forked from tangger/lerobot
refactor(cameras): cameras implementations + tests improvements (#1108)
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This commit is contained in:
Steven Palma
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tests/artifacts/cameras/image_128x128.png
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tests/artifacts/cameras/test_rs.bag
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tests/artifacts/cameras/test_rs.bag
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@@ -1,101 +0,0 @@
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
|
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# You may obtain a copy of the License at
|
||||
#
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# http://www.apache.org/licenses/LICENSE-2.0
|
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#
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# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
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# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
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from functools import cache
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|
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import numpy as np
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|
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CAP_V4L2 = 200
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CAP_DSHOW = 700
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CAP_AVFOUNDATION = 1200
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CAP_ANY = -1
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CAP_PROP_FPS = 5
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CAP_PROP_FRAME_WIDTH = 3
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CAP_PROP_FRAME_HEIGHT = 4
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COLOR_RGB2BGR = 4
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COLOR_BGR2RGB = 4
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ROTATE_90_COUNTERCLOCKWISE = 2
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ROTATE_90_CLOCKWISE = 0
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ROTATE_180 = 1
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@cache
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def _generate_image(width: int, height: int):
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return np.random.randint(0, 256, size=(height, width, 3), dtype=np.uint8)
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def cvtColor(color_image, color_conversion): # noqa: N802
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if color_conversion in [COLOR_RGB2BGR, COLOR_BGR2RGB]:
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return color_image[:, :, [2, 1, 0]]
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else:
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raise NotImplementedError(color_conversion)
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|
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def rotate(color_image, rotation):
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if rotation is None:
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return color_image
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elif rotation == ROTATE_90_CLOCKWISE:
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return np.rot90(color_image, k=1)
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elif rotation == ROTATE_180:
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return np.rot90(color_image, k=2)
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elif rotation == ROTATE_90_COUNTERCLOCKWISE:
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return np.rot90(color_image, k=3)
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else:
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raise NotImplementedError(rotation)
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class VideoCapture:
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def __init__(self, *args, **kwargs):
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self._mock_dict = {
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CAP_PROP_FPS: 30,
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CAP_PROP_FRAME_WIDTH: 640,
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CAP_PROP_FRAME_HEIGHT: 480,
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}
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self._is_opened = True
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def isOpened(self): # noqa: N802
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return self._is_opened
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def set(self, propId: int, value: float) -> bool: # noqa: N803
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if not self._is_opened:
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raise RuntimeError("Camera is not opened")
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self._mock_dict[propId] = value
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return True
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def get(self, propId: int) -> float: # noqa: N803
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if not self._is_opened:
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raise RuntimeError("Camera is not opened")
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value = self._mock_dict[propId]
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if value == 0:
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if propId == CAP_PROP_FRAME_HEIGHT:
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value = 480
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elif propId == CAP_PROP_FRAME_WIDTH:
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value = 640
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return value
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def read(self):
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if not self._is_opened:
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raise RuntimeError("Camera is not opened")
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h = self.get(CAP_PROP_FRAME_HEIGHT)
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w = self.get(CAP_PROP_FRAME_WIDTH)
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ret = True
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return ret, _generate_image(width=w, height=h)
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def release(self):
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self._is_opened = False
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def __del__(self):
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if self._is_opened:
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self.release()
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@@ -1,148 +0,0 @@
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
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# http://www.apache.org/licenses/LICENSE-2.0
|
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#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
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# limitations under the License.
