add dynamic import for cv2 and pyrealsense2

tests/utils.py

@@ -14,10 +14,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import platform
+import traceback
 from functools import wraps
 
-import cv2
-import numpy as np
 import pytest
 import torch
 
@@ -187,7 +186,24 @@ def require_robot(func):
             kwargs["robot_type"] = robot_type.replace("mocked_", "")
 
             monkeypatch = request.getfixturevalue("monkeypatch")
-            monkeypatch.setattr(cv2, "VideoCapture", MockVideoCapture)
+
+            try:
+                import cv2
+
+                from tests.mock_opencv import MockVideoCapture
+
+                monkeypatch.setattr(cv2, "VideoCapture", MockVideoCapture)
+            except ImportError:
+                traceback.print_exc()
+
+            try:
+                import pyrealsense2 as rs
+
+                # TODO(rcadene):
+                mock_pipeline = None
+                monkeypatch.setattr(rs, "pipeline", mock_pipeline)
+            except ImportError:
+                traceback.print_exc()
 
         # Run test with a real robot. Skip test if robot connection fails.
         else:
@@ -198,42 +214,3 @@ def require_robot(func):
         return func(*args, **kwargs)
 
     return wrapper
-
-
-class MockVideoCapture(cv2.VideoCapture):
-    image = {
-        "480x640": np.random.randint(0, 256, size=(480, 640, 3), dtype=np.uint8),
-        "720x1280": np.random.randint(0, 256, size=(720, 1280, 3), dtype=np.uint8),
-    }
-
-    def __init__(self, *args, **kwargs):
-        self._mock_dict = {
-            cv2.CAP_PROP_FPS: 30,
-            cv2.CAP_PROP_FRAME_WIDTH: 640,
-            cv2.CAP_PROP_FRAME_HEIGHT: 480,
-        }
-
-    def isOpened(self):  # noqa: N802
-        return True
-
-    def set(self, propId: int, value: float) -> bool:  # noqa: N803
-        self._mock_dict[propId] = value
-        return True
-
-    def get(self, propId: int) -> float:  # noqa: N803
-        value = self._mock_dict[propId]
-        if value == 0:
-            if propId == cv2.CAP_PROP_FRAME_HEIGHT:
-                value = 480
-            elif propId == cv2.CAP_PROP_FRAME_WIDTH:
-                value = 640
-        return value
-
-    def read(self):
-        h = self.get(cv2.CAP_PROP_FRAME_HEIGHT)
-        w = self.get(cv2.CAP_PROP_FRAME_WIDTH)
-        ret = True
-        return ret, self.image[f"{h}x{w}"]
-
-    def release(self):
-        pass