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test(cameras): add minimal opencv test

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This commit is contained in:
Steven Palma
2025-04-30 16:30:34 +02:00
parent 6348f0f418
commit 35c4b01752
4 changed files with 206 additions and 42 deletions
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79
lerobot/common/cameras/opencv/camera_opencv.py
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@@ -116,13 +116,6 @@ class OpenCVCamera(Camera):
self.capture_width: int | None = config.width
self.capture_height: int | None = config.height
if config.rotation in [-90, 90]:
self.width: int | None = config.height
self.height: int | None = config.width
else:
self.width: int | None = config.width
self.height: int | None = config.height
self.fps: int | None = config.fps
self.channels: int = config.channels
self.color_mode: ColorMode = config.color_mode
@@ -146,6 +139,7 @@ class OpenCVCamera(Camera):
"""Checks if the camera is currently connected and opened."""
return isinstance(self.videocapture_camera, cv2.VideoCapture) and self.videocapture_camera.isOpened()
# NOTE(Steven): Make it a class method and an util for calling it in utils.py (don't raise)
def _scan_available_cameras_and_raise(self, index_or_path: IndexOrPath) -> None:
"""
Scans for available cameras and raises an error if the specified
@@ -173,7 +167,7 @@ class OpenCVCamera(Camera):
)
# NOTE(Steven): Moving it to a different function for now. To be evaluated later if it is worth it and if it makes sense to have it as an abstract method
def _configure_capture_settings(self, fps: int | None, width: int | None, height: int | None) -> None:
def _configure_capture_settings(self) -> None:
"""
Applies the specified FPS, width, and height settings to the connected camera.
@@ -194,12 +188,14 @@ class OpenCVCamera(Camera):
if not self.is_connected:
raise DeviceNotConnectedError(f"Cannot configure settings for {self} as it is not connected.")
if fps is not None:
self._set_fps(fps)
if width is not None:
self._set_capture_width(width)
if height is not None:
self._set_capture_height(height)
self._set_fps()
self._set_capture_width()
self._set_capture_height()
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.width, self.height = self.capture_height, self.capture_width
else:
self.width, self.height = self.capture_width, self.capture_height
def connect(self):
"""
@@ -225,53 +221,72 @@ class OpenCVCamera(Camera):
self.videocapture_camera = cv2.VideoCapture(self.index_or_path, self.backend)
if not self.videocapture_camera.isOpened():
logger.error(f"Failed to open camera {self.index_or_path}.")
self.videocapture_camera.release()
self.videocapture_camera = None
self._scan_available_cameras_and_raise(self.index_or_path) # This raises an exception everytime
raise ConnectionError(
f"Failed to open camera {self.index_or_path}. Run NOTE(Steven): Add right file to scan for available cameras."
) # NOTE(Steven): Run this _scan_available_cameras_and_raise
logger.debug(f"Successfully opened camera {self.index_or_path}. Applying configuration...")
self._configure_capture_settings(self.fps, self.capture_width, self.capture_height)
self._configure_capture_settings()
logger.debug(f"Camera {self.index_or_path} connected and configured successfully.")
def _set_fps(self, fps: int) -> None:
def _set_fps(self) -> None:
"""Sets the camera's frames per second (FPS)."""
success = self.videocapture_camera.set(cv2.CAP_PROP_FPS, float(fps))
if self.fps is None:
self.fps = self.videocapture_camera.get(cv2.CAP_PROP_FPS)
logger.info(f"FPS set to camera default: {self.fps}.")
return
success = self.videocapture_camera.set(cv2.CAP_PROP_FPS, float(self.fps))
actual_fps = self.videocapture_camera.get(cv2.CAP_PROP_FPS)
# Use math.isclose for robust float comparison
if not success or not math.isclose(fps, actual_fps, rel_tol=1e-3):
if not success or not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
logger.warning(
f"Requested FPS {fps} for {self}, but camera reported {actual_fps} (set success: {success}). "
f"Requested FPS {self.fps} for {self}, but camera reported {actual_fps} (set success: {success}). "
"This might be due to camera limitations."
)
raise RuntimeError(
f"Failed to set requested FPS {fps} for {self}. Actual value reported: {actual_fps}."
f"Failed to set requested FPS {self.fps} for {self}. Actual value reported: {actual_fps}."
)
logger.debug(f"FPS set to {actual_fps} for {self}.")
def _set_capture_width(self, capture_width: int) -> None:
def _set_capture_width(self) -> None:
"""Sets the camera's frame capture width."""
success = self.videocapture_camera.set(cv2.CAP_PROP_FRAME_WIDTH, float(capture_width))
if self.capture_width is None:
self.capture_width = self.videocapture_camera.get(cv2.CAP_PROP_FRAME_WIDTH)
logger.info(f"Capture width set to camera default: {self.capture_width}.")
return
success = self.videocapture_camera.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.capture_width))
actual_width = round(self.videocapture_camera.get(cv2.CAP_PROP_FRAME_WIDTH))
if not success or self.capture_width != actual_width:
logger.warning(
f"Requested capture width {capture_width} for {self}, but camera reported {actual_width} (set success: {success})."
f"Requested capture width {self.capture_width} for {self}, but camera reported {actual_width} (set success: {success})."
)
raise RuntimeError(
f"Failed to set requested capture width {capture_width} for {self}. Actual value: {actual_width}."
f"Failed to set requested capture width {self.capture_width} for {self}. Actual value: {actual_width}."
)
logger.debug(f"Capture width set to {actual_width} for {self}.")
def _set_capture_height(self, capture_height: int) -> None:
def _set_capture_height(self) -> None:
"""Sets the camera's frame capture height."""
success = self.videocapture_camera.set(cv2.CAP_PROP_FRAME_HEIGHT, float(capture_height))
if self.capture_height is None:
self.capture_height = self.videocapture_camera.get(cv2.CAP_PROP_FRAME_HEIGHT)
logger.info(f"Capture height set to camera default: {self.capture_height}.")
return
success = self.videocapture_camera.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.capture_height))
actual_height = round(self.videocapture_camera.get(cv2.CAP_PROP_FRAME_HEIGHT))
if not success or self.capture_height != actual_height:
logger.warning(
f"Requested capture height {capture_height} for {self}, but camera reported {actual_height} (set success: {success})."
f"Requested capture height {self.capture_height} for {self}, but camera reported {actual_height} (set success: {success})."
)
raise RuntimeError(
f"Failed to set requested capture height {capture_height} for {self}. Actual value: {actual_height}."
f"Failed to set requested capture height {self.capture_height} for {self}. Actual value: {actual_height}."
)
logger.debug(f"Capture height set to {actual_height} for {self}.")
@@ -406,9 +421,9 @@ class OpenCVCamera(Camera):
processed_image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
logger.debug(f"Converted frame from BGR to RGB for {self}.")
if self.rotation is not None:
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
processed_image = cv2.rotate(processed_image, self.rotation)
logger.debug(f"Rotated frame by {self.config.rotation} degrees for {self}.")
logger.debug(f"Rotated frame by {self.config.rotation} degrees for {self}.")
return processed_image

1
lerobot/common/cameras/utils.py
View File

@@ -53,7 +53,6 @@ def get_cv2_rotation(rotation: Cv2Rotation) -> int:
Cv2Rotation.ROTATE_270: cv2.ROTATE_90_COUNTERCLOCKWISE,
Cv2Rotation.ROTATE_90: cv2.ROTATE_90_CLOCKWISE,
Cv2Rotation.ROTATE_180: cv2.ROTATE_180,
Cv2Rotation.NO_ROTATION: 0,
}.get(rotation)