|
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import enum
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|
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import numpy as np
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class stream(enum.Enum): # noqa: N801
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color = 0
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depth = 1
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class format(enum.Enum): # noqa: N801
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rgb8 = 0
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z16 = 1
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class config: # noqa: N801
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def enable_device(self, device_id: str):
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self.device_enabled = device_id
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def enable_stream(self, stream_type: stream, width=None, height=None, color_format=None, fps=None):
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self.stream_type = stream_type
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# Overwrite default values when possible
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self.width = 848 if width is None else width
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self.height = 480 if height is None else height
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self.color_format = format.rgb8 if color_format is None else color_format
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self.fps = 30 if fps is None else fps
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class RSColorProfile:
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def __init__(self, config):
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self.config = config
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def fps(self):
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return self.config.fps
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def width(self):
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return self.config.width
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def height(self):
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return self.config.height
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class RSColorStream:
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def __init__(self, config):
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self.config = config
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def as_video_stream_profile(self):
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return RSColorProfile(self.config)
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class RSProfile:
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def __init__(self, config):
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self.config = config
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def get_stream(self, color_format):
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del color_format # unused
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return RSColorStream(self.config)
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class pipeline: # noqa: N801
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def __init__(self):
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self.started = False
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self.config = None
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def start(self, config):
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self.started = True
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self.config = config
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return RSProfile(self.config)
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def stop(self):
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if not self.started:
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raise RuntimeError("You need to start the camera before stop.")
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self.started = False
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self.config = None
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def wait_for_frames(self, timeout_ms=50000):
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del timeout_ms # unused
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return RSFrames(self.config)
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class RSFrames:
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def __init__(self, config):
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self.config = config
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def get_color_frame(self):
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return RSColorFrame(self.config)
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def get_depth_frame(self):
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return RSDepthFrame(self.config)
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class RSColorFrame:
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def __init__(self, config):
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self.config = config
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def get_data(self):
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data = np.ones((self.config.height, self.config.width, 3), dtype=np.uint8)
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# Create a difference between rgb and bgr
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data[:, :, 0] = 2
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return data
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class RSDepthFrame:
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def __init__(self, config):
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self.config = config
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def get_data(self):
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return np.ones((self.config.height, self.config.width), dtype=np.uint16)
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class RSDevice:
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def __init__(self):
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pass
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def get_info(self, camera_info) -> str:
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del camera_info # unused
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# return fake serial number
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return "123456789"
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class context: # noqa: N801
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def __init__(self):
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pass
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def query_devices(self):
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return [RSDevice()]
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class camera_info: # noqa: N801
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# fake name
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name = "Intel RealSense D435I"
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def __init__(self, serial_number):
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del serial_number
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pass
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@@ -1,252 +0,0 @@
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
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#
|
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# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# 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.
|
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"""
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Tests for physical cameras and their mocked versions.
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If the physical camera is not connected to the computer, or not working,
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the test will be skipped.
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Example of running a specific test:
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```bash
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pytest -sx tests/test_cameras.py::test_camera
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```
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Example of running test on a real camera connected to the computer:
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```bash
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pytest -sx 'tests/test_cameras.py::test_camera[opencv-False]'
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pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-False]'
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```
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Example of running test on a mocked version of the camera:
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```bash
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pytest -sx 'tests/test_cameras.py::test_camera[opencv-True]'
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pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]'
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```
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"""
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import numpy as np
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import pytest
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from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
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from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera
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# Maximum absolute difference between two consecutive images recorded by a camera.
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# This value differs with respect to the camera.
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MAX_PIXEL_DIFFERENCE = 25
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def compute_max_pixel_difference(first_image, second_image):
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return np.abs(first_image.astype(float) - second_image.astype(float)).max()
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@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
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@require_camera
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def test_camera(request, camera_type, mock):
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"""Test assumes that `camera.read()` returns the same image when called multiple times in a row.
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So the environment should not change (you shouldnt be in front of the camera) and the camera should not be moving.
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Warning: The tests worked for a macbookpro camera, but I am getting assertion error (`np.allclose(color_image, async_color_image)`)
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for my iphone camera and my LG monitor camera.
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"""
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# TODO(rcadene): measure fps in nightly?
