chore(cameras): remove compressed files + filename better managed in opencv camera tests + add camera artefacts in lfs

Author: imstevenpmwork

.gitattributes

@@ -11,10 +11,10 @@
 # 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.
-
 *.memmap filter=lfs diff=lfs merge=lfs -text
 *.stl filter=lfs diff=lfs merge=lfs -text
 *.safetensors filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.arrow filter=lfs diff=lfs merge=lfs -text
 *.json !text !filter !merge !diff
+tests/artifacts/cameras/*.{png,bag} filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -171,9 +171,3 @@ dmypy.json
 
 # Cython debug symbols
 cython_debug/
-
-# realsense data-recording format
-*.bag
-
-# opencv test images
-fakecam*

tests/artifacts/cameras/compressed_bag.tar.bz2

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8d6e64d6cb0e02c94ae125630ee758055bd2e695772c0463a30d63ddc6c5e17
+size 3520862

tests/artifacts/cameras/compressed_fakecams.tar.bz2

@@ -29,6 +29,14 @@
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 # NOTE(Steven): Consider improving the assert coverage
+TEST_ARTIFACTS_DIR = os.path.join(os.path.dirname(os.path.dirname(__file__)), "artifacts", "cameras")
+DEFAULT_PNG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "fakecam_sd_160x120.png")
+TEST_IMAGE_PATHS = [
+    os.path.join(TEST_ARTIFACTS_DIR, "fakecam_sd_160x120.png"),
+    os.path.join(TEST_ARTIFACTS_DIR, "fakecam_hd_320x180.png"),
+    os.path.join(TEST_ARTIFACTS_DIR, "fakecam_fullhd_480x270.png"),
+    os.path.join(TEST_ARTIFACTS_DIR, "fakecam_square_128x128.png"),
+]
 
 
 def test_base_class_implementation():
@@ -38,7 +46,7 @@ def test_base_class_implementation():
 
 
 def test_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
 
     camera.connect(do_warmup_read=False)
@@ -47,7 +55,7 @@ def test_connect():
 
 
 def test_connect_already_connected():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
     camera.connect(do_warmup_read=False)
 
@@ -65,7 +73,7 @@ def test_connect_invalid_camera_path():
 
 def test_invalid_width_connect():
     config = OpenCVCameraConfig(
-        index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png",
+        index_or_path=DEFAULT_PNG_FILE_PATH,
         width=99999,  # Invalid width to trigger error
         height=480,
     )
@@ -75,15 +83,7 @@ def test_invalid_width_connect():
         camera.connect(do_warmup_read=False)
 
 
-@pytest.mark.parametrize(
-    "index_or_path",
-    [
-        "tests/artifacts/cameras/fakecam_sd_640x480.png",
-        "tests/artifacts/cameras/fakecam_hd_1280x720.png",
-        "tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
-        "tests/artifacts/cameras/fakecam_square_512x512.png",
-    ],
-)
+@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS)
 def test_read(index_or_path):
     config = OpenCVCameraConfig(index_or_path=index_or_path)
     camera = OpenCVCamera(config)
@@ -95,15 +95,15 @@ def test_read(index_or_path):
 
 
 def test_read_before_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    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="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
     camera.connect(do_warmup_read=False)
 
@@ -113,22 +113,14 @@ def test_disconnect():
 
 
 def test_disconnect_before_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
 
     with pytest.raises(DeviceNotConnectedError):
         _ = camera.disconnect()
 
 
-@pytest.mark.parametrize(
-    "index_or_path",
-    [
-        "tests/artifacts/cameras/fakecam_sd_640x480.png",
-        "tests/artifacts/cameras/fakecam_hd_1280x720.png",
-        "tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
-        "tests/artifacts/cameras/fakecam_square_512x512.png",
-    ],
-)
+@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS)
 def test_async_read(index_or_path):
     config = OpenCVCameraConfig(index_or_path=index_or_path)
     camera = OpenCVCamera(config)
@@ -143,7 +135,7 @@ def test_async_read(index_or_path):
 
 
 def test_async_read_timeout():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
     camera.connect(do_warmup_read=False)
 
@@ -154,22 +146,14 @@ def test_async_read_timeout():
 
 
 def test_async_read_before_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    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",
-    [
-        "tests/artifacts/cameras/fakecam_sd_640x480.png",
-        "tests/artifacts/cameras/fakecam_hd_1280x720.png",
-        "tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
-        "tests/artifacts/cameras/fakecam_square_512x512.png",
-    ],
-)
+@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS)
 @pytest.mark.parametrize(
     "rotation",
     [