forked from tangger/lerobot
Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots
This commit is contained in:
Simon Alibert
252
tests/cameras/test_cameras.py
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252
tests/cameras/test_cameras.py
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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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#
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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
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# 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
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# 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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# 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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# Test connecting twice raises an error
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with pytest.raises(DeviceAlreadyConnectedError):
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camera.connect()
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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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# 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
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# 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
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# 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"
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bgr_color_image = camera.read()
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np.testing.assert_allclose(
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color_image, bgr_color_image[:, :, [2, 1, 0]], rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
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)
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del camera
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# Test acquiring a rotated image
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camera = make_camera(**camera_kwargs)
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camera.connect()
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ori_color_image = camera.read()
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del camera
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for rotation in [None, 90, 180, -90]:
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camera = make_camera(**camera_kwargs, rotation=rotation)
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camera.connect()
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if mock:
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import tests.cameras.mock_cv2 as cv2
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else:
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import cv2
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if rotation is None:
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manual_rot_img = ori_color_image
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assert camera.rotation is None
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elif rotation == 90:
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manual_rot_img = np.rot90(color_image, k=1)
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assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
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elif rotation == 180:
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manual_rot_img = np.rot90(color_image, k=2)
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assert camera.rotation == cv2.ROTATE_180
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elif rotation == -90:
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manual_rot_img = np.rot90(color_image, k=3)
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assert camera.rotation == cv2.ROTATE_90_COUNTERCLOCKWISE
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rot_color_image = camera.read()
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np.testing.assert_allclose(
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rot_color_image, manual_rot_img, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
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)
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del camera
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# TODO(rcadene): Add a test for a camera that doesnt support fps=60 and raises an OSError
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# TODO(rcadene): Add a test for a camera that supports fps=60
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# Test width and height can be set
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camera = make_camera(**camera_kwargs, fps=30, width=1280, height=720)
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camera.connect()
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assert camera.fps == 30
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assert camera.width == 1280
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assert camera.height == 720
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color_image = camera.read()
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h, w, c = color_image.shape
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assert h == 720
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assert w == 1280
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assert c == 3
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del camera
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# Test not supported width and height raise an error
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camera = make_camera(**camera_kwargs, fps=30, width=0, height=0)
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with pytest.raises(OSError):
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camera.connect()
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del camera
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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_save_images_from_cameras(tmp_path, request, camera_type, mock):
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# TODO(rcadene): refactor
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if camera_type == "opencv":
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from lerobot.common.cameras.opencv.camera_opencv import save_images_from_cameras
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elif camera_type == "intelrealsense":
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from lerobot.common.cameras.intel.camera_realsense import save_images_from_cameras
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# Small `record_time_s` to speedup unit tests
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save_images_from_cameras(tmp_path, record_time_s=0.02, mock=mock)
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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_rotation(request, camera_type, mock):
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config_kwargs = {"camera_type": camera_type, "mock": mock, "width": 640, "height": 480, "fps": 30}
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# No rotation.
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camera = make_camera(**config_kwargs, rotation=None)
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camera.connect()
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assert camera.capture_width == 640
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assert camera.capture_height == 480
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assert camera.width == 640
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assert camera.height == 480
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no_rot_img = camera.read()
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h, w, c = no_rot_img.shape
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assert h == 480 and w == 640 and c == 3
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camera.disconnect()
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# Rotation = 90 (clockwise).
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camera = make_camera(**config_kwargs, rotation=90)
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camera.connect()
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# With a 90° rotation, we expect the metadata dimensions to be swapped.
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assert camera.capture_width == 640
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assert camera.capture_height == 480
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assert camera.width == 480
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assert camera.height == 640
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import cv2
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assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
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rot_img = camera.read()
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h, w, c = rot_img.shape
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assert h == 640 and w == 480 and c == 3
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camera.disconnect()
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# Rotation = 180.
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camera = make_camera(**config_kwargs, rotation=None)
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camera.connect()
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assert camera.capture_width == 640
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assert camera.capture_height == 480
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assert camera.width == 640
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assert camera.height == 480
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no_rot_img = camera.read()
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h, w, c = no_rot_img.shape
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assert h == 480 and w == 640 and c == 3
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camera.disconnect()
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