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# TODO(rcadene): test logs
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if camera_type == "opencv" and not mock:
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pytest.skip("TODO(rcadene): fix test for opencv physical camera")
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camera_kwargs = {"camera_type": camera_type, "mock": mock}
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# Test instantiating
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camera = make_camera(**camera_kwargs)
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# Test reading, async reading, disconnecting before connecting raises an error
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with pytest.raises(DeviceNotConnectedError):
|
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camera.read()
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with pytest.raises(DeviceNotConnectedError):
|
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camera.async_read()
|
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with pytest.raises(DeviceNotConnectedError):
|
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camera.disconnect()
|
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|
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# Test deleting the object without connecting first
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del camera
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# Test connecting
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camera = make_camera(**camera_kwargs)
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camera.connect()
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assert camera.is_connected
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assert camera.fps is not None
|
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assert camera.capture_width is not None
|
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assert camera.capture_height is not None
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|
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# Test connecting twice raises an error
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with pytest.raises(DeviceAlreadyConnectedError):
|
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camera.connect()
|
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|
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# Test reading from the camera
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color_image = camera.read()
|
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assert isinstance(color_image, np.ndarray)
|
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assert color_image.ndim == 3
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h, w, c = color_image.shape
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assert c == 3
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assert w > h
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# Test read and async_read outputs similar images
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# ...warming up as the first frames can be black
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for _ in range(30):
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camera.read()
|
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color_image = camera.read()
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async_color_image = camera.async_read()
|
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error_msg = (
|
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"max_pixel_difference between read() and async_read()",
|
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compute_max_pixel_difference(color_image, async_color_image),
|
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)
|
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# TODO(rcadene): properly set `rtol`
|
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np.testing.assert_allclose(
|
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color_image, async_color_image, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
|
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)
|
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|
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# Test disconnecting
|
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camera.disconnect()
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assert camera.camera is None
|
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assert camera.thread is None
|
||||
|
||||
# Test disconnecting with `__del__`
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camera = make_camera(**camera_kwargs)
|
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camera.connect()
|
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del camera
|
||||
|
||||
# Test acquiring a bgr image
|
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camera = make_camera(**camera_kwargs, color_mode="bgr")
|
