tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

36
tests/cameras/test_opencv.py
View File

@@ -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)