admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-25 18:56:09 +00:00
Code Issues Packages Projects Releases Wiki Activity

(depth image processing): excluding depth frames from the RGB to BGR image processing (#4135)

Browse Source 
* (depth image processing): excluding depth frames from the RGB to BGR image processing

* test(update): updating tests to include RGB/BGR conversion checks
This commit is contained in:
Caroline Pascal
2026-07-24 17:43:17 +02:00
committed by GitHub
parent ac5c7b8600
commit ab2b5b04dd
5 changed files with 97 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tests/cameras/test_reachy2_camera.py
+44 -15
View File
@@ -22,6 +22,7 @@ import pytest
pytest.importorskip("reachy2_sdk")
from lerobot.cameras.configs import ColorMode
from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
from lerobot.utils.errors import DeviceNotConnectedError
@@ -33,28 +34,19 @@ PARAMS = [
]
def _make_cam_manager_mock():
def _make_cam_manager_mock(color_frame, depth_frame=None):
c = MagicMock(name="CameraManagerMock")
teleop = MagicMock(name="TeleopCam")
teleop.width = 640
teleop.height = 480
teleop.get_frame = MagicMock(
side_effect=lambda *_, **__: (
np.zeros((480, 640, 3), dtype=np.uint8),
time.time(),
)
)
teleop.get_frame = MagicMock(side_effect=lambda *_, **__: (color_frame, time.time()))
depth = MagicMock(name="DepthCam")
depth.width = 640
depth.height = 480
depth.get_frame = MagicMock(
side_effect=lambda *_, **__: (
np.zeros((480, 640, 3), dtype=np.uint8),
time.time(),
)
)
depth.get_frame = MagicMock(side_effect=lambda *_, **__: (color_frame, time.time()))
depth.get_depth_frame = MagicMock(side_effect=lambda *_, **__: (depth_frame, time.time()))
c.is_connected.return_value = True
c.teleop = teleop
@@ -84,12 +76,14 @@ def _make_cam_manager_mock():
# ids=["teleop-left", "teleop-right", "torso-rgb", "torso-depth"],
ids=["teleop-left", "teleop-right", "torso-rgb"],
)
def camera(request):
def camera(request, img_array_factory):
name, image_type = request.param
color_frame = img_array_factory(height=480, width=640)
depth_frame = img_array_factory(height=480, width=640, channels=1, dtype=np.uint16)[..., 0]
with (
patch(
"lerobot.cameras.reachy2_camera.reachy2_camera.CameraManager",
side_effect=lambda *a, **k: _make_cam_manager_mock(),
side_effect=lambda *a, **k: _make_cam_manager_mock(color_frame, depth_frame),
),
):
config = Reachy2CameraConfig(name=name, image_type=image_type)
@@ -188,6 +182,41 @@ def test_read_latest_too_old(camera):
_ = camera.read_latest(max_age_ms=0) # immediately too old
def test_color_mode_conversion(img_array_factory):
"""teleop frames are native BGR: RGB reverses the channel axis, BGR is passed through."""
frame = img_array_factory(height=8, width=8)
outputs = {}
for color_mode in (ColorMode.RGB, ColorMode.BGR):
with patch(
"lerobot.cameras.reachy2_camera.reachy2_camera.CameraManager",
side_effect=lambda *a, **k: _make_cam_manager_mock(frame),
):
cam = Reachy2Camera(Reachy2CameraConfig(name="teleop", image_type="left", color_mode=color_mode))
cam.connect()
outputs[color_mode] = cam.read()
cam.disconnect()
np.testing.assert_array_equal(outputs[ColorMode.BGR], frame)
np.testing.assert_array_equal(outputs[ColorMode.RGB], frame[..., ::-1])
def test_depth_frame_not_color_converted(img_array_factory):
"""A depth/depth frame must be returned as-is, without BGR<->RGB conversion."""
color_frame = img_array_factory(height=8, width=8)
depth = img_array_factory(height=8, width=8, channels=1, dtype=np.uint16)[..., 0]
with patch(
"lerobot.cameras.reachy2_camera.reachy2_camera.CameraManager",
side_effect=lambda *a, **k: _make_cam_manager_mock(color_frame, depth_frame=depth),
):
cam = Reachy2Camera(Reachy2CameraConfig(name="depth", image_type="depth"))
cam.connect()
out = cam.read()
cam.disconnect()
np.testing.assert_array_equal(out, depth)
def test_wrong_camera_name():
with pytest.raises(ValueError):
_ = Reachy2CameraConfig(name="wrong-name", image_type="left")