# Copyright (c) 2024-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). # All rights reserved. # # SPDX-License-Identifier: BSD-3-Clause """Test cases for MP4 to HDF5 conversion script.""" import os import tempfile import cv2 import h5py import numpy as np import pytest from scripts.tools.mp4_to_hdf5 import get_frames_from_mp4, main, process_video_and_demo @pytest.fixture(scope="class") def temp_hdf5_file(): """Create temporary HDF5 file with test data.""" temp_file = tempfile.NamedTemporaryFile(suffix=".h5", delete=False) # noqa: SIM115 with h5py.File(temp_file.name, "w") as h5f: # Create test data structure for 2 demos for demo_id in range(2): demo_group = h5f.create_group(f"data/demo_{demo_id}") obs_group = demo_group.create_group("obs") # Create actions data actions_data = np.random.rand(10, 7).astype(np.float32) demo_group.create_dataset("actions", data=actions_data) # Create robot state data eef_pos_data = np.random.rand(10, 3).astype(np.float32) eef_quat_data = np.random.rand(10, 4).astype(np.float32) gripper_pos_data = np.random.rand(10, 1).astype(np.float32) obs_group.create_dataset("eef_pos", data=eef_pos_data) obs_group.create_dataset("eef_quat", data=eef_quat_data) obs_group.create_dataset("gripper_pos", data=gripper_pos_data) # Create camera data table_cam_data = np.random.randint(0, 255, (10, 704, 1280, 3), dtype=np.uint8) wrist_cam_data = np.random.randint(0, 255, (10, 704, 1280, 3), dtype=np.uint8) obs_group.create_dataset("table_cam", data=table_cam_data) obs_group.create_dataset("wrist_cam", data=wrist_cam_data) # Set attributes demo_group.attrs["num_samples"] = 10 yield temp_file.name # Cleanup os.remove(temp_file.name) @pytest.fixture(scope="class") def temp_videos_dir(): """Create temporary MP4 files.""" temp_dir = tempfile.mkdtemp() # noqa: SIM115 video_paths = [] for demo_id in range(2): video_path = os.path.join(temp_dir, f"demo_{demo_id}_table_cam.mp4") video_paths.append(video_path) # Create a test video fourcc = cv2.VideoWriter_fourcc(*"mp4v") video = cv2.VideoWriter(video_path, fourcc, 30, (1280, 704)) # Write some random frames for _ in range(10): frame = np.random.randint(0, 255, (704, 1280, 3), dtype=np.uint8) video.write(frame) video.release() yield temp_dir, video_paths # Cleanup for video_path in video_paths: os.remove(video_path) os.rmdir(temp_dir) @pytest.fixture def temp_output_file(): """Create temporary output file.""" temp_file = tempfile.NamedTemporaryFile(suffix=".h5", delete=False) # noqa: SIM115 yield temp_file.name # Cleanup os.remove(temp_file.name) class TestMP4ToHDF5: """Test cases for MP4 to HDF5 conversion functionality.""" def test_get_frames_from_mp4(self, temp_videos_dir): """Test extracting frames from MP4 video.""" _, video_paths = temp_videos_dir frames = get_frames_from_mp4(video_paths[0]) # Check frame properties assert frames.shape[0] == 10 # Number of frames assert frames.shape[1:] == (704, 1280, 3) # Frame dimensions assert frames.dtype == np.uint8 # Data type def test_get_frames_from_mp4_resize(self, temp_videos_dir): """Test extracting frames with resizing.""" _, video_paths = temp_videos_dir target_height, target_width = 352, 640 frames = get_frames_from_mp4(video_paths[0], target_height, target_width) # Check resized frame properties assert frames.shape[0] == 10 # Number of frames assert frames.shape[1:] == (target_height, target_width, 3) # Resized dimensions assert frames.dtype == np.uint8 # Data type def test_process_video_and_demo(self, temp_hdf5_file, temp_videos_dir, temp_output_file): """Test processing a single video and creating a new demo.""" _, video_paths = temp_videos_dir with h5py.File(temp_hdf5_file, "r") as f_in, h5py.File(temp_output_file, "w") as f_out: process_video_and_demo(f_in, f_out, video_paths[0], 0, 2) # Check if new demo was created with correct data assert "data/demo_2" in f_out assert "data/demo_2/actions" in f_out assert "data/demo_2/obs/eef_pos" in f_out assert "data/demo_2/obs/eef_quat" in f_out assert "data/demo_2/obs/gripper_pos" in f_out assert "data/demo_2/obs/table_cam" in f_out assert "data/demo_2/obs/wrist_cam" in f_out # Check data shapes assert f_out["data/demo_2/actions"].shape == (10, 7) assert f_out["data/demo_2/obs/eef_pos"].shape == (10, 3) assert f_out["data/demo_2/obs/eef_quat"].shape == (10, 4) assert f_out["data/demo_2/obs/gripper_pos"].shape == (10, 1) assert f_out["data/demo_2/obs/table_cam"].shape == (10, 704, 1280, 3) assert f_out["data/demo_2/obs/wrist_cam"].shape == (10, 704, 1280, 3) # Check attributes assert f_out["data/demo_2"].attrs["num_samples"] == 10 def test_main_function(self, temp_hdf5_file, temp_videos_dir, temp_output_file): """Test the main function.""" # Mock command line arguments import sys original_argv = sys.argv sys.argv = [ "mp4_to_hdf5.py", "--input_file", temp_hdf5_file, "--videos_dir", temp_videos_dir[0], "--output_file", temp_output_file, ] try: main() # Check if output file was created with correct data with h5py.File(temp_output_file, "r") as f: # Check if original demos were copied assert "data/demo_0" in f assert "data/demo_1" in f # Check if new demos were created assert "data/demo_2" in f assert "data/demo_3" in f # Check data in new demos for demo_id in [2, 3]: assert f"data/demo_{demo_id}/actions" in f assert f"data/demo_{demo_id}/obs/eef_pos" in f assert f"data/demo_{demo_id}/obs/eef_quat" in f assert f"data/demo_{demo_id}/obs/gripper_pos" in f assert f"data/demo_{demo_id}/obs/table_cam" in f assert f"data/demo_{demo_id}/obs/wrist_cam" in f finally: # Restore original argv sys.argv = original_argv