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(depth image processing): excluding depth frames from the RGB to BGR image processing (#4135)

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* (depth image processing): excluding depth frames from the RGB to BGR image processing

* test(update): updating tests to include RGB/BGR conversion checks
This commit is contained in:
Caroline Pascal
2026-07-24 17:43:17 +02:00
committed by GitHub
parent ac5c7b8600
commit ab2b5b04dd
5 changed files with 97 additions and 19 deletions
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src/lerobot/cameras/reachy2_camera/reachy2_camera.py
+2 -1
View File
@@ -173,7 +173,8 @@ class Reachy2Camera(Camera):
raise ValueError(
f"Invalid color mode '{self.color_mode}'. Expected {ColorMode.RGB} or {ColorMode.BGR}."
)
if self.color_mode == ColorMode.RGB:
is_depth_frame = self.config.name == "depth" and self.config.image_type == "depth"
if not is_depth_frame and self.color_mode == ColorMode.RGB:
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
self.latest_frame = frame
src/lerobot/cameras/realsense/camera_realsense.py
+1 -1
View File
@@ -453,7 +453,7 @@ class RealSenseCamera(Camera):
)
processed_image = image
if self.color_mode == ColorMode.BGR:
if not depth_frame and self.color_mode == ColorMode.BGR:
processed_image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE, cv2.ROTATE_180]: