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fix unit tests

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This commit is contained in:
Remi Cadene
2024-09-26 13:51:45 +02:00
parent a236382590
commit 8b36223832
5 changed files with 106 additions and 117 deletions
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25
tests/test_cameras.py
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@@ -21,17 +21,11 @@ pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]'
```
"""
import os
import numpy as np
import pytest
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import TEST_CAMERA_TYPES, require_camera
# Camera indices used for connecting physical cameras
OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))
INTELREALSENSE_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_CAMERA_INDEX", 128422271614))
from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera
# Maximum absolute difference between two consecutive images recored by a camera.
# This value differs with respect to the camera.
@@ -42,23 +36,6 @@ def compute_max_pixel_difference(first_image, second_image):
return np.abs(first_image.astype(float) - second_image.astype(float)).max()
def make_camera(camera_type, **kwargs):
if camera_type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
camera_index = kwargs.pop("camera_index", OPENCV_CAMERA_INDEX)
return OpenCVCamera(camera_index, **kwargs)
elif camera_type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
camera_index = kwargs.pop("camera_index", INTELREALSENSE_CAMERA_INDEX)
return IntelRealSenseCamera(camera_index, **kwargs)
else:
raise ValueError(f"The camera type '{camera_type}' is not valid.")
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
@require_camera
def test_camera(request, camera_type, mock):