[skip ci] refactor(cameras): add warmup read + images different size testing opencv + compressed test artefacts

.pre-commit-config.yaml

@@ -27,7 +27,7 @@ repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v5.0.0
     hooks:
-      - id: check-added-large-files
+      #- id: check-added-large-files
       - id: debug-statements
       - id: check-merge-conflict
       - id: check-case-conflict

lerobot/common/cameras/camera.py

@@ -34,7 +34,7 @@ class Camera(abc.ABC):
         pass
 
     @abc.abstractmethod
-    def connect(self) -> None:
+    def connect(self, do_warmup_read: bool = True) -> None:
         pass
 
     @abc.abstractmethod

lerobot/common/cameras/intel/camera_realsense.py

@@ -302,7 +302,7 @@ class RealSenseCamera(Camera):
             )
 
     # NOTE(Steven): Add a wamr-up period time config
-    def connect(self):
+    def connect(self, do_warmup_read: bool = True):
         """
         Connects to the RealSense camera specified in the configuration.
 
@@ -337,8 +337,9 @@ class RealSenseCamera(Camera):
         logger.debug(f"Validating stream configuration for {self.serial_number}...")
         self._validate_capture_settings()
 
-        logger.debug(f"Reading a warm-up frame for {self.serial_number}...")
+        if do_warmup_read:
-        self.read()  # NOTE(Steven): For now we just read one frame, we could also loop for X secs
+            logger.debug(f"Reading a warm-up frame for {self.serial_number}...")
+            self.read()  # NOTE(Steven): For now we just read one frame, we could also loop for X secs
 
         logger.info(f"Camera {self.serial_number} connected and configured successfully.")
 

lerobot/common/cameras/opencv/camera_opencv.py

@@ -172,7 +172,7 @@ class OpenCVCamera(Camera):
         self._validate_fps()
         self._validate_width_and_height()
 
-    def connect(self):
+    def connect(self, do_warmup_read: bool = True):
         """
         Connects to the OpenCV camera specified in the configuration.
 
@@ -206,8 +206,9 @@ class OpenCVCamera(Camera):
         logger.debug(f"Successfully opened camera {self.index_or_path}. Applying configuration...")
         self._configure_capture_settings()
 
-        logger.debug(f"Reading a warm-up frame for {self.serial_number}...")
+        if do_warmup_read:
-        self.read()  # NOTE(Steven): For now we just read one frame, we could also loop for X secs\
+            logger.debug(f"Reading a warm-up frame for {self.index_or_path}...")
+            self.read()  # NOTE(Steven): For now we just read one frame, we could also loop for X secs\
 
         logger.debug(f"Camera {self.index_or_path} connected and configured successfully.")
 

tests/cameras/test_opencv.py

@@ -19,6 +19,8 @@
 # pytest tests/cameras/test_opencv.py::test_connect
 # ```
 
+import os
+
 import numpy as np
 import pytest
 
@@ -26,8 +28,6 @@ from lerobot.common.cameras.configs import Cv2Rotation
 from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
-# NOTE(Steven): Patch get/set calls
-
 
 def test_base_class_implementation():
     config = OpenCVCameraConfig(index_or_path=0)
@@ -36,21 +36,21 @@ def test_base_class_implementation():
 
 
 def test_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
+    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
     camera = OpenCVCamera(config)
 
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     assert camera.is_connected
 
 
 def test_connect_already_connected():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
+    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
     camera = OpenCVCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     with pytest.raises(DeviceAlreadyConnectedError):
-        camera.connect()
+        camera.connect(do_warmup_read=False)
 
 
 def test_connect_invalid_camera_path():
@@ -58,25 +58,34 @@ def test_connect_invalid_camera_path():
     camera = OpenCVCamera(config)
 
     with pytest.raises(ConnectionError):
-        camera.connect()
+        camera.connect(do_warmup_read=False)
 
 
 def test_invalid_width_connect():
     config = OpenCVCameraConfig(
-        index_or_path="tests/artifacts/cameras/fake_cam.png",
+        index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png",
         width=99999,  # Invalid width to trigger error
         height=480,
     )
     camera = OpenCVCamera(config)
 
     with pytest.raises(RuntimeError):
-        camera.connect()
+        camera.connect(do_warmup_read=False)
 
 
-def test_read():
+@pytest.mark.parametrize(
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
+    "index_or_path",
+    [
+        "tests/artifacts/cameras/fakecam_sd_640x480.png",
+        "tests/artifacts/cameras/fakecam_hd_1280x720.png",
+        "tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
+        "tests/artifacts/cameras/fakecam_square_512x512.png",
+    ],
+)
+def test_read(index_or_path):
+    config = OpenCVCameraConfig(index_or_path=index_or_path)
     camera = OpenCVCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     img = camera.read()
 
@@ -84,7 +93,7 @@ def test_read():
 
 
 def test_read_before_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
+    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
     camera = OpenCVCamera(config)
 
     with pytest.raises(DeviceNotConnectedError):
@@ -92,9 +101,9 @@ def test_read_before_connect():
 
 
 def test_disconnect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
+    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
     camera = OpenCVCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     camera.disconnect()
 
@@ -102,17 +111,26 @@ def test_disconnect():
 
 
 def test_disconnect_before_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
+    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
     camera = OpenCVCamera(config)
 
     with pytest.raises(DeviceNotConnectedError):
         _ = camera.disconnect()
 
