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chore(cameras): address review comments + make test pass again

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This commit is contained in:
Steven Palma
2025-05-20 14:42:05 +02:00
parent 3a08eddeab
commit 41179d0996
13 changed files with 150 additions and 127 deletions
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3
tests/artifacts/cameras/image_128x128.png Normal file
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tests/artifacts/cameras/image_320x180.png Normal file
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tests/artifacts/cameras/image_480x270.png Normal file
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36
tests/cameras/test_opencv.py
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@@ -19,7 +19,7 @@
# pytest tests/cameras/test_opencv.py::test_connect
# ```
import os
from pathlib import Path
import numpy as np
import pytest
@@ -29,13 +29,13 @@ from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
# NOTE(Steven): more tests + assertions?
TEST_ARTIFACTS_DIR = os.path.join(os.path.dirname(os.path.dirname(__file__)), "artifacts", "cameras")
DEFAULT_PNG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "fakecam_sd_160x120.png")
TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"
DEFAULT_PNG_FILE_PATH = TEST_ARTIFACTS_DIR / "fakecam_sd_160x120.png"
TEST_IMAGE_PATHS = [
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_sd_160x120.png"),
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_hd_320x180.png"),
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_fullhd_480x270.png"),
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_square_128x128.png"),
TEST_ARTIFACTS_DIR / "image_160x120.png",
TEST_ARTIFACTS_DIR / "image_320x180.png",
TEST_ARTIFACTS_DIR / "image_480x270.png",
TEST_ARTIFACTS_DIR / "image_128x128.png",
]
@@ -50,7 +50,7 @@ def test_connect():
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
assert camera.is_connected
@@ -58,10 +58,10 @@ def test_connect():
def test_connect_already_connected():
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
with pytest.raises(DeviceAlreadyConnectedError):
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
def test_connect_invalid_camera_path():
@@ -69,7 +69,7 @@ def test_connect_invalid_camera_path():
camera = OpenCVCamera(config)
with pytest.raises(ConnectionError):
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
def test_invalid_width_connect():
@@ -81,14 +81,14 @@ def test_invalid_width_connect():
camera = OpenCVCamera(config)
with pytest.raises(RuntimeError):
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS)
def test_read(index_or_path):
config = OpenCVCameraConfig(index_or_path=index_or_path)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
img = camera.read()
@@ -106,7 +106,7 @@ def test_read_before_connect():
def test_disconnect():
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
camera.disconnect()
@@ -125,7 +125,7 @@ def test_disconnect_before_connect():
def test_async_read(index_or_path):
config = OpenCVCameraConfig(index_or_path=index_or_path)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
try:
img = camera.async_read()
@@ -141,7 +141,7 @@ def test_async_read(index_or_path):
def test_async_read_timeout():
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
try:
with pytest.raises(TimeoutError):
@@ -170,13 +170,13 @@ def test_async_read_before_connect():
],
)
def test_rotation(rotation, index_or_path):
filename = os.path.basename(index_or_path)
filename = Path(index_or_path).name
dimensions = filename.split("_")[-1].split(".")[0] # Assumes filenames format (_wxh.png)
original_width, original_height = map(int, dimensions.split("x"))
config = OpenCVCameraConfig(index_or_path=index_or_path, rotation=rotation)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
img = camera.read()
assert isinstance(img, np.ndarray)

28
tests/cameras/test_realsense.py
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@@ -19,7 +19,7 @@
# pytest tests/cameras/test_opencv.py::test_connect
# ```
import os
from pathlib import Path
from unittest.mock import patch
import numpy as np
@@ -33,8 +33,8 @@ try:
except (ImportError, ModuleNotFoundError):
pytest.skip("pyrealsense2 not available", allow_module_level=True)
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_rs.bag")
TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"
BAG_FILE_PATH = TEST_ARTIFACTS_DIR / "test_rs.bag"
# NOTE(Steven): Missing tests for depth
# NOTE(Steven): Takes 20sec, the patch being the biggest bottleneck
@@ -42,7 +42,7 @@ BAG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "test_rs.bag")
def mock_rs_config_enable_device_from_file(rs_config_instance, sn):
return rs_config_instance.enable_device_from_file(BAG_FILE_PATH, repeat_playback=True)
return rs_config_instance.enable_device_from_file(str(BAG_FILE_PATH), repeat_playback=True)
def mock_rs_config_enable_device_bad_file(rs_config_instance, sn):
@@ -60,7 +60,7 @@ def test_connect(mock_enable_device):
config = RealSenseCameraConfig(serial_number=42)
camera = RealSenseCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
assert camera.is_connected
@@ -68,10 +68,10 @@ def test_connect(mock_enable_device):
def test_connect_already_connected(mock_enable_device):
config = RealSenseCameraConfig(serial_number=42)
camera = RealSenseCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
with pytest.raises(DeviceAlreadyConnectedError):
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_bad_file)
@@ -80,7 +80,7 @@ def test_connect_invalid_camera_path(mock_enable_device):
camera = RealSenseCamera(config)
with pytest.raises(ConnectionError):
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
@@ -89,14 +89,14 @@ def test_invalid_width_connect(mock_enable_device):
camera = RealSenseCamera(config)
with pytest.raises(ConnectionError):
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
@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(do_warmup_read=False)
camera.connect(warmup=False)
img = camera.read()
assert isinstance(img, np.ndarray)
@@ -114,7 +114,7 @@ def test_read_before_connect():
def test_disconnect(mock_enable_device):
config = RealSenseCameraConfig(serial_number=42)
camera = RealSenseCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
camera.disconnect()
@@ -133,7 +133,7 @@ def test_disconnect_before_connect():
def test_async_read(mock_enable_device):
config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
camera = RealSenseCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
try:
img = camera.async_read()
@@ -150,7 +150,7 @@ def test_async_read(mock_enable_device):
def test_async_read_timeout(mock_enable_device):
config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
camera = RealSenseCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
try:
with pytest.raises(TimeoutError):
@@ -181,7 +181,7 @@ def test_async_read_before_connect():
def test_rotation(mock_enable_device, rotation):
config = RealSenseCameraConfig(serial_number=42, rotation=rotation)
camera = RealSenseCamera(config)
camera.connect(do_warmup_read=False)
camera.connect(warmup=False)
img = camera.read()
assert isinstance(img, np.ndarray)