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Set OpenCV fourcc after size and fps (#3620)

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* Set OpenCV fourcc after size and fps

* Set OpenCV fourcc last on Windows

* Add comment explaining DSHOW fourcc ordering
This commit is contained in:
von Neumann 101
2026-05-19 20:06:41 +08:00
committed by GitHub
parent 3c15fd8537
commit ca8c60a0ed
1 changed files with 9 additions and 3 deletions
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src/lerobot/cameras/opencv/camera_opencv.py
+9 -3
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@@ -199,12 +199,13 @@ class OpenCVCamera(Camera):
DeviceNotConnectedError: If the camera is not connected. DeviceNotConnectedError: If the camera is not connected.
""" """
# Set FOURCC first (if specified) as it can affect available FPS/resolution options
if self.config.fourcc is not None:
self._validate_fourcc()
if self.videocapture is None: if self.videocapture is None:
raise DeviceNotConnectedError(f"{self} videocapture is not initialized") raise DeviceNotConnectedError(f"{self} videocapture is not initialized")
set_fourcc_after_size_and_fps = platform.system() == "Windows"
if self.config.fourcc is not None and not set_fourcc_after_size_and_fps:
self._validate_fourcc()
default_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH))) default_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
default_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT))) default_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
@@ -222,6 +223,11 @@ class OpenCVCamera(Camera):
else: else:
self._validate_fps() self._validate_fps()
if self.config.fourcc is not None and set_fourcc_after_size_and_fps:
# On Windows with DSHOW, changing the resolution can silently override the FOURCC setting.
# Set FOURCC last to make sure the requested pixel format is actually enforced.
self._validate_fourcc()
def _validate_fps(self) -> None: def _validate_fps(self) -> None:
"""Validates and sets the camera's frames per second (FPS).""" """Validates and sets the camera's frames per second (FPS)."""