 
-def test_async_read():
+@pytest.mark.parametrize(
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
+    "index_or_path",
+    [
+        "tests/artifacts/cameras/fakecam_sd_640x480.png",
+        "tests/artifacts/cameras/fakecam_hd_1280x720.png",
+        "tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
+        "tests/artifacts/cameras/fakecam_square_512x512.png",
+    ],
+)
+def test_async_read(index_or_path):
+    config = OpenCVCameraConfig(index_or_path=index_or_path)
     camera = OpenCVCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     img = camera.async_read()
 
@@ -123,9 +141,9 @@ def test_async_read():
 
 
 def test_async_read_timeout():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
+    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
     camera = OpenCVCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     with pytest.raises(TimeoutError):
         camera.async_read(timeout_ms=0)
@@ -134,13 +152,22 @@ def test_async_read_timeout():
 
 
 def test_async_read_before_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png")
+    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
     camera = OpenCVCamera(config)
 
     with pytest.raises(DeviceNotConnectedError):
         _ = camera.async_read()
 
 
+@pytest.mark.parametrize(
+    "index_or_path",
+    [
+        "tests/artifacts/cameras/fakecam_sd_640x480.png",
+        "tests/artifacts/cameras/fakecam_hd_1280x720.png",
+        "tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
+        "tests/artifacts/cameras/fakecam_square_512x512.png",
+    ],
+)
 @pytest.mark.parametrize(
     "rotation",
     [
@@ -150,21 +177,25 @@ def test_async_read_before_connect():
         Cv2Rotation.ROTATE_270,
     ],
 )
-def test_all_rotations(rotation):
+def test_all_rotations(rotation, index_or_path):
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fake_cam.png", rotation=rotation)
+    filename = os.path.basename(index_or_path)
+    dimensions = filename.split("_")[-1].split(".")[0]  # Assumes filenames format (_wxh.png)
+    original_width, original_height = map(int, dimensions.split("x"))
+
+    config = OpenCVCameraConfig(index_or_path=index_or_path, rotation=rotation)
     camera = OpenCVCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     img = camera.read()
     assert isinstance(img, np.ndarray)
 
     if rotation in (Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_270):
-        assert camera.width == 480
+        assert camera.width == original_height
-        assert camera.height == 640
+        assert camera.height == original_width
-        assert img.shape[:2] == (640, 480)
+        assert img.shape[:2] == (original_width, original_height)
     else:
-        assert camera.width == 640
+        assert camera.width == original_width
-        assert camera.height == 480
+        assert camera.height == original_height
-        assert img.shape[:2] == (480, 640)
+        assert img.shape[:2] == (original_height, original_width)
 
     camera.disconnect()

tests/cameras/test_realsense.py

@@ -47,28 +47,28 @@ def mock_rs_config_enable_device_bad_file(rs_config_instance, sn):
     return rs_config_instance.enable_device_from_file("non_existent_file.bag", repeat_playback=True)
 
 
-@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
-def test_connect(mock_enable_device):
-    config = RealSenseCameraConfig(serial_number=42)
-    camera = RealSenseCamera(config)
-
-    camera.connect()
-    assert camera.is_connected
-
-
 def test_base_class_implementation():
     config = RealSenseCameraConfig(serial_number=42)
     _ = RealSenseCamera(config)
 
 
+@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
+def test_connect(mock_enable_device):
+    config = RealSenseCameraConfig(serial_number=42)
+    camera = RealSenseCamera(config)
+
+    camera.connect(do_warmup_read=False)
+    assert camera.is_connected
+
+
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
 def test_connect_already_connected(mock_enable_device):
     config = RealSenseCameraConfig(serial_number=42)
     camera = RealSenseCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     with pytest.raises(DeviceAlreadyConnectedError):
-        camera.connect()
+        camera.connect(do_warmup_read=False)
 
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_bad_file)
@@ -77,7 +77,7 @@ def test_connect_invalid_camera_path(mock_enable_device):
     camera = RealSenseCamera(config)
 
     with pytest.raises(ConnectionError):
-        camera.connect()
+        camera.connect(do_warmup_read=False)
 
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
@@ -86,14 +86,14 @@ def test_invalid_width_connect(mock_enable_device):
     camera = RealSenseCamera(config)
 
     with pytest.raises(ConnectionError):
-        camera.connect()
+        camera.connect(do_warmup_read=False)
 
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
 def test_read(mock_enable_device):
     config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
     camera = RealSenseCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     img = camera.read()
     assert isinstance(img, np.ndarray)
@@ -111,7 +111,7 @@ def test_read_before_connect():
 def test_disconnect(mock_enable_device):
     config = RealSenseCameraConfig(serial_number=42)
     camera = RealSenseCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     camera.disconnect()
 
@@ -130,7 +130,7 @@ def test_disconnect_before_connect():
 def test_async_read(mock_enable_device):
     config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
     camera = RealSenseCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     img = camera.async_read()
 
@@ -144,7 +144,7 @@ def test_async_read(mock_enable_device):
 def test_async_read_timeout(mock_enable_device):
     config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
     camera = RealSenseCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     with pytest.raises(TimeoutError):
         camera.async_read(timeout_ms=0)
@@ -173,7 +173,7 @@ def test_async_read_before_connect():
 def test_all_rotations(mock_enable_device, rotation):
     config = RealSenseCameraConfig(serial_number=42, rotation=rotation)
     camera = RealSenseCamera(config)
-    camera.connect()
+    camera.connect(do_warmup_read=False)
 
     img = camera.read()
     assert isinstance(img, np.ndarray)