Add unit tests (WIP)

tests/test_cameras.py

@@ -0,0 +1,98 @@
+
+
+import numpy as np
+import pytest
+
+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()
+
+    # Test instantiating with a wrong camera index raises an error
+    with pytest.raises(ValueError):
+        camera = OpenCVCamera(-1)
+
+    # Test instantiating
+    camera = OpenCVCamera(0)
+
+    # Test reading, async reading, disconnecting before connecting raises an error
+    with pytest.raises(RobotDeviceNotConnectedError):
+        camera.read()
+    with pytest.raises(RobotDeviceNotConnectedError):
+        camera.async_read()
+    with pytest.raises(RobotDeviceNotConnectedError):
+        camera.disconnect()
+
+    # Test deleting the object without connecting first
+    del camera
+
+    # Test connecting
+    camera = OpenCVCamera(0)
+    camera.connect()
+    assert camera.is_connected
+    assert camera.fps is not None
+    assert camera.width is not None
+    assert camera.height is not None
+
+    # Test connecting twice raises an error
+    with pytest.raises(RobotDeviceAlreadyConnectedError):
+        camera.connect()
+
+    # Test reading from the camera
+    color_image = camera.read()
+    assert isinstance(color_image, np.ndarray)
+    assert color_image.ndim == 3
+    h, w, c = color_image.shape
+    assert c == 3
+    assert w > h
+
+    # Test reading asynchronously from the camera and image is similar
+    async_color_image = camera.async_read()
+    assert np.allclose(color_image, async_color_image)
+
+    # Test disconnecting
+    camera.disconnect()
+    assert camera.camera is None
+    assert camera.thread is None
+
+    # Test disconnecting with `__del__`
+    camera = OpenCVCamera(0)
+    camera.connect()
+    del camera
+
+    # Test acquiring a bgr image
+    camera = OpenCVCamera(0, color="bgr")
+    camera.connect()
+    assert camera.color == "bgr"
+    bgr_color_image = camera.read()
+    assert np.allclose(color_image, bgr_color_image[[2,1,0]])
+    del camera
+
+    # Test fps can be set
+    camera = OpenCVCamera(0, fps=60)
+    camera.connect()
+    assert camera.fps == 60
+    # TODO(rcadene): measure fps in nightly?
+    del camera
+
+    # Test width and height can be set
+    camera = OpenCVCamera(0, fps=30, width=1280, height=720)
+    camera.connect()
+    assert camera.fps == 30
+    assert camera.width == 1280
+    assert camera.height == 720
+    color_image = camera.read()
+    h, w, c = color_image.shape
+    assert h == 720
+    assert w == 1280
+    assert c == 3
+    del camera
+
+
+
+
+