tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

chore(cameras): remove compressed files + filename better managed in opencv camera tests + add camera artefacts in lfs

Browse Source
This commit is contained in:
Steven Palma
2025-05-14 11:20:10 +02:00
parent 95ae56827d
commit e790ad737f
11 changed files with 43 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
tests/cameras/test_opencv.py
View File

@@ -29,6 +29,14 @@ from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
# NOTE(Steven): Consider improving the assert coverage
TEST_ARTIFACTS_DIR = os.path.join(os.path.dirname(os.path.dirname(__file__)), "artifacts", "cameras")
DEFAULT_PNG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "fakecam_sd_160x120.png")
TEST_IMAGE_PATHS = [
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_sd_160x120.png"),
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_hd_320x180.png"),
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_fullhd_480x270.png"),
os.path.join(TEST_ARTIFACTS_DIR, "fakecam_square_128x128.png"),
]
def test_base_class_implementation():
@@ -38,7 +46,7 @@ def test_base_class_implementation():
def test_connect():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
@@ -47,7 +55,7 @@ def test_connect():
def test_connect_already_connected():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
@@ -65,7 +73,7 @@ def test_connect_invalid_camera_path():
def test_invalid_width_connect():
config = OpenCVCameraConfig(
index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png",
index_or_path=DEFAULT_PNG_FILE_PATH,
width=99999, # Invalid width to trigger error
height=480,
)
@@ -75,15 +83,7 @@ def test_invalid_width_connect():
camera.connect(do_warmup_read=False)
@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("index_or_path", TEST_IMAGE_PATHS)
def test_read(index_or_path):
config = OpenCVCameraConfig(index_or_path=index_or_path)
camera = OpenCVCamera(config)
@@ -95,7 +95,7 @@ def test_read(index_or_path):
def test_read_before_connect():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
with pytest.raises(DeviceNotConnectedError):
@@ -103,7 +103,7 @@ def test_read_before_connect():
def test_disconnect():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
@@ -113,22 +113,14 @@ def test_disconnect():
def test_disconnect_before_connect():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
with pytest.raises(DeviceNotConnectedError):
_ = camera.disconnect()
@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("index_or_path", TEST_IMAGE_PATHS)
def test_async_read(index_or_path):
config = OpenCVCameraConfig(index_or_path=index_or_path)
camera = OpenCVCamera(config)
@@ -143,7 +135,7 @@ def test_async_read(index_or_path):
def test_async_read_timeout():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
camera = OpenCVCamera(config)
camera.connect(do_warmup_read=False)
@@ -154,22 +146,14 @@ def test_async_read_timeout():
def test_async_read_before_connect():
config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
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("index_or_path", TEST_IMAGE_PATHS)
@pytest.mark.parametrize(
"rotation",
[

10
tests/cameras/test_realsense.py
View File

@@ -26,11 +26,17 @@ import numpy as np
import pytest
from lerobot.common.cameras.configs import Cv2Rotation
from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
try:
import pyrealsense2 as rs # noqa: F401
from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig
except (ImportError, ModuleNotFoundError):
pytest.skip("pyrealsense2 not available", allow_module_level=True)
TEST_ARTIFACTS_DIR = os.path.join(os.path.dirname(os.path.dirname(__file__)), "artifacts", "cameras")
BAG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "test.bag")
BAG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "test_rs.bag")
if not os.path.exists(BAG_FILE_PATH):