lerobot/tests/cameras/test_opencv.py

#!/usr/bin/env python

# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# Example of running a specific test:
# ```bash
# pytest tests/cameras/test_opencv.py::test_connect
# ```

from pathlib import Path

import numpy as np
import pytest

from lerobot.common.cameras.configs import Cv2Rotation
from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError

# NOTE(Steven): more tests + assertions?
TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"
DEFAULT_PNG_FILE_PATH = TEST_ARTIFACTS_DIR / "image_160x120.png"
TEST_IMAGE_PATHS = [
    TEST_ARTIFACTS_DIR / "image_160x120.png",
    TEST_ARTIFACTS_DIR / "image_320x180.png",
    TEST_ARTIFACTS_DIR / "image_480x270.png",
    TEST_ARTIFACTS_DIR / "image_128x128.png",
]


def test_abc_implementation():
    """Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
    config = OpenCVCameraConfig(index_or_path=0)

    _ = OpenCVCamera(config)


def test_connect():
    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
    camera = OpenCVCamera(config)

    camera.connect(warmup=False)

    assert camera.is_connected


def test_connect_already_connected():
    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
    camera = OpenCVCamera(config)
    camera.connect(warmup=False)

    with pytest.raises(DeviceAlreadyConnectedError):
        camera.connect(warmup=False)


def test_connect_invalid_camera_path():
    config = OpenCVCameraConfig(index_or_path="nonexistent/camera.png")
    camera = OpenCVCamera(config)

    with pytest.raises(ConnectionError):
        camera.connect(warmup=False)


def test_invalid_width_connect():
    config = OpenCVCameraConfig(
        index_or_path=DEFAULT_PNG_FILE_PATH,
        width=99999,  # Invalid width to trigger error
        height=480,
    )
    camera = OpenCVCamera(config)

    with pytest.raises(RuntimeError):
        camera.connect(warmup=False)


@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS, ids=[str(path.name) for path in TEST_IMAGE_PATHS])
def test_read(index_or_path):
    config = OpenCVCameraConfig(index_or_path=index_or_path)
    camera = OpenCVCamera(config)
    camera.connect(warmup=False)

    img = camera.read()

    assert isinstance(img, np.ndarray)


def test_read_before_connect():
    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
    camera = OpenCVCamera(config)

    with pytest.raises(DeviceNotConnectedError):
        _ = camera.read()


def test_disconnect():
    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
    camera = OpenCVCamera(config)
    camera.connect(warmup=False)

    camera.disconnect()

    assert not camera.is_connected


def test_disconnect_before_connect():
    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
    camera = OpenCVCamera(config)

    with pytest.raises(DeviceNotConnectedError):
        _ = camera.disconnect()


@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS, ids=[str(path.name) for path in TEST_IMAGE_PATHS])
def test_async_read(index_or_path):
    config = OpenCVCameraConfig(index_or_path=index_or_path)
    camera = OpenCVCamera(config)
    camera.connect(warmup=False)

    try:
        img = camera.async_read()

        assert camera.thread is not None
        assert camera.thread.is_alive()
        assert isinstance(img, np.ndarray)
    finally:
        if camera.is_connected:
            camera.disconnect()  # To stop/join the thread. Otherwise get warnings when the test ends


def test_async_read_timeout():
    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
    camera = OpenCVCamera(config)
    camera.connect(warmup=False)

    try:
        with pytest.raises(TimeoutError):
            camera.async_read(
                timeout_ms=0
            )  # NOTE(Steven): This is flaky as sdometimes we actually get a frame
    finally:
        if camera.is_connected:
            camera.disconnect()


def test_async_read_before_connect():
    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", TEST_IMAGE_PATHS, ids=[str(path.name) for path in TEST_IMAGE_PATHS])
@pytest.mark.parametrize(
    "rotation",
    [
        Cv2Rotation.NO_ROTATION,
        Cv2Rotation.ROTATE_90,
        Cv2Rotation.ROTATE_180,
        Cv2Rotation.ROTATE_270,
    ],
    ids=["no_rot", "rot90", "rot180", "rot270"],
)
def test_rotation(rotation, index_or_path):
    filename = Path(index_or_path).name
    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(warmup=False)

    img = camera.read()
    assert isinstance(img, np.ndarray)

    if rotation in (Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_270):
        assert camera.width == original_height
        assert camera.height == original_width
        assert img.shape[:2] == (original_width, original_height)
    else:
        assert camera.width == original_width
        assert camera.height == original_height
        assert img.shape[:2] == (original_height, original_width)