admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-25 02:36:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

[pre-commit.ci] auto fixes from pre-commit.com hooks

Browse Source 
for more information, see https://pre-commit.ci
This commit is contained in:
pre-commit-ci[bot]
2025-03-04 13:38:47 +00:00
parent d8a1758122
commit 584cad808e
108 changed files with 3894 additions and 1189 deletions
Download Patch File Download Diff File Expand all files Collapse all files
lerobot/common/robot_devices/cameras/intelrealsense.py
+48 -16
View File
@@ -65,7 +65,9 @@ def save_image(img_array, serial_number, frame_index, images_dir):
img.save(str(path), quality=100)
logging.info(f"Saved image: {path}")
except Exception as e:
logging.error(f"Failed to save image for camera {serial_number} frame {frame_index}: {e}")
logging.error(
f"Failed to save image for camera {serial_number} frame {frame_index}: {e}"
)
def save_images_from_cameras(
@@ -94,7 +96,9 @@ def save_images_from_cameras(
cameras = []
for cam_sn in serial_numbers:
print(f"{cam_sn=}")
camera = IntelRealSenseCamera(cam_sn, fps=fps, width=width, height=height, mock=mock)
camera = IntelRealSenseCamera(
cam_sn, fps=fps, width=width, height=height, mock=mock
)
camera.connect()
print(
f"IntelRealSenseCamera({camera.serial_number}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})"
@@ -140,7 +144,9 @@ def save_images_from_cameras(
if time.perf_counter() - start_time > record_time_s:
break
print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}")
print(
f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}"
)
frame_index += 1
finally:
@@ -182,8 +188,12 @@ class IntelRealSenseCameraConfig:
self.channels = 3
at_least_one_is_not_none = self.fps is not None or self.width is not None or self.height is not None
at_least_one_is_none = self.fps is None or self.width is None or self.height is None
at_least_one_is_not_none = (
self.fps is not None or self.width is not None or self.height is not None
)
at_least_one_is_none = (
self.fps is None or self.width is None or self.height is None
)
if at_least_one_is_not_none and at_least_one_is_none:
raise ValueError(
"For `fps`, `width` and `height`, either all of them need to be set, or none of them, "
@@ -191,7 +201,9 @@ class IntelRealSenseCameraConfig:
)
if self.rotation not in [-90, None, 90, 180]:
raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})")
raise ValueError(
f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})"
)
class IntelRealSenseCamera:
@@ -286,7 +298,9 @@ class IntelRealSenseCamera:
self.rotation = cv2.ROTATE_180
@classmethod
def init_from_name(cls, name: str, config: IntelRealSenseCameraConfig | None = None, **kwargs):
def init_from_name(
cls, name: str, config: IntelRealSenseCameraConfig | None = None, **kwargs
):
camera_infos = find_cameras()
camera_names = [cam["name"] for cam in camera_infos]
this_name_count = Counter(camera_names)[name]
@@ -296,7 +310,9 @@ class IntelRealSenseCamera:
f"Multiple {name} cameras have been detected. Please use their serial number to instantiate them."
)
name_to_serial_dict = {cam["name"]: cam["serial_number"] for cam in camera_infos}
name_to_serial_dict = {
cam["name"]: cam["serial_number"] for cam in camera_infos
}
cam_sn = name_to_serial_dict[name]
if config is None:
@@ -323,13 +339,17 @@ class IntelRealSenseCamera:
if self.fps and self.width and self.height:
# TODO(rcadene): can we set rgb8 directly?
config.enable_stream(rs.stream.color, self.width, self.height, rs.format.rgb8, self.fps)
config.enable_stream(
rs.stream.color, self.width, self.height, rs.format.rgb8, self.fps
)
else:
config.enable_stream(rs.stream.color)
if self.use_depth:
if self.fps and self.width and self.height:
config.enable_stream(rs.stream.depth, self.width, self.height, rs.format.z16, self.fps)
config.enable_stream(
rs.stream.depth, self.width, self.height, rs.format.z16, self.fps
)
else:
config.enable_stream(rs.stream.depth)
@@ -362,7 +382,9 @@ class IntelRealSenseCamera:
actual_height = color_profile.height()
# Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30)
if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
if self.fps is not None and not math.isclose(
self.fps, actual_fps, rel_tol=1e-3
):
# Using `OSError` since it's a broad that encompasses issues related to device communication
raise OSError(
f"Can't set {self.fps=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_fps}."
@@ -382,7 +404,9 @@ class IntelRealSenseCamera:
self.is_connected = True
def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndarray, np.ndarray]:
def read(
self, temporary_color: str | None = None
) -> np.ndarray | tuple[np.ndarray, np.ndarray]:
"""Read a frame from the camera returned in the format height x width x channels (e.g. 480 x 640 x 3)
of type `np.uint8`, contrarily to the pytorch format which is float channel first.
@@ -409,11 +433,15 @@ class IntelRealSenseCamera:
color_frame = frame.get_color_frame()
if not color_frame:
raise OSError(f"Can't capture color image from IntelRealSenseCamera({self.serial_number}).")
raise OSError(
f"Can't capture color image from IntelRealSenseCamera({self.serial_number})."
)
color_image = np.asanyarray(color_frame.get_data())
requested_color_mode = self.color_mode if temporary_color is None else temporary_color
requested_color_mode = (
self.color_mode if temporary_color is None else temporary_color
)
if requested_color_mode not in ["rgb", "bgr"]:
raise ValueError(
f"Expected color values are 'rgb' or 'bgr', but {requested_color_mode} is provided."
@@ -441,7 +469,9 @@ class IntelRealSenseCamera:
if self.use_depth:
depth_frame = frame.get_depth_frame()
if not depth_frame:
raise OSError(f"Can't capture depth image from IntelRealSenseCamera({self.serial_number}).")
raise OSError(
f"Can't capture depth image from IntelRealSenseCamera({self.serial_number})."
)
depth_map = np.asanyarray(depth_frame.get_data())
@@ -483,7 +513,9 @@ class IntelRealSenseCamera:
# TODO(rcadene, aliberts): intelrealsense has diverged compared to opencv over here
num_tries += 1
time.sleep(1 / self.fps)
if num_tries > self.fps and (self.thread.ident is None or not self.thread.is_alive()):
if num_tries > self.fps and (
self.thread.ident is None or not self.thread.is_alive()
):
raise Exception(
"The thread responsible for `self.async_read()` took too much time to start. There might be an issue. Verify that `self.thread.start()` has been called."
)