forked from tangger/lerobot
166 lines
4.5 KiB
Python
166 lines
4.5 KiB
Python
#!/usr/bin/env python
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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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import numpy as np
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import pytest
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from lerobot.common.cameras.configs import Cv2Rotation
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from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
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from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
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# NOTE(Steven): Patch get/set calls
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def test_base_class_implementation():
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config = OpenCVCameraConfig(index_or_path=0)
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_ = OpenCVCamera(config)
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def test_connect():
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config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
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camera = OpenCVCamera(config)
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camera.connect()
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assert camera.is_connected
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def test_connect_already_connected():
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config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
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camera = OpenCVCamera(config)
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camera.connect()
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with pytest.raises(DeviceAlreadyConnectedError):
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camera.connect()
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def test_connect_invalid_camera_path():
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config = OpenCVCameraConfig(index_or_path="nonexistent/camera.png")
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camera = OpenCVCamera(config)
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with pytest.raises(ConnectionError):
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camera.connect()
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def test_invalid_width_connect():
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config = OpenCVCameraConfig(
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index_or_path="tests/artifacts/cameras/fake_cam.png",
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width=99999, # Invalid width to trigger error
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height=480,
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)
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camera = OpenCVCamera(config)
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with pytest.raises(RuntimeError):
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camera.connect()
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def test_read():
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config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
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camera = OpenCVCamera(config)
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camera.connect()
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img = camera.read()
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assert isinstance(img, np.ndarray)
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def test_read_before_connect():
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config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
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camera = OpenCVCamera(config)
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with pytest.raises(DeviceNotConnectedError):
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_ = camera.read()
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def test_disconnect():
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config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
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camera = OpenCVCamera(config)
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camera.connect()
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camera.disconnect()
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assert not camera.is_connected
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def test_disconnect_before_connect():
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config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
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camera = OpenCVCamera(config)
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with pytest.raises(DeviceNotConnectedError):
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_ = camera.disconnect()
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def test_async_read():
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config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
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camera = OpenCVCamera(config)
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camera.connect()
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img = camera.async_read()
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assert camera.thread is not None
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assert camera.thread.is_alive()
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assert isinstance(img, np.ndarray)
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camera.disconnect() # To stop/join the thread. Otherwise get warnings when the test ends
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def test_async_read_timeout():
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config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
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camera = OpenCVCamera(config)
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camera.connect()
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with pytest.raises(TimeoutError):
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_ = camera.async_read(timeout_ms=1)
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camera.disconnect()
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def test_async_read_before_connect():
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config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
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camera = OpenCVCamera(config)
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with pytest.raises(DeviceNotConnectedError):
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_ = camera.async_read()
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@pytest.mark.parametrize(
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"rotation",
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[
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Cv2Rotation.NO_ROTATION,
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Cv2Rotation.ROTATE_90,
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Cv2Rotation.ROTATE_180,
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Cv2Rotation.ROTATE_270,
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],
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)
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def test_all_rotations(rotation):
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config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png", rotation=rotation)
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camera = OpenCVCamera(config)
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camera.connect()
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img = camera.read()
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assert isinstance(img, np.ndarray)
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if rotation in (Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_270):
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assert camera.width == 480
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assert camera.height == 640
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assert img.shape[:2] == (640, 480)
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else:
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assert camera.width == 640
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assert camera.height == 480
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assert img.shape[:2] == (480, 640)
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camera.disconnect()
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