aug 8, 2023 · fa5fe4f · fa5fe4f
1 parent 1c5c9f3
commit fa5fe4f
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Showing 5 changed files with 49 additions and 14 deletions.
diff --git a/src/ds/d400/d400-motion.cpp b/src/ds/d400/d400-motion.cpp
@@ -93,11 +93,6 @@ namespace librealsense
         return _ds_motion_common->create_hid_device(ctx, all_hid_infos, camera_fw_version, _tf_keeper);
     }
 
-    rs2_motion_device_intrinsic d400_motion::get_motion_intrinsics(rs2_stream stream) const
-    {
-        return d400_motion_base::get_motion_intrinsics(stream);
-    }
-
     d400_motion_base::d400_motion_base(std::shared_ptr<context> ctx,
         const platform::backend_device_group& group)
         : device(ctx, group),
@@ -119,7 +114,7 @@ namespace librealsense
 
         std::vector<platform::hid_device_info> hid_infos = group.hid_devices;
 
-        _ds_motion_common->init_hid(hid_infos, *_depth_stream);
+        _ds_motion_common->init_motion(hid_infos.empty(), *_depth_stream);
 
         initialize_fisheye_sensor(ctx,group);
 
@@ -136,14 +131,16 @@ namespace librealsense
 
     d400_motion_uvc::d400_motion_uvc(std::shared_ptr<context> ctx,
         const platform::backend_device_group& group)
-        : d400_motion_base(ctx, group),
-        device(ctx, group),
-        d400_device(ctx, group)
+        : device(ctx, group),
+          d400_device(ctx, group),
+          d400_motion_base(ctx, group)
     {
         using namespace ds;
 
         std::vector<platform::uvc_device_info> uvc_infos = group.uvc_devices;
 
+        _ds_motion_common->init_motion(uvc_infos.empty(), *_depth_stream);
+
         if (!uvc_infos.empty())
         {
             // product id - D457 dev - check - must not be the front of uvc_infos vector

diff --git a/src/ds/d400/d400-motion.h b/src/ds/d400/d400-motion.h
@@ -49,8 +49,6 @@ namespace librealsense
             const std::vector<platform::hid_device_info>& all_hid_infos,
             const firmware_version& camera_fw_version);
 
-        rs2_motion_device_intrinsic get_motion_intrinsics(rs2_stream) const;
-
     protected:
         friend class ds_motion_common;
         friend class ds_fisheye_sensor;

diff --git a/src/ds/ds-motion-common.cpp b/src/ds/ds-motion-common.cpp
@@ -490,9 +490,9 @@ namespace librealsense
         return hid_ep;
     }
 
-    void ds_motion_common::init_hid(const std::vector<platform::hid_device_info>& hid_infos, const stream_interface& depth_stream)
+    void ds_motion_common::init_motion(bool is_infos_empty, const stream_interface& depth_stream)
     {
-        if (!hid_infos.empty())
+        if (!is_infos_empty)
         {
             // motion correction
             _mm_calib = std::make_shared<mm_calib_handler>(_hw_monitor, _owner->_pid);

diff --git a/src/ds/ds-motion-common.h b/src/ds/ds-motion-common.h
@@ -126,7 +126,7 @@ namespace librealsense
             const firmware_version& camera_fw_version,
             std::shared_ptr<time_diff_keeper> tf_keeper);
 
-        void init_hid(const std::vector<platform::hid_device_info>& hid_infos, const stream_interface& depth_stream);
+        void init_motion(bool is_infos_empty, const stream_interface& depth_stream);
 
         const std::vector<uint8_t>& get_fisheye_calibration_table() const;
 

diff --git a/unit-tests/live/intrinsics/test-motion.py b/unit-tests/live/intrinsics/test-motion.py
@@ -0,0 +1,40 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+
+# test:device:jetson D457
+# test:device:!jetson D455
+# This test check existence motion intrinsic data in accel and gyro profiles.
+
+import pyrealsense2 as rs
+from rspy import test, log
+
+device = test.find_first_device_or_exit()
+motion_sensor = device.first_motion_sensor()
+
+test.start('Check intrinsics in motion sensor:')
+
+test.check(motion_sensor)
+
+if motion_sensor:
+
+    motion_profile_accel = next(p for p in motion_sensor.profiles if p.stream_type() == rs.stream.accel)
+    motion_profile_gyro = next(p for p in motion_sensor.profiles if p.stream_type() == rs.stream.gyro)
+
+    test.check(motion_profile_accel and motion_profile_gyro)
+
+    if motion_profile_accel:
+        motion_profile_accel = motion_profile_accel.as_motion_stream_profile()
+        intrinsics_accel = motion_profile_accel.get_motion_intrinsics()
+
+        log.d(str(intrinsics_accel))
+        test.check(len(str(intrinsics_accel)) > 0)  # Checking if intrinsics has data
+
+    if motion_profile_gyro:
+        motion_profile_gyro = motion_profile_gyro.as_motion_stream_profile()
+        intrinsics_gyro = motion_profile_gyro.get_motion_intrinsics()
+
+        log.d(intrinsics_gyro)
+        test.check(len(str(intrinsics_gyro)) > 0)  # Checking if intrinsics has data
+
+    test.finish()
+    test.print_results_and_exit()