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chore(cameras): remove compressed files + filename better managed in opencv camera tests + add camera artefacts in lfs

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This commit is contained in:
Steven Palma
2025-05-14 11:20:10 +02:00
parent 2d86812b97
commit 27bb7c4d71
11 changed files with 43 additions and 44 deletions
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2
.gitattributes vendored
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@@ -11,10 +11,10 @@
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
*.memmap filter=lfs diff=lfs merge=lfs -text
*.stl filter=lfs diff=lfs merge=lfs -text
*.safetensors filter=lfs diff=lfs merge=lfs -text
*.mp4 filter=lfs diff=lfs merge=lfs -text
*.arrow filter=lfs diff=lfs merge=lfs -text
*.json !text !filter !merge !diff
tests/artifacts/cameras/*.{png,bag} filter=lfs diff=lfs merge=lfs -text

6
.gitignore vendored
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@@ -171,9 +171,3 @@ dmypy.json
# Cython debug symbols
cython_debug/
# realsense data-recording format
*.bag
# opencv test images
fakecam*

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tests/artifacts/cameras/compressed_bag.tar.bz2
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tests/artifacts/cameras/compressed_fakecams.tar.bz2
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3
tests/artifacts/cameras/fakecam_fullhd_480x270.png Normal file
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@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:f79d14daafb1c0cf2fec5d46ee8029a73fe357402fdd31a7cd4a4794d7319a7c
size 260367

3
tests/artifacts/cameras/fakecam_hd_320x180.png Normal file
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@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:b8840fb643afe903191248703b1f95a57faf5812ecd9978ac502ee939646fdb2
size 121115

3
tests/artifacts/cameras/fakecam_sd_160x120.png Normal file
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@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:7e11af87616b83c1cdb30330e951b91e86b51c64a1326e1ba5b4a3fbcdec1a11
size 55698

3
tests/artifacts/cameras/fakecam_square_128x128.png Normal file
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@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:9dc9df05797dc0e7b92edc845caab2e4c37c3cfcabb4ee6339c67212b5baba3b
size 38023

3
tests/artifacts/cameras/test_rs.bag Normal file
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@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:a8d6e64d6cb0e02c94ae125630ee758055bd2e695772c0463a30d63ddc6c5e17
size 3520862

54
tests/cameras/test_opencv.py
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@@ -29,6 +29,14 @@ from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
# NOTE(Steven): Consider improving the assert coverage
TEST_ARTIFACTS_DIR = os.path.join(os.path.dirname(os.path.dirname(__file__)), "artifacts", "cameras")
DEFAULT_PNG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "fakecam_sd_160x120.png")
TEST_IMAGE_PATHS = [
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_sd_160x120.png"),
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_hd_320x180.png"),
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_fullhd_480x270.png"),
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_square_128x128.png"),
]
def test_base_class_implementation():
@@ -38,7 +46,7 @@ def test_base_class_implementation():
def test_connect():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
@@ -47,7 +55,7 @@ def test_connect():
def test_connect_already_connected():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
@@ -65,7 +73,7 @@ def test_connect_invalid_camera_path():
def test_invalid_width_connect():
config = OpenCVCameraConfig(
index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png",
index_or_path=DEFAULT_PNG_FILE_PATH,
width=99999, # Invalid width to trigger error
height=480,
)
@@ -75,15 +83,7 @@ def test_invalid_width_connect():
camera.connect(do_warmup_read=False)
@pytest.mark.parametrize(
"index_or_path",
[
"tests/artifacts/cameras/fakecam_sd_640x480.png",
"tests/artifacts/cameras/fakecam_hd_1280x720.png",
"tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
"tests/artifacts/cameras/fakecam_square_512x512.png",
],
)
@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS)
def test_read(index_or_path):
config = OpenCVCameraConfig(index_or_path=index_or_path)
camera = OpenCVCamera(config)
@@ -95,7 +95,7 @@ def test_read(index_or_path):
def test_read_before_connect():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
with pytest.raises(DeviceNotConnectedError):
@@ -103,7 +103,7 @@ def test_read_before_connect():
def test_disconnect():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
@@ -113,22 +113,14 @@ def test_disconnect():
def test_disconnect_before_connect():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
with pytest.raises(DeviceNotConnectedError):
_ = camera.disconnect()
@pytest.mark.parametrize(
"index_or_path",
[
"tests/artifacts/cameras/fakecam_sd_640x480.png",
"tests/artifacts/cameras/fakecam_hd_1280x720.png",
"tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
"tests/artifacts/cameras/fakecam_square_512x512.png",
],
)
@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS)
def test_async_read(index_or_path):
config = OpenCVCameraConfig(index_or_path=index_or_path)
camera = OpenCVCamera(config)
@@ -143,7 +135,7 @@ def test_async_read(index_or_path):
def test_async_read_timeout():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
@@ -154,22 +146,14 @@ def test_async_read_timeout():
def test_async_read_before_connect():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
with pytest.raises(DeviceNotConnectedError):
_ = camera.async_read()
@pytest.mark.parametrize(
"index_or_path",
[
"tests/artifacts/cameras/fakecam_sd_640x480.png",
"tests/artifacts/cameras/fakecam_hd_1280x720.png",
"tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
"tests/artifacts/cameras/fakecam_square_512x512.png",
],
)
@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS)
@pytest.mark.parametrize(
"rotation",
[

10
tests/cameras/test_realsense.py
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@@ -26,11 +26,17 @@ import numpy as np
import pytest
from lerobot.common.cameras.configs import Cv2Rotation
from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
try:
import pyrealsense2 as rs # noqa: F401
from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig
except (ImportError, ModuleNotFoundError):
pytest.skip("pyrealsense2 not available", allow_module_level=True)
TEST_ARTIFACTS_DIR = os.path.join(os.path.dirname(os.path.dirname(__file__)), "artifacts", "cameras")
BAG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "test.bag")
BAG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "test_rs.bag")
if not os.path.exists(BAG_FILE_PATH):