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This commit is contained in:
Remi Cadene
2024-09-16 14:50:53 +02:00
parent ccc0586d45
commit 6636db5b51
8 changed files with 112 additions and 62 deletions
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22
tests/test_cameras.py
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@@ -10,17 +10,19 @@ pytest -sx tests/test_cameras.py::test_camera
Example of running test on a real camera connected to the computer:
```bash
pytest -sx tests/test_cameras.py::test_camera[opencv]
pytest -sx tests/test_cameras.py::test_camera[intelrealsense]
pytest -sx 'tests/test_cameras.py::test_camera[opencv-False]'
pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-False]'
```
Example of running test on a mocked version of the camera:
```bash
pytest -sx -k "mocked_opencv" tests/test_cameras.py::test_camera
pytest -sx -k "mocked_intelrealsense" tests/test_cameras.py::test_camera
pytest -sx 'tests/test_cameras.py::test_camera[opencv-True]'
pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]'
```
"""
import os
import numpy as np
import pytest
@@ -28,8 +30,8 @@ from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError,
from tests.utils import TEST_CAMERA_TYPES, require_camera
# Camera indices used for connecting physical cameras
OPENCV_CAMERA_INDEX = 0
INTELREALSENSE_CAMERA_INDEX = 128422271614
OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))
INTELREALSENSE_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_CAMERA_INDEX", 128422271614))
# Maximum absolute difference between two consecutive images recored by a camera.
# This value differs with respect to the camera.
@@ -57,9 +59,9 @@ def make_camera(camera_type, **kwargs):
raise ValueError(f"The camera type '{camera_type}' is not valid.")
@pytest.mark.parametrize("camera_type", TEST_CAMERA_TYPES)
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
@require_camera
def test_camera(request, camera_type):
def test_camera(request, camera_type, mock):
"""Test assumes that `camera.read()` returns the same image when called multiple times in a row.
So the environment should not change (you shouldnt be in front of the camera) and the camera should not be moving.
@@ -156,9 +158,9 @@ def test_camera(request, camera_type):
del camera
@pytest.mark.parametrize("camera_type", TEST_CAMERA_TYPES)
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
@require_camera
def test_save_images_from_cameras(tmpdir, request, camera_type):
def test_save_images_from_cameras(tmpdir, request, camera_type, mock):
# TODO(rcadene): refactor
if camera_type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import save_images_from_cameras