200 lines
6.7 KiB
Python
200 lines
6.7 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Example of running a specific test:
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# ```bash
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# pytest tests/cameras/test_opencv.py::test_connect
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# ```
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from pathlib import Path
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from unittest.mock import patch
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import numpy as np
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import pytest
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from lerobot.common.cameras.configs import Cv2Rotation
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from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
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try:
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from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
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except (ImportError, ModuleNotFoundError):
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pytest.skip("pyrealsense2 not available", allow_module_level=True)
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TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"
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BAG_FILE_PATH = TEST_ARTIFACTS_DIR / "test_rs.bag"
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# NOTE(Steven): Missing tests for depth
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# NOTE(Steven): Takes 20sec, the patch being the biggest bottleneck
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# NOTE(Steven): more tests + assertions?
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def mock_rs_config_enable_device_from_file(rs_config_instance, sn):
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return rs_config_instance.enable_device_from_file(str(BAG_FILE_PATH), repeat_playback=True)
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def mock_rs_config_enable_device_bad_file(rs_config_instance, sn):
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return rs_config_instance.enable_device_from_file("non_existent_file.bag", repeat_playback=True)
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def test_abc_implementation():
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"""Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
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config = RealSenseCameraConfig(serial_number_or_name=42)
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_ = RealSenseCamera(config)
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@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
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def test_connect(mock_enable_device):
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config = RealSenseCameraConfig(serial_number_or_name=42)
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camera = RealSenseCamera(config)
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camera.connect(warmup=False)
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assert camera.is_connected
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@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
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def test_connect_already_connected(mock_enable_device):
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config = RealSenseCameraConfig(serial_number_or_name=42)
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camera = RealSenseCamera(config)
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camera.connect(warmup=False)
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with pytest.raises(DeviceAlreadyConnectedError):
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camera.connect(warmup=False)
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@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_bad_file)
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def test_connect_invalid_camera_path(mock_enable_device):
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config = RealSenseCameraConfig(serial_number_or_name=42)
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camera = RealSenseCamera(config)
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with pytest.raises(ConnectionError):
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camera.connect(warmup=False)
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@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
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def test_invalid_width_connect(mock_enable_device):
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config = RealSenseCameraConfig(serial_number_or_name=42, width=99999, height=480, fps=30)
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camera = RealSenseCamera(config)
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with pytest.raises(ConnectionError):
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camera.connect(warmup=False)
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@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
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def test_read(mock_enable_device):
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config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
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camera = RealSenseCamera(config)
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camera.connect(warmup=False)
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img = camera.read()
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assert isinstance(img, np.ndarray)
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def test_read_before_connect():
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config = RealSenseCameraConfig(serial_number_or_name=42)
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camera = RealSenseCamera(config)
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with pytest.raises(DeviceNotConnectedError):
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_ = camera.read()
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@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
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def test_disconnect(mock_enable_device):
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config = RealSenseCameraConfig(serial_number_or_name=42)
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camera = RealSenseCamera(config)
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camera.connect(warmup=False)
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camera.disconnect()
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assert not camera.is_connected
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def test_disconnect_before_connect():
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config = RealSenseCameraConfig(serial_number_or_name=42)
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camera = RealSenseCamera(config)
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with pytest.raises(DeviceNotConnectedError):
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camera.disconnect()
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@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
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def test_async_read(mock_enable_device):
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config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
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camera = RealSenseCamera(config)
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camera.connect(warmup=False)
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try:
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img = camera.async_read()
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assert camera.thread is not None
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assert camera.thread.is_alive()
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assert isinstance(img, np.ndarray)
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finally:
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if camera.is_connected:
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camera.disconnect() # To stop/join the thread. Otherwise get warnings when the test ends
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@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
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def test_async_read_timeout(mock_enable_device):
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config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
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camera = RealSenseCamera(config)
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camera.connect(warmup=False)
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try:
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with pytest.raises(TimeoutError):
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camera.async_read(
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timeout_ms=0
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) # NOTE(Steven): This is flaky as sdometimes we actually get a frame
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finally:
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if camera.is_connected:
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camera.disconnect()
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def test_async_read_before_connect():
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config = RealSenseCameraConfig(serial_number_or_name=42)
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camera = RealSenseCamera(config)
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with pytest.raises(DeviceNotConnectedError):
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_ = camera.async_read()
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@pytest.mark.parametrize(
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"rotation",
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[
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Cv2Rotation.NO_ROTATION,
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Cv2Rotation.ROTATE_90,
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Cv2Rotation.ROTATE_180,
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Cv2Rotation.ROTATE_270,
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],
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ids=["no_rot", "rot90", "rot180", "rot270"],
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)
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@patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
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def test_rotation(mock_enable_device, rotation):
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config = RealSenseCameraConfig(serial_number_or_name=42, rotation=rotation)
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camera = RealSenseCamera(config)
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camera.connect(warmup=False)
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img = camera.read()
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assert isinstance(img, np.ndarray)
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if rotation in (Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_270):
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assert camera.width == 480
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assert camera.height == 640
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assert img.shape[:2] == (640, 480)
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else:
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assert camera.width == 640
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assert camera.height == 480
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assert img.shape[:2] == (480, 640)
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