FAILED test_videoOutput.py::test_videoOutput --- error in visVispy.py
Closed this issue · 3 comments
realm-robot-ws commented
Summary
The test test_videoOutput.py is failing. The root cause appears to be an error in pycrazyswarm/visualizer/visVispy.py that prevents a valid mp4 file from being written. test_videoOutput.py then fails when trying to read this file, since it contains no streams.
Steps to reproduce
- Install following https://crazyswarm.readthedocs.io/en/latest/installation.html. Running
build.shis successful - Run unit tests:
cd ros_ws/src/crazyswarm/scripts
source ../../../devel/setup.bash
$CSW_PYTHON -m pytest
Expected behavior
Tests pass successfully, and a window opens up during the test showing a crazyflie moving around.
Actual behavior
test_videoOutput.py fails:
=============================================================================================== test session starts ===============================================================================================
platform linux -- Python 3.8.10, pytest-6.2.4, py-1.10.0, pluggy-0.13.1
rootdir: /home/realm/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts, configfile: pytest.ini
plugins: anyio-3.5.0
collected 31 items
test_collisionAvoidance.py ............ [ 38%]
test_highLevel.py ......... [ 67%]
test_lowLevel.py ...... [ 87%]
test_ros.py . [ 90%]
test_simOnly.py . [ 93%]
test_videoOutput.py F [ 96%]
test_yamlString.py . [100%]
==================================================================================================== FAILURES =====================================================================================================
________________________________________________________________________________________________ test_videoOutput _________________________________________________________________________________________________
tmp_path = PosixPath('/tmp/pytest-of-realm/pytest-16/test_videoOutput0')
@pytest.mark.skipif("TRAVIS" in os.environ or "CI" in os.environ,
reason="CI usually cannot create OpenGL context.")
def test_videoOutput(tmp_path):
# tmp_path is supplied by pytest - a directory where we can write that will
# eventually be deleted.
path = str(tmp_path / "crazyswarm_test_video.mp4")
subprocess.call([os.environ["CSW_PYTHON"], __file__, path])
import ffmpeg
properties = ffmpeg.probe(path)
> stream = properties["streams"][0]
E IndexError: list index out of range
test_videoOutput.py:68: IndexError
---------------------------------------------------------------------------------------------- Captured stdout call -----------------------------------------------------------------------------------------------
Warning: No joystick found!
wrote 0 frames to /tmp/pytest-of-realm/pytest-16/test_videoOutput0/crazyswarm_test_video.mp4
---------------------------------------------------------------------------------------------- Captured stderr call -----------------------------------------------------------------------------------------------
ffmpeg version 4.2.4-1ubuntu0.1 Copyright (c) 2000-2020 the FFmpeg developers
built with gcc 9 (Ubuntu 9.3.0-10ubuntu2)
configuration: --prefix=/usr --extra-version=1ubuntu0.1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --arch=amd64 --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sdl2 --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-nvenc --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
libavutil 56. 31.100 / 56. 31.100
libavcodec 58. 54.100 / 58. 54.100
libavformat 58. 29.100 / 58. 29.100
libavdevice 58. 8.100 / 58. 8.100
libavfilter 7. 57.100 / 7. 57.100
libavresample 4. 0. 0 / 4. 0. 0
libswscale 5. 5.100 / 5. 5.100
libswresample 3. 5.100 / 3. 5.100
libpostproc 55. 5.100 / 55. 5.100
Traceback (most recent call last):
File "/home/realm/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/test_videoOutput.py", line 76, in <module>
videoWriterProcess(sys.argv[1])
File "/home/realm/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/test_videoOutput.py", line 52, in videoWriterProcess
timeHelper.sleep(TOTAL_TIME / 2)
File "/home/realm/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyflieSim.py", line 69, in sleep
self.visualizer.update(self.t, self.crazyflies)
File "/home/realm/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/pycrazyswarm/visualizer/visVispy.py", line 100, in update
mesh.light_dir = (0.1, 0.1, 1.0)
File "/home/realm/.local/lib/python3.8/site-packages/vispy/util/frozen.py", line 14, in __setattr__
