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refactor(cameras): fps, width and height are optional at camera level, these 3 are now moved to the camera base class, the width and height specified in the config is now the one output by read() methods

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This commit is contained in:
Steven Palma
2025-05-12 16:27:19 +02:00
parent f28086ff81
commit 991786ad70
6 changed files with 93 additions and 100 deletions
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lerobot/common/cameras/intel/camera_realsense.py
+41 -47
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@@ -115,6 +115,9 @@ class RealSenseCamera(Camera):
Args:
config: The configuration settings for the camera.
"""
super().__init__(config)
self.config = config
if config.name is not None: # TODO(Steven): Do we want to continue supporting this?
@@ -124,11 +127,6 @@ class RealSenseCamera(Camera):
else:
raise ValueError("RealSenseCameraConfig must provide either 'serial_number' or 'name'.")
self.capture_width: int | None = config.width
self.capture_height: int | None = config.height
self.width: int | None = None
self.height: int | None = None
self.fps: int | None = config.fps
self.channels: int = config.channels
self.color_mode: ColorMode = config.color_mode
@@ -145,6 +143,14 @@ class RealSenseCamera(Camera):
self.rotation: int | None = get_cv2_rotation(config.rotation)
# NOTE(Steven): What happens if rotation is specified but we leave width and height to None?
# NOTE(Steven): Should we enforce these parameters if rotation is set?
if self.height and self.width:
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.prerotated_width, self.prerotated_height = self.height, self.width
else:
self.prerotated_width, self.prerotated_height = self.width, self.height
def __str__(self) -> str:
"""Returns a string representation of the camera instance."""
return f"{self.__class__.__name__}({self.serial_number})"
@@ -246,24 +252,24 @@ class RealSenseCamera(Camera):
rs_config = rs.config()
rs.config.enable_device(rs_config, self.serial_number)
if self.capture_width and self.capture_height and self.fps:
if self.width and self.height and self.fps:
logger.debug(
f"Requesting Color Stream: {self.capture_width}x{self.capture_height} @ {self.fps} FPS, Format: {rs.format.rgb8}"
f"Requesting Color Stream: {self.prerotated_width}x{self.prerotated_height} @ {self.fps} FPS, Format: {rs.format.rgb8}"
)
rs_config.enable_stream(
rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps
rs.stream.color, self.prerotated_width, self.prerotated_height, rs.format.rgb8, self.fps
)
else:
logger.debug(f"Requesting Color Stream: Default settings, Format: {rs.stream.color}")
rs_config.enable_stream(rs.stream.color)
if self.use_depth:
if self.capture_width and self.capture_height and self.fps:
if self.width and self.height and self.fps:
logger.debug(
f"Requesting Depth Stream: {self.capture_width}x{self.capture_height} @ {self.fps} FPS, Format: {rs.format.z16}"
f"Requesting Depth Stream: {self.prerotated_width}x{self.prerotated_height} @ {self.fps} FPS, Format: {rs.format.z16}"
)
rs_config.enable_stream(
rs.stream.depth, self.capture_width, self.capture_height, rs.format.z16, self.fps
rs.stream.depth, self.prerotated_width, self.prerotated_height, rs.format.z16, self.fps
)
else:
logger.debug(f"Requesting Depth Stream: Default settings, Format: {rs.stream.depth}")
@@ -289,8 +295,7 @@ class RealSenseCamera(Camera):
raise DeviceNotConnectedError(f"Cannot validate settings for {self} as it is not connected.")
self._validate_fps()
self._validate_capture_width()
self._validate_capture_height()
self._validate_width_and_height()
if self.use_depth:
try:
@@ -319,13 +324,6 @@ class RealSenseCamera(Camera):
except Exception as e:
logger.error(f"Failed to get or validate active depth stream profile on {self}: {e}")
# Set final width/height considering rotation
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.width, self.height = self.capture_height, self.capture_width
else:
self.width, self.height = self.capture_width, self.capture_height
logger.debug(f"Final image dimensions set to: {self.width}x{self.height} (after rotation if any)")
# NOTE(Steven): Add a wamr-up period time config
def connect(self):
"""
@@ -385,43 +383,39 @@ class RealSenseCamera(Camera):
)
logger.debug(f"FPS set to {actual_fps} for {self}.")