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camera.connect()
|
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assert camera.color_mode == "bgr"
|
||||
bgr_color_image = camera.read()
|
||||
np.testing.assert_allclose(
|
||||
color_image, bgr_color_image[:, :, [2, 1, 0]], rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
|
||||
)
|
||||
del camera
|
||||
|
||||
# Test acquiring a rotated image
|
||||
camera = make_camera(**camera_kwargs)
|
||||
camera.connect()
|
||||
ori_color_image = camera.read()
|
||||
del camera
|
||||
|
||||
for rotation in [None, 90, 180, -90]:
|
||||
camera = make_camera(**camera_kwargs, rotation=rotation)
|
||||
camera.connect()
|
||||
|
||||
if mock:
|
||||
import tests.cameras.mock_cv2 as cv2
|
||||
else:
|
||||
import cv2
|
||||
|
||||
if rotation is None:
|
||||
manual_rot_img = ori_color_image
|
||||
assert camera.rotation is None
|
||||
elif rotation == 90:
|
||||
manual_rot_img = np.rot90(color_image, k=1)
|
||||
assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
|
||||
elif rotation == 180:
|
||||
manual_rot_img = np.rot90(color_image, k=2)
|
||||
assert camera.rotation == cv2.ROTATE_180
|
||||
elif rotation == -90:
|
||||
manual_rot_img = np.rot90(color_image, k=3)
|
||||
assert camera.rotation == cv2.ROTATE_90_COUNTERCLOCKWISE
|
||||
|
||||
rot_color_image = camera.read()
|
||||
|
||||
np.testing.assert_allclose(
|
||||
rot_color_image, manual_rot_img, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
|
||||
)
|
||||
del camera
|
||||
|
||||
# TODO(rcadene): Add a test for a camera that doesnt support fps=60 and raises an OSError
|
||||
# TODO(rcadene): Add a test for a camera that supports fps=60
|
||||
|
||||
# Test width and height can be set
|
||||
camera = make_camera(**camera_kwargs, fps=30, width=1280, height=720)
|
||||
camera.connect()
|
||||
assert camera.fps == 30
|
||||
assert camera.width == 1280
|
||||
assert camera.height == 720
|
||||
color_image = camera.read()
|
||||
h, w, c = color_image.shape
|
||||
assert h == 720
|
||||
assert w == 1280
|
||||
assert c == 3
|
||||
del camera
|
||||
|
||||
# Test not supported width and height raise an error
|
||||
camera = make_camera(**camera_kwargs, fps=30, width=0, height=0)
|
||||
with pytest.raises(OSError):
|
||||
camera.connect()
|
||||
del camera
|
||||
|
||||
|
||||
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
|
||||
@require_camera
|
||||
def test_save_images_from_cameras(tmp_path, request, camera_type, mock):
|
||||
# TODO(rcadene): refactor
|
||||
if camera_type == "opencv":
|
||||
from lerobot.common.cameras.opencv.camera_opencv import save_images_from_cameras
|
||||
elif camera_type == "intelrealsense":
|
||||
from lerobot.common.cameras.intel.camera_realsense import save_images_from_cameras
|
||||
|
||||
# Small `record_time_s` to speedup unit tests
|
||||
save_images_from_cameras(tmp_path, record_time_s=0.02, mock=mock)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
|
||||
@require_camera
|
||||
def test_camera_rotation(request, camera_type, mock):
|
||||
config_kwargs = {"camera_type": camera_type, "mock": mock, "width": 640, "height": 480, "fps": 30}
|
||||
|
||||
# No rotation.
|
||||
camera = make_camera(**config_kwargs, rotation=None)
|
||||
camera.connect()
|
||||
assert camera.capture_width == 640
|
||||
assert camera.capture_height == 480
|
||||
assert camera.width == 640
|
||||
assert camera.height == 480
|
||||
no_rot_img = camera.read()
|
||||
h, w, c = no_rot_img.shape
|
||||
assert h == 480 and w == 640 and c == 3
|
||||
camera.disconnect()
|
||||
|
||||
# Rotation = 90 (clockwise).
|
||||
camera = make_camera(**config_kwargs, rotation=90)
|
||||
camera.connect()
|
||||
# With a 90° rotation, we expect the metadata dimensions to be swapped.
|
||||
assert camera.capture_width == 640
|
||||
assert camera.capture_height == 480
|
||||
assert camera.width == 480
|
||||
assert camera.height == 640
|
||||
import cv2
|
||||
|
||||
assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
|
||||
rot_img = camera.read()
|
||||
h, w, c = rot_img.shape
|
||||
assert h == 640 and w == 480 and c == 3
|
||||
camera.disconnect()
|
||||
|
||||
# Rotation = 180.
|
||||
camera = make_camera(**config_kwargs, rotation=None)
|
||||
camera.connect()
|
||||
assert camera.capture_width == 640
|
||||
assert camera.capture_height == 480
|
||||
assert camera.width == 640
|
||||
assert camera.height == 480
|
||||
no_rot_img = camera.read()
|
||||
h, w, c = no_rot_img.shape
|
||||
assert h == 480 and w == 640 and c == 3
|
||||
camera.disconnect()
|
||||
190
tests/cameras/test_opencv.py
Normal file
190
tests/cameras/test_opencv.py
Normal file
@@ -0,0 +1,190 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# 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.
|
||||
|
||||
# Example of running a specific test:
|
||||
# ```bash
|
||||
# pytest tests/cameras/test_opencv.py::test_connect
|
||||
# ```
|
||||
|
||||
from pathlib import Path
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from lerobot.common.cameras.configs import Cv2Rotation
|
||||
from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
|
||||
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
|
||||
|
||||
# NOTE(Steven): more tests + assertions?
|
||||
TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"
|
||||
DEFAULT_PNG_FILE_PATH = TEST_ARTIFACTS_DIR / "image_160x120.png"
|
||||
TEST_IMAGE_SIZES = ["128x128", "160x120", "320x180", "480x270"]
|
||||
TEST_IMAGE_PATHS = [TEST_ARTIFACTS_DIR / f"image_{size}.png" for size in TEST_IMAGE_SIZES]
|
||||
|
||||
|
||||
def test_abc_implementation():
|
||||
"""Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
|
||||
config = OpenCVCameraConfig(index_or_path=0)
|
||||
|
||||
_ = OpenCVCamera(config)
|
||||
|
||||
|
||||
def test_connect():
|
||||
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
|
||||
camera = OpenCVCamera(config)
|
||||
|
||||
camera.connect(warmup=False)
|
||||
|
||||
assert camera.is_connected
|
||||
|
||||
|
||||
def test_connect_already_connected():
|
||||
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
|
||||
camera = OpenCVCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
with pytest.raises(DeviceAlreadyConnectedError):
|
||||
camera.connect(warmup=False)
|
||||
|
||||
|
||||
def test_connect_invalid_camera_path():
|
||||
config = OpenCVCameraConfig(index_or_path="nonexistent/camera.png")
|
||||
camera = OpenCVCamera(config)
|
||||
|
||||
with pytest.raises(ConnectionError):
|
||||
camera.connect(warmup=False)
|
||||
|
||||
|
||||
def test_invalid_width_connect():
|
||||
config = OpenCVCameraConfig(
|
||||
index_or_path=DEFAULT_PNG_FILE_PATH,
|
||||
width=99999, # Invalid width to trigger error
|
||||
height=480,
|
||||
)
|
||||
camera = OpenCVCamera(config)
|
||||
|
||||
with pytest.raises(RuntimeError):
|
||||
camera.connect(warmup=False)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS, ids=TEST_IMAGE_SIZES)
|
||||
def test_read(index_or_path):
|
||||
config = OpenCVCameraConfig(index_or_path=index_or_path)
|
||||
camera = OpenCVCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
img = camera.read()
|
||||
|
||||
assert isinstance(img, np.ndarray)
|
||||
|
||||
|
||||
def test_read_before_connect():
|
||||
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
|
||||
camera = OpenCVCamera(config)
|
||||
|
||||
with pytest.raises(DeviceNotConnectedError):
|
||||
_ = camera.read()
|
||||
|
||||
|
||||
def test_disconnect():
|
||||
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
|
||||
camera = OpenCVCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
camera.disconnect()
|
||||
|
||||
assert not camera.is_connected
|
||||
|
||||
|
||||
def test_disconnect_before_connect():
|
||||
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
|
||||
camera = OpenCVCamera(config)
|
||||
|
||||
with pytest.raises(DeviceNotConnectedError):
|
||||
_ = camera.disconnect()
|
||||
|
||||
|
||||
@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS, ids=TEST_IMAGE_SIZES)
|
||||
def test_async_read(index_or_path):
|
||||
config = OpenCVCameraConfig(index_or_path=index_or_path)
|
||||
camera = OpenCVCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
try:
|
||||
img = camera.async_read()
|
||||
|
||||
assert camera.thread is not None
|
||||
assert camera.thread.is_alive()
|
||||
assert isinstance(img, np.ndarray)
|
||||
finally:
|
||||
if camera.is_connected:
|
||||
camera.disconnect() # To stop/join the thread. Otherwise get warnings when the test ends
|
||||
|
||||
|
||||
def test_async_read_timeout():
|
||||
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
|
||||
camera = OpenCVCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
try:
|
||||
with pytest.raises(TimeoutError):
|
||||
camera.async_read(
|
||||
timeout_ms=0
|
||||
) # NOTE(Steven): This is flaky as sdometimes we actually get a frame
|
||||
finally:
|
||||
if camera.is_connected:
|
||||
camera.disconnect()
|
||||
|
||||
|
||||
def test_async_read_before_connect():
|
||||
