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Update reachy2_cameras depth + CameraManager

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This commit is contained in:
glannuzel
2025-08-26 18:35:31 +02:00
parent ecca518072
commit 4259c38856
3 changed files with 32 additions and 39 deletions
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src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py
+7 -7
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@@ -23,7 +23,7 @@ class Reachy2CameraConfig(CameraConfig):
"""Configuration class for Reachy 2 camera devices. """Configuration class for Reachy 2 camera devices.
This class provides configuration options for Reachy 2 cameras, This class provides configuration options for Reachy 2 cameras,
supporting both the teleop and torso cameras. It includes settings supporting both the teleop and depth cameras. It includes settings
for resolution, frame rate, color mode, and the selection of the cameras. for resolution, frame rate, color mode, and the selection of the cameras.
Example configurations: Example configurations:
@@ -41,9 +41,9 @@ class Reachy2CameraConfig(CameraConfig):
``` ```
Attributes: Attributes:
name: Name of the camera device. Can be "teleop" or "torso". name: Name of the camera device. Can be "teleop" or "depth".
image_type: Type of image stream. For "teleop" camera, can be "left" or "right". image_type: Type of image stream. For "teleop" camera, can be "left" or "right".
For "torso" camera, can be "rgb" or "depth". (depth is not supported yet) For "depth" camera, can be "rgb" or "depth". (depth is not supported yet)
fps: Requested frames per second for the color stream. fps: Requested frames per second for the color stream.
width: Requested frame width in pixels for the color stream. width: Requested frame width in pixels for the color stream.
height: Requested frame height in pixels for the color stream. height: Requested frame height in pixels for the color stream.
@@ -63,15 +63,15 @@ class Reachy2CameraConfig(CameraConfig):
# use_depth: bool = False # use_depth: bool = False
def __post_init__(self): def __post_init__(self):
if self.name not in ["teleop", "torso"]: if self.name not in ["teleop", "depth"]:
raise ValueError(f"`name` is expected to be 'teleop' or 'torso', but {self.name} is provided.") raise ValueError(f"`name` is expected to be 'teleop' or 'depth', but {self.name} is provided.")
if ( if (
(self.name == "teleop" and self.image_type not in ["left", "right"]) (self.name == "teleop" and self.image_type not in ["left", "right"])
or (self.name == "torso") or (self.name == "depth")
and self.image_type not in ["rgb", "depth"] and self.image_type not in ["rgb", "depth"]
): ):
raise ValueError( raise ValueError(
f"`image_type` is expected to be 'left' or 'right' for teleop camera, and 'rgb' or 'depth' for torso camera, but {self.image_type} is provided." f"`image_type` is expected to be 'left' or 'right' for teleop camera, and 'rgb' or 'depth' for depth camera, but {self.image_type} is provided."
) )
if self.color_mode not in ["rgb", "bgr"]: if self.color_mode not in ["rgb", "bgr"]:
src/lerobot/cameras/reachy2_camera/reachy2_camera.py
+25 -20
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@@ -68,6 +68,8 @@ class Reachy2Camera(Camera):
self.fps = config.fps self.fps = config.fps
self.color_mode = config.color_mode self.color_mode = config.color_mode
self.cam_manager: CameraManager | None = None
self.thread: Thread | None = None self.thread: Thread | None = None
self.stop_event: Event | None = None self.stop_event: Event | None = None
self.frame_lock: Lock = Lock() self.frame_lock: Lock = Lock()
@@ -80,11 +82,12 @@ class Reachy2Camera(Camera):
@property @property
def is_connected(self) -> bool: def is_connected(self) -> bool:
"""Checks if the camera is currently connected and opened.""" """Checks if the camera is currently connected and opened."""
return ( if self.config.name == "teleop":
(self.cam_manager.teleop is not None and self.cam_manager.depth is not None) return self.cam_manager._grpc_connected and self.cam_manager.teleop if self.cam_manager else False
if self.cam_manager is not None elif self.config.name == "depth":
else False return self.cam_manager._grpc_connected and self.cam_manager.depth if self.cam_manager else False
) else:
raise ValueError(f"Invalid camera name '{self.config.name}'. Expected 'teleop' or 'depth'.")
def connect(self, warmup: bool = True): def connect(self, warmup: bool = True):
""" """
@@ -94,7 +97,6 @@ class Reachy2Camera(Camera):
self.cam_manager.initialize_cameras() self.cam_manager.initialize_cameras()
logger.info(f"{self} connected.") logger.info(f"{self} connected.")
print(f"{self} connected.")
@staticmethod @staticmethod
def find_cameras(ip_address: str = "localhost", port: int = 50065) -> list[dict[str, Any]]: def find_cameras(ip_address: str = "localhost", port: int = 50065) -> list[dict[str, Any]]:
@@ -152,22 +154,25 @@ class Reachy2Camera(Camera):
frame = None frame = None
if self.config.name == "teleop" and hasattr(self.cam_manager, "teleop"): if self.cam_manager is None:
if self.config.image_type == "left": raise DeviceNotConnectedError(f"{self} is not connected.")
frame = self.cam_manager.teleop.get_frame(CameraView.LEFT, size=(640, 480))[0] else:
elif self.config.image_type == "right": if self.config.name == "teleop" and hasattr(self.cam_manager, "teleop"):
frame = self.cam_manager.teleop.get_frame(CameraView.RIGHT, size=(640, 480))[0] if self.config.image_type == "left":
elif self.config.name == "depth" and hasattr(self.cam_manager, "depth"): frame = self.cam_manager.teleop.get_frame(CameraView.LEFT, size=(640, 480))[0]
if self.config.image_type == "depth": elif self.config.image_type == "right":
frame = self.cam_manager.depth.get_depth_frame()[0] frame = self.cam_manager.teleop.get_frame(CameraView.RIGHT, size=(640, 480))[0]
elif self.config.image_type == "rgb": elif self.config.name == "depth" and hasattr(self.cam_manager, "depth"):
frame = self.cam_manager.depth.get_frame(size=(640, 480))[0] if self.config.image_type == "depth":
frame = self.cam_manager.depth.get_depth_frame()[0]
elif self.config.image_type == "rgb":
frame = self.cam_manager.depth.get_frame(size=(640, 480))[0]
if frame is None: if frame is None:
return np.empty((0, 0, 3), dtype=np.uint8) return np.empty((0, 0, 3), dtype=np.uint8)
if self.config.color_mode == "rgb": if self.config.color_mode == "rgb":
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
read_duration_ms = (time.perf_counter() - start_time) * 1e3 read_duration_ms = (time.perf_counter() - start_time) * 1e3
logger.debug(f"{self} read took: {read_duration_ms:.1f}ms") logger.debug(f"{self} read took: {read_duration_ms:.1f}ms")
src/lerobot/cameras/reachy2_camera/test_reachy2_camera.py
-12
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@@ -1,12 +0,0 @@
from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
camera_config = Reachy2CameraConfig(name="teleop", image_type="left")
camera = Reachy2Camera(camera_config)
camera.connect()
frame = camera.read()
print(frame)
frame_async = camera.async_read()
print(frame_async)