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Simplify configs (#550)

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Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
This commit is contained in:
Simon Alibert
2025-01-31 13:57:37 +01:00
committed by GitHub
parent 1ee1acf8ad
commit 3c0a209f9f
119 changed files with 5761 additions and 5466 deletions
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18
tests/test_cameras.py
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@@ -51,8 +51,10 @@ def test_camera(request, camera_type, mock):
if camera_type == "opencv" and not mock:
pytest.skip("TODO(rcadene): fix test for opencv physical camera")
camera_kwargs = {"camera_type": camera_type, "mock": mock}
# Test instantiating
camera = make_camera(camera_type, mock=mock)
camera = make_camera(**camera_kwargs)
# Test reading, async reading, disconnecting before connecting raises an error
with pytest.raises(RobotDeviceNotConnectedError):
@@ -66,7 +68,7 @@ def test_camera(request, camera_type, mock):
del camera
# Test connecting
camera = make_camera(camera_type, mock=mock)
camera = make_camera(**camera_kwargs)
camera.connect()
assert camera.is_connected
assert camera.fps is not None
@@ -106,12 +108,12 @@ def test_camera(request, camera_type, mock):
assert camera.thread is None
# Test disconnecting with `__del__`
camera = make_camera(camera_type, mock=mock)
camera = make_camera(**camera_kwargs)
camera.connect()
del camera
# Test acquiring a bgr image
camera = make_camera(camera_type, color_mode="bgr", mock=mock)
camera = make_camera(**camera_kwargs, color_mode="bgr")
camera.connect()
assert camera.color_mode == "bgr"
bgr_color_image = camera.read()
@@ -121,13 +123,13 @@ def test_camera(request, camera_type, mock):
del camera
# Test acquiring a rotated image
camera = make_camera(camera_type, mock=mock)
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_type, rotation=rotation, mock=mock)
camera = make_camera(**camera_kwargs, rotation=rotation)
camera.connect()
if mock:
@@ -159,7 +161,7 @@ def test_camera(request, camera_type, mock):
# TODO(rcadene): Add a test for a camera that supports fps=60
# Test width and height can be set
camera = make_camera(camera_type, fps=30, width=1280, height=720, mock=mock)
camera = make_camera(**camera_kwargs, fps=30, width=1280, height=720)
camera.connect()
assert camera.fps == 30
assert camera.width == 1280
@@ -172,7 +174,7 @@ def test_camera(request, camera_type, mock):
del camera
# Test not supported width and height raise an error
camera = make_camera(camera_type, fps=30, width=0, height=0, mock=mock)
camera = make_camera(**camera_kwargs, fps=30, width=0, height=0)
with pytest.raises(OSError):
camera.connect()
del camera