admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-25 10:46:01 +00:00
Code Issues Packages Projects Releases Wiki Activity

refactor(cameras): improvements utils functionalities v0.2

Browse Source
This commit is contained in:
Steven Palma
2025-05-09 13:56:59 +02:00
parent 06e02f6d17
commit f28086ff81
4 changed files with 227 additions and 152 deletions
Download Patch File Download Diff File Expand all files Collapse all files
lerobot/common/cameras/intel/camera_realsense.py
+27 -8
View File
@@ -22,7 +22,7 @@ import math
import queue
import time
from threading import Event, Thread
from typing import Dict, List, Tuple, Union
from typing import Any, Dict, List, Tuple, Union
import cv2
import numpy as np
@@ -155,7 +155,7 @@ class RealSenseCamera(Camera):
return self.rs_pipeline is not None and self.rs_profile is not None
@staticmethod
def find_cameras(raise_when_empty: bool = True) -> List[Dict[str, Union[str, int, float]]]:
def find_cameras(raise_when_empty: bool = True) -> List[Dict[str, Any]]:
"""
Detects available Intel RealSense cameras connected to the system.
@@ -163,13 +163,14 @@ class RealSenseCamera(Camera):
raise_when_empty (bool): If True, raises an OSError if no cameras are found.
Returns:
List[Dict[str, Union[str, int, float]]]: A list of dictionaries,
where each dictionary contains 'type', 'serial_number', 'name',
firmware version, USB type, and other available specs.
List[Dict[str, Any]]: A list of dictionaries,
where each dictionary contains 'type', 'id' (serial number), 'name',
firmware version, USB type, and other available specs, and the default profile properties (width, height, fps, format).
Raises:
OSError: If `raise_when_empty` is True and no cameras are detected,
or if pyrealsense2 is not installed.
ImportError: If pyrealsense2 is not installed.
"""
found_cameras_info = []
context = rs.context()
@@ -185,19 +186,37 @@ class RealSenseCamera(Camera):
for device in devices:
camera_info = {
"name": device.get_info(rs.camera_info.name),
"type": "RealSense",
"serial_number": device.get_info(rs.camera_info.serial_number),
"id": device.get_info(rs.camera_info.serial_number),
"firmware_version": device.get_info(rs.camera_info.firmware_version),
"usb_type_descriptor": device.get_info(rs.camera_info.usb_type_descriptor),
"physical_port": device.get_info(rs.camera_info.physical_port),
"product_id": device.get_info(rs.camera_info.product_id),
"product_line": device.get_info(rs.camera_info.product_line),
"name": device.get_info(rs.camera_info.name),
}
# Get stream profiles for each sensor
sensors = device.query_sensors()
for sensor in sensors:
profiles = sensor.get_stream_profiles()
for profile in profiles:
if profile.is_video_stream_profile() and profile.is_default():
vprofile = profile.as_video_stream_profile()
stream_info = {
"stream_type": vprofile.stream_name(),
"format": vprofile.format().name,
"width": vprofile.width(),
"height": vprofile.height(),
"fps": vprofile.fps(),
}
camera_info["default_stream_profile"] = stream_info
found_cameras_info.append(camera_info)
logger.debug(f"Found RealSense camera: {camera_info}")
logger.info(f"Detected RealSense cameras: {[cam['serial_number'] for cam in found_cameras_info]}")
logger.info(f"Detected RealSense cameras: {[cam['id'] for cam in found_cameras_info]}")
return found_cameras_info
def _find_serial_number_from_name(self, name: str) -> str: