test(cameras): add minimal realsense test

lerobot/common/cameras/intel/camera_realsense.py

@@ -217,7 +217,7 @@ class RealSenseCamera(Camera):
     def _configure_realsense_settings(self) -> rs.config:
         """Creates and configures the RealSense pipeline configuration object."""
         rs_config = rs.config()
-        rs_config.enable_device(self.serial_number)
+        rs.config.enable_device(rs_config, self.serial_number)
 
         if self.capture_width and self.capture_height and self.fps:
             logger.debug(
@@ -300,6 +300,7 @@ class RealSenseCamera(Camera):
             self.width, self.height = self.capture_width, self.capture_height
         logger.debug(f"Final image dimensions set to: {self.width}x{self.height} (after rotation if any)")
 
+    # NOTE(Steven): Add a wamr-up period time config
     def connect(self):
         """
         Connects to the RealSense camera specified in the configuration.

lerobot/common/cameras/intel/configuration_realsense.py

@@ -36,7 +36,7 @@ class RealSenseCameraConfig(CameraConfig):
     name: str | None = None
     serial_number: int | None = None
     fps: int | None = None
-    width: int | None = None
+    width: int | None = None  # NOTE(Steven): Make this not None allowed!
     height: int | None = None
     color_mode: ColorMode = ColorMode.RGB
     channels: int | None = 3

tests/cameras/test_opencv.py

@@ -21,6 +21,8 @@ from lerobot.common.cameras.configs import Cv2Rotation
 from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
+# NOTE(Steven): Patch get/set calls
+
 
 def test_base_class_implementation():
     config = OpenCVCameraConfig(index_or_path=0)

tests/cameras/test_realsense.py

@@ -0,0 +1,183 @@
+#!/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.
+
+import os
+from unittest.mock import patch
+
+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
+
+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")
+
+if not os.path.exists(BAG_FILE_PATH):
+    print(f"Warning: Bag file not found at {BAG_FILE_PATH}. Some tests might fail or be skipped.")
+
+
+def mock_rs_config_enable_device_from_file(rs_config_instance, sn):
+    if not os.path.exists(BAG_FILE_PATH):
+        raise FileNotFoundError(f"Test bag file not found: {BAG_FILE_PATH}")
+    print(f"MOCK: Calling enable_device_from_file with: {BAG_FILE_PATH}")
+    return rs_config_instance.enable_device_from_file(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)
+
+
+@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
+def test_connect(mock_enable_device):
+    config = RealSenseCameraConfig(serial_number=42)
+    camera = RealSenseCamera(config)
+
+    camera.connect()
+    assert camera.is_connected
+
+
+def test_base_class_implementation():
+    config = RealSenseCameraConfig(serial_number=42)
+    _ = RealSenseCamera(config)
+
+
+@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
+def test_connect_already_connected(mock_enable_device):
+    config = RealSenseCameraConfig(serial_number=42)
+    camera = RealSenseCamera(config)
+    camera.connect()
+
+    with pytest.raises(DeviceAlreadyConnectedError):
+        camera.connect()
+
+
+@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_bad_file)
+def test_connect_invalid_camera_path(mock_enable_device):
+    config = RealSenseCameraConfig(serial_number=42)
+    camera = RealSenseCamera(config)
+
+    with pytest.raises(ConnectionError):
+        camera.connect()
+
+
+@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
+def test_invalid_width_connect(mock_enable_device):
+    config = RealSenseCameraConfig(serial_number=42, width=99999, height=480, fps=30)
+    camera = RealSenseCamera(config)
+
+    with pytest.raises(ConnectionError):
+        camera.connect()
+
+
+@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
+def test_read(mock_enable_device):
+    config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
+    camera = RealSenseCamera(config)
+    camera.connect()
+
+    img = camera.read()
+    assert isinstance(img, np.ndarray)
+
+
+def test_read_before_connect():
+    config = RealSenseCameraConfig(serial_number=42)
+    camera = RealSenseCamera(config)
+
+    with pytest.raises(DeviceNotConnectedError):
+        _ = camera.read()
+
+
+@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
+def test_disconnect(mock_enable_device):
+    config = RealSenseCameraConfig(serial_number=42)
+    camera = RealSenseCamera(config)
+    camera.connect()
+
+    camera.disconnect()
+
+    assert not camera.is_connected
+
+
+def test_disconnect_before_connect():
+    config = RealSenseCameraConfig(serial_number=42)
+    camera = RealSenseCamera(config)
+
+    with pytest.raises(DeviceNotConnectedError):
+        camera.disconnect()
+
+
+@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
+def test_async_read(mock_enable_device):
+    config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
+    camera = RealSenseCamera(config)
+    camera.connect()
+
+    img = camera.async_read()
+
+    assert camera.thread is not None
+    assert camera.thread.is_alive()
+    assert isinstance(img, np.ndarray)
+    camera.disconnect()  # To stop/join the thread. Otherwise get warnings when the test ends
+
+
+@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
+def test_async_read_timeout(mock_enable_device):
+    config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
+    camera = RealSenseCamera(config)
+    camera.connect()
+
+    with pytest.raises(TimeoutError):
+        camera.async_read(timeout_ms=1)
+
+    camera.disconnect()
+
+
+def test_async_read_before_connect():
+    config = RealSenseCameraConfig(serial_number=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,
+    ],
+)
+@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
+def test_all_rotations(mock_enable_device, rotation):
+    config = RealSenseCameraConfig(serial_number=42, rotation=rotation)
+    camera = RealSenseCamera(config)
+    camera.connect()
+
+    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)