All tests passing except test_control_robot.py

tests/test_cameras.py

@@ -1,5 +1,6 @@
 
 
+from pathlib import Path
 import numpy as np
 import pytest
 
@@ -7,17 +8,28 @@ from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
 from lerobot.common.robot_devices.utils import RobotDeviceNotConnectedError, RobotDeviceAlreadyConnectedError
 
 
-def test_camera():
-    # Test instantiating with missing camera index raises an error
-    with pytest.raises(ValueError):
-        camera = OpenCVCamera()
+CAMERA_INDEX = 2
+# Maximum absolute difference between two consecutive images recored by a camera.
+# This value differs with respect to the camera.
+MAX_PIXEL_DIFFERENCE = 25
 
-    # Test instantiating with a wrong camera index raises an error
-    with pytest.raises(ValueError):
-        camera = OpenCVCamera(-1)
+def compute_max_pixel_difference(first_image, second_image):
+    return np.abs(first_image.astype(float) - second_image.astype(float)).max()
+
+
+def test_camera():
+    """Test assumes that `camera.read()` returns the same image when called multiple times in a row.
+    So the environment should not change (you shouldnt be in front of the camera) and the camera should not be moving.
+    
+    Warning: The tests worked for a macbookpro camera, but I am getting assertion error (`np.allclose(color_image, async_color_image)`)
+    for my iphone camera and my LG monitor camera.
+    """
+    # TODO(rcadene): measure fps in nightly?
+    # TODO(rcadene): test logs
+    # TODO(rcadene): add compatibility with other camera APIs
 
     # Test instantiating
-    camera = OpenCVCamera(0)
+    camera = OpenCVCamera(CAMERA_INDEX)
 
     # Test reading, async reading, disconnecting before connecting raises an error
     with pytest.raises(RobotDeviceNotConnectedError):
@@ -31,7 +43,7 @@ def test_camera():
     del camera
 
     # Test connecting
-    camera = OpenCVCamera(0)
+    camera = OpenCVCamera(CAMERA_INDEX)
     camera.connect()
     assert camera.is_connected
     assert camera.fps is not None
@@ -50,9 +62,14 @@ def test_camera():
     assert c == 3
     assert w > h
 
-    # Test reading asynchronously from the camera and image is similar
+    # Test read and async_read outputs similar images
+    # ...warming up as the first frames can be black
+    for _ in range(30):
+        camera.read()
+    color_image = camera.read()
     async_color_image = camera.async_read()
-    assert np.allclose(color_image, async_color_image)
+    print("max_pixel_difference between read() and async_read()", compute_max_pixel_difference(color_image, async_color_image))
+    assert np.allclose(color_image, async_color_image, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE)
 
     # Test disconnecting
     camera.disconnect()
@@ -60,27 +77,29 @@ def test_camera():
     assert camera.thread is None
 
     # Test disconnecting with `__del__`
-    camera = OpenCVCamera(0)
+    camera = OpenCVCamera(CAMERA_INDEX)
     camera.connect()
     del camera
 
     # Test acquiring a bgr image
-    camera = OpenCVCamera(0, color="bgr")
+    camera = OpenCVCamera(CAMERA_INDEX, color="bgr")
     camera.connect()
     assert camera.color == "bgr"
     bgr_color_image = camera.read()
-    assert np.allclose(color_image, bgr_color_image[[2,1,0]])
+    assert np.allclose(color_image, bgr_color_image[:, :, [2,1,0]], rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE)
     del camera
 
-    # Test fps can be set
-    camera = OpenCVCamera(0, fps=60)
-    camera.connect()
-    assert camera.fps == 60
-    # TODO(rcadene): measure fps in nightly?
+    # 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
+
+    # Test fps=10 raises an OSError
+    camera = OpenCVCamera(CAMERA_INDEX, fps=10)
+    with pytest.raises(OSError):
+        camera.connect()
     del camera
 
     # Test width and height can be set
-    camera = OpenCVCamera(0, fps=30, width=1280, height=720)
+    camera = OpenCVCamera(CAMERA_INDEX, fps=30, width=1280, height=720)
     camera.connect()
     assert camera.fps == 30
     assert camera.width == 1280
@@ -92,7 +111,9 @@ def test_camera():
     assert c == 3
     del camera
 
-
-
-
+    # Test not supported width and height raise an error
+    camera = OpenCVCamera(CAMERA_INDEX, fps=30, width=0, height=0)
+    with pytest.raises(OSError):
+        camera.connect()
+    del camera