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", TEST_IMAGE_PATHS, ids=TEST_IMAGE_SIZES)
|
||||
@pytest.mark.parametrize(
|
||||
"rotation",
|
||||
[
|
||||
Cv2Rotation.NO_ROTATION,
|
||||
Cv2Rotation.ROTATE_90,
|
||||
Cv2Rotation.ROTATE_180,
|
||||
Cv2Rotation.ROTATE_270,
|
||||
],
|
||||
ids=["no_rot", "rot90", "rot180", "rot270"],
|
||||
)
|
||||
def test_rotation(rotation, index_or_path):
|
||||
filename = Path(index_or_path).name
|
||||
dimensions = filename.split("_")[-1].split(".")[0] # Assumes filenames format (_wxh.png)
|
||||
original_width, original_height = map(int, dimensions.split("x"))
|
||||
|
||||
config = OpenCVCameraConfig(index_or_path=index_or_path, rotation=rotation)
|
||||
camera = OpenCVCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
img = camera.read()
|
||||
assert isinstance(img, np.ndarray)
|
||||
|
||||
if rotation in (Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_270):
|
||||
assert camera.width == original_height
|
||||
assert camera.height == original_width
|
||||
assert img.shape[:2] == (original_width, original_height)
|
||||
else:
|
||||
assert camera.width == original_width
|
||||
assert camera.height == original_height
|
||||
assert img.shape[:2] == (original_height, original_width)
|
||||
206
tests/cameras/test_realsense.py
Normal file
206
tests/cameras/test_realsense.py
Normal file
@@ -0,0 +1,206 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# 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.
|
||||
|
||||
# Example of running a specific test:
|
||||
# ```bash
|
||||
# pytest tests/cameras/test_opencv.py::test_connect
|
||||
# ```
|
||||
|
||||
from pathlib import Path
|
||||
from unittest.mock import patch
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from lerobot.common.cameras.configs import Cv2Rotation
|
||||
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
|
||||
|
||||
pytest.importorskip("pyrealsense2")
|
||||
|
||||
from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
|
||||
|
||||
TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"
|
||||
BAG_FILE_PATH = TEST_ARTIFACTS_DIR / "test_rs.bag"
|
||||
|
||||
# NOTE(Steven): For some reason these tests take ~20sec in macOS but only ~2sec in Linux.
|
||||
|
||||
|
||||
def mock_rs_config_enable_device_from_file(rs_config_instance, _sn):
|
||||
return rs_config_instance.enable_device_from_file(str(BAG_FILE_PATH), repeat_playback=True)
|
||||
|
||||
|
||||
def mock_rs_config_enable_device_bad_file(rs_config_instance, _sn):
|
||||
return rs_config_instance.enable_device_from_file("non_existent_file.bag", repeat_playback=True)
|
||||
|
||||
|
||||
@pytest.fixture(name="patch_realsense", autouse=True)
|
||||
def fixture_patch_realsense():
|
||||
"""Automatically mock pyrealsense2.config.enable_device for all tests."""
|
||||
with patch(
|
||||
"pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file
|
||||
) as mock:
|
||||
yield mock
|
||||
|
||||
|
||||
def test_abc_implementation():
|
||||
"""Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42)
|
||||
_ = RealSenseCamera(config)
|
||||
|
||||
|
||||
def test_connect():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42)
|
||||
camera = RealSenseCamera(config)
|
||||
|
||||
camera.connect(warmup=False)
|
||||
assert camera.is_connected
|
||||
|
||||
|
||||
def test_connect_already_connected():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42)
|
||||
camera = RealSenseCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
with pytest.raises(DeviceAlreadyConnectedError):
|
||||
camera.connect(warmup=False)
|
||||
|
||||
|
||||
def test_connect_invalid_camera_path(patch_realsense):
|
||||
patch_realsense.side_effect = mock_rs_config_enable_device_bad_file
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42)
|
||||
camera = RealSenseCamera(config)
|
||||
|
||||
with pytest.raises(ConnectionError):
|
||||
camera.connect(warmup=False)
|
||||
|
||||
|
||||
def test_invalid_width_connect():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42, width=99999, height=480, fps=30)
