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fix(depth units): fixing depth units output for the realsense cameras

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CarolinePascal
2026-06-12 18:28:31 +02:00
parent 65d4da7c1b
commit 1a5fbb216f
1 changed files with 7 additions and 5 deletions
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src/lerobot/cameras/realsense/camera_realsense.py
+7 -5
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@@ -615,11 +615,12 @@ class RealSenseCamera(Camera):
return frame
@check_if_not_connected
def async_read_depth(self, timeout_ms: float = 200) -> NDArray[Any]:
"""Read the latest depth frame asynchronously, in metric meters.
def async_read_depth(self, timeout_ms: float = 200) -> NDArray[np.uint16]:
"""Read the latest depth frame asynchronously, in millimeters.
Mirrors :meth:`async_read` but returns the depth stream rather than the
color stream. Output is ``np.uint16`` of shape ``(H, W, 1)``.
color stream. Output is ``np.uint16`` of shape ``(H, W, 1)``, where each
pixel is the distance from the sensor in millimeters.
Raises:
DeviceNotConnectedError: If the camera is not connected.
@@ -647,10 +648,11 @@ class RealSenseCamera(Camera):
@check_if_not_connected
def read_latest_depth(self, max_age_ms: int = 500) -> NDArray[Any]:
"""Return the most recent depth frame in metric meters (peeking).
"""Return the most recent depth frame in millimeters (peeking).
Non-blocking counterpart of :meth:`read_latest` for the depth stream.
Output is ``np.uint16`` of shape ``(H, W, 1)`` in millimeters.
Output is ``np.uint16`` of shape ``(H, W, 1)``, where each pixel is the
distance from the sensor in millimeters.
Raises:
DeviceNotConnectedError: If the camera is not connected.