Merge remote-tracking branch 'origin/main' into user/rcadene/2024_09_10_train_aloha

tests/mock_cv2.py

@@ -8,6 +8,10 @@ CAP_PROP_FRAME_HEIGHT = 4
 COLOR_RGB2BGR = 4
 COLOR_BGR2RGB = 4
 
+ROTATE_90_COUNTERCLOCKWISE = 2
+ROTATE_90_CLOCKWISE = 0
+ROTATE_180 = 1
+
 
 @cache
 def _generate_image(width: int, height: int):
@@ -21,6 +25,19 @@ def cvtColor(color_image, color_convertion):  # noqa: N802
         raise NotImplementedError(color_convertion)
 
 
+def rotate(color_image, rotation):
+    if rotation is None:
+        return color_image
+    elif rotation == ROTATE_90_CLOCKWISE:
+        return np.rot90(color_image, k=1)
+    elif rotation == ROTATE_180:
+        return np.rot90(color_image, k=2)
+    elif rotation == ROTATE_90_COUNTERCLOCKWISE:
+        return np.rot90(color_image, k=3)
+    else:
+        raise NotImplementedError(rotation)
+
+
 class VideoCapture:
     def __init__(self, *args, **kwargs):
         self._mock_dict = {

tests/mock_pyrealsense2.py

@@ -3,33 +3,31 @@ import enum
 import numpy as np
 
 
-class RSStream(enum.Enum):
+class stream(enum.Enum):  # noqa: N801
     color = 0
     depth = 1
 
 
-class RSFormat(enum.Enum):
+class format(enum.Enum):  # noqa: N801
     rgb8 = 0
     z16 = 1
 
 
-class RSConfig:
+class config:  # noqa: N801
     def enable_device(self, device_id: str):
         self.device_enabled = device_id
 
-    def enable_stream(
-        self, stream_type: RSStream, width=None, height=None, color_format: RSFormat = None, fps=None
-    ):
+    def enable_stream(self, stream_type: stream, width=None, height=None, color_format=None, fps=None):
         self.stream_type = stream_type
         # Overwrite default values when possible
         self.width = 848 if width is None else width
         self.height = 480 if height is None else height
-        self.color_format = RSFormat.rgb8 if color_format is None else color_format
+        self.color_format = format.rgb8 if color_format is None else color_format
         self.fps = 30 if fps is None else fps
 
 
 class RSColorProfile:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
     def fps(self):
@@ -43,7 +41,7 @@ class RSColorProfile:
 
 
 class RSColorStream:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
     def as_video_stream_profile(self):
@@ -51,20 +49,20 @@ class RSColorStream:
 
 
 class RSProfile:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
-    def get_stream(self, color_format: RSFormat):
+    def get_stream(self, color_format):
         del color_format  # unused
         return RSColorStream(self.config)
 
 
-class RSPipeline:
+class pipeline:  # noqa: N801
     def __init__(self):
         self.started = False
         self.config = None
 
-    def start(self, config: RSConfig):
+    def start(self, config):
         self.started = True
         self.config = config
         return RSProfile(self.config)
@@ -81,7 +79,7 @@ class RSPipeline:
 
 
 class RSFrames:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
     def get_color_frame(self):
@@ -92,7 +90,7 @@ class RSFrames:
 
 
 class RSColorFrame:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
     def get_data(self):
@@ -103,7 +101,7 @@ class RSColorFrame:
 
 
 class RSDepthFrame:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
     def get_data(self):
@@ -120,7 +118,7 @@ class RSDevice:
         return "123456789"
 
 
-class RSContext:
+class context:  # noqa: N801
     def __init__(self):
         pass
 
@@ -128,7 +126,10 @@ class RSContext:
         return [RSDevice()]
 
 
-class RSCameraInfo:
+class camera_info:  # noqa: N801
+    # fake name
+    name = "Intel RealSense D435I"
+
     def __init__(self, serial_number):
         del serial_number
         pass

tests/test_cameras.py

@@ -120,6 +120,41 @@ def test_camera(request, camera_type, mock):
     )
     del camera
 
+    # Test acquiring a rotated image
+    camera = make_camera(camera_type, mock=mock)
+    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.connect()
+
+        if mock:
+            import tests.mock_cv2 as cv2
+        else:
+            import cv2
+
+        if rotation is None:
+            manual_rot_img = ori_color_image
+            assert camera.rotation is None
+        elif rotation == 90:
+            manual_rot_img = np.rot90(color_image, k=1)
+            assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
+        elif rotation == 180:
+            manual_rot_img = np.rot90(color_image, k=2)
+            assert camera.rotation == cv2.ROTATE_180
+        elif rotation == -90:
+            manual_rot_img = np.rot90(color_image, k=3)
+            assert camera.rotation == cv2.ROTATE_90_COUNTERCLOCKWISE
+
+        rot_color_image = camera.read()
+
+        np.testing.assert_allclose(
+            rot_color_image, manual_rot_img, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
+        )
+        del camera
+
     # TODO(rcadene): Add a test for a camera that doesnt support fps=60 and raises an OSError
     # TODO(rcadene): Add a test for a camera that supports fps=60
 
@@ -152,4 +187,5 @@ def test_save_images_from_cameras(tmpdir, request, camera_type, mock):
     elif camera_type == "intelrealsense":
         from lerobot.common.robot_devices.cameras.intelrealsense import save_images_from_cameras
 
-    save_images_from_cameras(tmpdir, record_time_s=1, mock=mock)
+    # Small `record_time_s` to speedup unit tests
+    save_images_from_cameras(tmpdir, record_time_s=0.02, mock=mock)