def _validate_capture_width(self) -> None:
"""Validates and sets the internal capture width based on actual stream width."""
def _validate_width_and_height(self) -> None:
"""Validates and sets the internal capture width and height based on actual stream width."""
color_stream = self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile()
actual_width = int(round(color_stream.width()))
actual_height = int(round(color_stream.height()))
if self.capture_width is None:
self.capture_width = actual_width
logger.info(f"Capture width not specified, using camera default: {self.capture_width} pixels.")
if self.width is None or self.height is None:
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.width, self.height = actual_height, actual_width
self.prerotated_width, self.prerotated_height = actual_width, actual_height
else:
self.width, self.height = actual_width, actual_height
self.prerotated_width, self.prerotated_height = actual_width, actual_height
logger.info(f"Capture width set to camera default: {self.width}.")
logger.info(f"Capture height set to camera default: {self.height}.")
return
if self.capture_width != actual_width:
if self.prerotated_width != actual_width:
logger.warning(
f"Requested capture width {self.capture_width} for {self}, but camera reported {actual_width}."
f"Requested capture width {self.prerotated_width} for {self}, but camera reported {actual_width}."
)
raise RuntimeError(
f"Failed to set requested capture width {self.capture_width} for {self}. Actual value: {actual_width}."
f"Failed to set requested capture width {self.prerotated_width} for {self}. Actual value: {actual_width}."
)
logger.debug(f"Capture width set to {actual_width} for {self}.")
def _validate_capture_height(self) -> None:
"""Validates and sets the internal capture height based on actual stream height."""
color_stream = self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile()
actual_height = int(round(color_stream.height()))
if self.capture_height is None:
self.capture_height = actual_height
logger.info(f"Capture height not specified, using camera default: {self.capture_height} pixels.")
return
if self.capture_height != actual_height:
if self.prerotated_height != actual_height:
logger.warning(
f"Requested capture height {self.capture_height} for {self}, but camera reported {actual_height}."
f"Requested capture height {self.prerotated_height} for {self}, but camera reported {actual_height}."
)
raise RuntimeError(
f"Failed to set requested capture height {self.capture_height} for {self}. Actual value: {actual_height}."
f"Failed to set requested capture height {self.prerotated_height} for {self}. Actual value: {actual_height}."
)
logger.debug(f"Capture height set to {actual_height} for {self}.")
@@ -478,9 +472,9 @@ class RealSenseCamera(Camera):
# NOTE(Steven): Simplified version of _postprocess_image() for depth image
h, w = depth_map.shape
if h != self.capture_height or w != self.capture_width:
if h != self.prerotated_height or w != self.prerotated_width:
raise RuntimeError(
f"Captured frame dimensions ({h}x{w}) do not match configured capture dimensions ({self.capture_height}x{self.capture_width}) for {self}."
f"Captured frame dimensions ({h}x{w}) do not match configured capture dimensions ({self.prerotated_height}x{self.prerotated_width}) for {self}."
)
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
@@ -514,7 +508,7 @@ class RealSenseCamera(Camera):
Raises:
ValueError: If the requested `color_mode` is invalid.
RuntimeError: If the raw frame dimensions do not match the configured
`capture_width` and `capture_height`.
`width` and `height`.
"""
requested_color_mode = self.color_mode if color_mode is None else color_mode
@@ -525,9 +519,9 @@ class RealSenseCamera(Camera):
h, w, c = image.shape
if h != self.capture_height or w != self.capture_width:
if h != self.prerotated_height or w != self.prerotated_width:
raise RuntimeError(
f"Captured frame dimensions ({h}x{w}) do not match configured capture dimensions ({self.capture_height}x{self.capture_width}) for {self}."
f"Captured frame dimensions ({h}x{w}) do not match configured capture dimensions ({self.prerotated_height}x{self.prerotated_width}) for {self}."
)
if c != self.channels:
logger.warning(