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

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* (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
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tests/cameras/test_realsense.py
+27 -1
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@@ -25,7 +25,7 @@ from unittest.mock import patch
import numpy as np
import pytest
from lerobot.cameras.configs import Cv2Rotation
from lerobot.cameras.configs import ColorMode, Cv2Rotation
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
pytest.importorskip("pyrealsense2")
@@ -109,6 +109,32 @@ def test_read_depth():
assert isinstance(img, np.ndarray)
# These exercise _postprocess_image directly rather than read(): the bag playback returns
# non-deterministic frames we can't compare against, and the depth read() path is skipped
# (see test_read_depth) with the current pyrealsense2 version.
def test_color_mode_conversion(img_array_factory):
"""RGB (native for RealSense) is passed through; BGR reverses the channel axis."""
color = img_array_factory(height=3, width=4)
outputs = {}
for color_mode in (ColorMode.RGB, ColorMode.BGR):
camera = RealSenseCamera(RealSenseCameraConfig(serial_number_or_name="042", color_mode=color_mode))
camera.capture_height, camera.capture_width = color.shape[:2]
outputs[color_mode] = camera._postprocess_image(color)
np.testing.assert_array_equal(outputs[ColorMode.RGB], color)
np.testing.assert_array_equal(outputs[ColorMode.BGR], color[..., ::-1])
def test_depth_frame_not_color_converted(img_array_factory):
"""Depth frames must bypass color conversion, even when a BGR color_mode is set."""
camera = RealSenseCamera(RealSenseCameraConfig(serial_number_or_name="042", color_mode=ColorMode.BGR))
depth = img_array_factory(height=3, width=4, channels=1, dtype=np.uint16)[..., 0]
camera.capture_height, camera.capture_width = depth.shape
np.testing.assert_array_equal(camera._postprocess_image(depth, depth_frame=True), depth)
def test_read_before_connect():
config = RealSenseCameraConfig(serial_number_or_name="042")
camera = RealSenseCamera(config)