"""
Tests for physical cameras and their mocked versions.
If the physical camera is not connected to the computer, or not working,
the test will be skipped.
Example of running a specific test:
```bash
pytest -sx tests/test_cameras.py::test_camera
```
Example of running test on a real camera connected to the computer:
```bash
pytest -sx 'tests/test_cameras.py::test_camera[opencv-False]'
pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-False]'
```
Example of running test on a mocked version of the camera:
```bash
pytest -sx 'tests/test_cameras.py::test_camera[opencv-True]'
pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]'
```
"""
import numpy as np
import pytest
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera
# Maximum absolute difference between two consecutive images recored by a camera.
# This value differs with respect to the camera.
MAX_PIXEL_DIFFERENCE = 25
def compute_max_pixel_difference(first_image, second_image):
return np.abs(first_image.astype(float) - second_image.astype(float)).max()
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
@require_camera
def test_camera(request, camera_type, mock):
"""Test assumes that `camera.read()` returns the same image when called multiple times in a row.
So the environment should not change (you shouldnt be in front of the camera) and the camera should not be moving.
Warning: The tests worked for a macbookpro camera, but I am getting assertion error (`np.allclose(color_image, async_color_image)`)
for my iphone camera and my LG monitor camera.
"""
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
if camera_type == "opencv" and not mock:
pytest.skip("TODO(rcadene): fix test for opencv physical camera")
camera_kwargs = {"camera_type": camera_type, "mock": mock}
# Test instantiating
camera = make_camera(**camera_kwargs)
# 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 = make_camera(**camera_kwargs)
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 read and async_read outputs similar images
# ...warming up as the first frames can be black
for _ in range(30):
camera.read()
color_image = camera.read()
async_color_image = camera.async_read()
error_msg = (
"max_pixel_difference between read() and async_read()",
compute_max_pixel_difference(color_image, async_color_image),
)
# TODO(rcadene): properly set `rtol`
np.testing.assert_allclose(
color_image, async_color_image, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
)
# Test disconnecting
camera.disconnect()
assert camera.camera is None
assert camera.thread is None
# Test disconnecting with `__del__`
camera = make_camera(**camera_kwargs)
camera.connect()
del camera
# Test acquiring a bgr image
camera = make_camera(**camera_kwargs, color_mode="bgr")
camera.connect()
assert camera.color_mode == "bgr"
bgr_color_image = camera.read()
np.testing.assert_allclose(
color_image, bgr_color_image[:, :, [2, 1, 0]], rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
)
del camera
# Test acquiring a rotated image
camera = make_camera(**camera_kwargs)
camera.connect()
ori_color_image = camera.read()
del camera
for rotation in [None, 90, 180, -90]:
camera = make_camera(**camera_kwargs, rotation=rotation)
camera.connect()
if mock:
import tests.mock_cv2 as cv2
else:
import cv2
if rotation is None:
manual_rot_img = ori_color_image
assert camera.rotation is None
elif rotation == 90:
manual_rot_img = np.rot90(color_image, k=1)
assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
elif rotation == 180:
manual_rot_img = np.rot90(color_image, k=2)
assert camera.rotation == cv2.ROTATE_180
elif rotation == -90:
manual_rot_img = np.rot90(color_image, k=3)
assert camera.rotation == cv2.ROTATE_90_COUNTERCLOCKWISE
rot_color_image = camera.read()
np.testing.assert_allclose(
rot_color_image, manual_rot_img, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
)
del camera
# TODO(rcadene): Add a test for a camera that doesnt support fps=60 and raises an OSError
# TODO(rcadene): Add a test for a camera that supports fps=60
# Test width and height can be set
camera = make_camera(**camera_kwargs, 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
# Test not supported width and height raise an error
camera = make_camera(**camera_kwargs, fps=30, width=0, height=0)
with pytest.raises(OSError):
camera.connect()
del camera
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
@require_camera
def test_save_images_from_cameras(tmpdir, request, camera_type, mock):
# TODO(rcadene): refactor
if camera_type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import save_images_from_cameras
elif camera_type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import save_images_from_cameras
# Small `record_time_s` to speedup unit tests
save_images_from_cameras(tmpdir, record_time_s=0.02, mock=mock)