""" 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 recorded 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(tmp_path, 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(tmp_path, record_time_s=0.02, mock=mock)