|
||||
camera = RealSenseCamera(config)
|
||||
|
||||
with pytest.raises(ConnectionError):
|
||||
camera.connect(warmup=False)
|
||||
|
||||
|
||||
def test_read():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
|
||||
camera = RealSenseCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
img = camera.read()
|
||||
assert isinstance(img, np.ndarray)
|
||||
|
||||
|
||||
def test_read_depth():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30, use_depth=True)
|
||||
camera = RealSenseCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
img = camera.read_depth(timeout_ms=1000) # NOTE(Steven): Reading depth takes longer
|
||||
assert isinstance(img, np.ndarray)
|
||||
|
||||
|
||||
def test_read_before_connect():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42)
|
||||
camera = RealSenseCamera(config)
|
||||
|
||||
with pytest.raises(DeviceNotConnectedError):
|
||||
_ = camera.read()
|
||||
|
||||
|
||||
def test_disconnect():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42)
|
||||
camera = RealSenseCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
camera.disconnect()
|
||||
|
||||
assert not camera.is_connected
|
||||
|
||||
|
||||
def test_disconnect_before_connect():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42)
|
||||
camera = RealSenseCamera(config)
|
||||
|
||||
with pytest.raises(DeviceNotConnectedError):
|
||||
camera.disconnect()
|
||||
|
||||
|
||||
def test_async_read():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
|
||||
camera = RealSenseCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
try:
|
||||
img = camera.async_read()
|
||||
|
||||
assert camera.thread is not None
|
||||
assert camera.thread.is_alive()
|
||||
assert isinstance(img, np.ndarray)
|
||||
finally:
|
||||
if camera.is_connected:
|
||||
camera.disconnect() # To stop/join the thread. Otherwise get warnings when the test ends
|
||||
|
||||
|
||||
def test_async_read_timeout():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
|
||||
camera = RealSenseCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
try:
|
||||
with pytest.raises(TimeoutError):
|
||||
camera.async_read(
|
||||
timeout_ms=0
|
||||
) # NOTE(Steven): This is flaky as sdometimes we actually get a frame
|
||||
finally:
|
||||
if camera.is_connected:
|
||||
camera.disconnect()
|
||||
|
||||
|
||||
def test_async_read_before_connect():
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42)
|
||||
camera = RealSenseCamera(config)
|
||||
|
||||
with pytest.raises(DeviceNotConnectedError):
|
||||
_ = camera.async_read()
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
"rotation",
|
||||
[
|
||||
Cv2Rotation.NO_ROTATION,
|
||||
Cv2Rotation.ROTATE_90,
|
||||
Cv2Rotation.ROTATE_180,
|
||||
Cv2Rotation.ROTATE_270,
|
||||
],
|
||||
ids=["no_rot", "rot90", "rot180", "rot270"],
|
||||
)
|
||||
def test_rotation(rotation):
|
||||
config = RealSenseCameraConfig(serial_number_or_name=42, rotation=rotation)
|
||||
camera = RealSenseCamera(config)
|
||||
camera.connect(warmup=False)
|
||||
|
||||
img = camera.read()
|
||||
assert isinstance(img, np.ndarray)
|
||||
|
||||
if rotation in (Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_270):
|
||||
assert camera.width == 480
|
||||
assert camera.height == 640
|
||||
assert img.shape[:2] == (640, 480)
|
||||
else:
|
||||
assert camera.width == 640
|
||||
assert camera.height == 480
|
||||
assert img.shape[:2] == (480, 640)
|
||||
@@ -223,7 +223,7 @@ def make_camera(camera_type: str, **kwargs) -> Camera:
|
||||
elif camera_type == "intelrealsense":
|
||||
serial_number = kwargs.pop("serial_number", INTELREALSENSE_SERIAL_NUMBER)
|
||||
kwargs["serial_number"] = serial_number
|
||||
from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig
|
||||
from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
|
||||
|
||||
config = RealSenseCameraConfig(**kwargs)
|
||||
return RealSenseCamera(config)
|
||||
|
||||
Reference in New Issue
Block a user