raise AttributeError('%r is not an attribute of class %s. Call '
AttributeError: 'light_dir' is not an attribute of class <Mesh at 0x7faa8f0082b0>. Call "unfreeze()" to allow addition of new attributes
Input #0, rawvideo, from 'pipe:':
Duration: N/A, bitrate: 226492 kb/s
Stream #0:0: Video: rawvideo (RGB[24] / 0x18424752), rgb24, 1024x768, 226492 kb/s, 12 tbr, 12 tbn, 12 tbc
Stream mapping:
Stream #0:0 -> #0:0 (rawvideo (native) -> h264 (libx264))
[libx264 @ 0x561d3330b940] using cpu capabilities: MMX2 SSE2Fast SSSE3 SSE4.2 AVX FMA3 BMI2 AVX2
[libx264 @ 0x561d3330b940] profile High 4:4:4 Predictive, level 3.1, 4:4:4 8-bit
[libx264 @ 0x561d3330b940] 264 - core 155 r2917 0a84d98 - H.264/MPEG-4 AVC codec - Copyleft 2003-2018 - http://www.videolan.org/x264.html - options: cabac=1 ref=3 deblock=1:0:0 analyse=0x1:0x111 me=hex subme=7 psy=0 mixed_ref=1 me_range=16 chroma_me=1 trellis=0 8x8dct=0 cqm=0 deadzone=21,11 fast_pskip=0 chroma_qp_offset=0 threads=24 lookahead_threads=4 sliced_threads=0 nr=0 decimate=1 interlaced=0 bluray_compat=0 constrained_intra=0 bframes=0 weightp=2 keyint=250 keyint_min=12 scenecut=40 intra_refresh=0 rc=cqp mbtree=0 qp=0
Output #0, mp4, to '/tmp/pytest-of-realm/pytest-16/test_videoOutput0/crazyswarm_test_video.mp4':
Metadata:
encoder : Lavf58.29.100
Stream #0:0: Video: h264 (libx264) (avc1 / 0x31637661), yuv444p, 1024x768, q=-1--1, 12 fps, 12288 tbn, 12 tbc
Metadata:
encoder : Lavc58.54.100 libx264
Side data:
cpb: bitrate max/min/avg: 0/0/0 buffer size: 0 vbv_delay: -1
frame= 0 fps=0.0 q=0.0 Lsize= 0kB time=00:00:00.00 bitrate=N/A speed= 0x
video:0kB audio:0kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: unknown
================================================================================================ warnings summary =================================================================================================
test_videoOutput.py::test_videoOutput
/usr/lib/python3/dist-packages/past/builtins/misc.py:45: DeprecationWarning: the imp module is deprecated in favour of importlib; see the module's documentation for alternative uses
from imp import reload
-- Docs: https://docs.pytest.org/en/stable/warnings.html
============================================================================================= short test summary info =============================================================================================
FAILED test_videoOutput.py::test_videoOutput - IndexError: list index out of range
The nominal error is that there are no valid streams in the crazyswarm_test_video.mp4 file, but this is caused by an error that is hidden in the subprocess that's supposed to generate that video:
Traceback (most recent call last):
File "/home/realm/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/test_videoOutput.py", line 76, in <module>
videoWriterProcess(sys.argv[1])
File "/home/realm/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/test_videoOutput.py", line 52, in videoWriterProcess
timeHelper.sleep(TOTAL_TIME / 2)
File "/home/realm/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyflieSim.py", line 69, in sleep
self.visualizer.update(self.t, self.crazyflies)
File "/home/realm/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/pycrazyswarm/visualizer/visVispy.py", line 100, in update
mesh.light_dir = (0.1, 0.1, 1.0)
File "/home/realm/.local/lib/python3.8/site-packages/vispy/util/frozen.py", line 14, in __setattr__
raise AttributeError('%r is not an attribute of class %s. Call '
AttributeError: 'light_dir' is not an attribute of class <Mesh at 0x7faa8f0082b0>. Call "unfreeze()" to allow addition of new attributes
Additional info
Commenting out lines 100-102 in visVispy.py resolves the issue (all three lines seem to be causing issues). There is probably a better fix than this.
mesh.light_dir = (0.1, 0.1, 1.0)
mesh.shininess = 0.01
mesh.ambient_light_color = [0.5] * 3
jpreiss commented
Somehow you must have a different VisPy version than we use for testing/CI, so we will not be able to reproduce this.
Instead of commenting out those lines, can you add mesh.unfreeze() before executing them (following the error message suggestion) and try again?
jpreiss commented
And if it works, please submit a PR :)
dawsonc commented
Hi! I am the same person as @realm-robot-ws (that's just the account we use on the workstation in our lab). Just chiming in so I get updates on this thread.