* fix(cameras): add color_format config and auto-recovery for RealSense D405
The D405 delivers color from its stereo depth module, not a dedicated
RGB sensor. The driver previously hardcoded rs.format.rgb8, causing
silent frame capture failure on D405.
Changes:
- Add color_format field to RealSenseCameraConfig (default rgb8, D405
users set bgr8), validated against whitelist
- Use configured format in _configure_rs_pipeline_config
- Fix _postprocess_image to handle both rgb8 and bgr8 source formats
- Add _hardware_reset auto-recovery: if warmup times out, perform USB
hardware reset and retry once (common D405 recovery path)
- Fix thread race in _read_loop (local ref to stop_event)
Continuation of #3164 (closed due to deleted fork).
Tested on Intel RealSense D405 at 1280x720@30fps with color_format=bgr8.
* style: fix ruff lint B904 and format
* refactor(cameras): clarify RealSense connection retry
* refactor(cameras): address review, retry RealSense connect before hardware reset
Drop color_format (device-side streaming state was the actual cause), keep _open_pipeline attempt-agnostic, catch only retry-worthy errors, reset only as last resort, guard read loop against late frame publication after stop.
* refactor(cameras): restore BaseException teardown, shorten stop-check comment
* test(cameras): expect ConnectionError after retries are exhausted
* feat(camera): add manual exposure, gain, and white balance options for RealSense cameras
The RealSense camera integration lacked sensor-level controls, causing
issues like unstable lighting from auto-exposure hunting. This adds
optional `exposure`, `gain`, and `white_balance` fields to
RealSenseCameraConfig that disable the corresponding auto modes and
apply fixed values when set.
* fix: support D405 stereo module for sensor options
D405 exposes color stream via "Stereo Module", not "RGB Camera".
Fall back to Stereo Module when RGB Camera is not found.
* test(camera): add unit tests + range-aware errors for RealSense sensor options
Address PR #3220 review:
- Wrap set_option calls; re-raise ValueError with option name, value,
and sensor.get_option_range() diagnostics on out-of-range values.
- Add unit tests for _get_color_sensor (RGB Camera, D405 Stereo Module
fallback, diagnostic error) and _configure_sensor_options (no-op,
all values, unsupported warns, partial config, out-of-range raise).
* fix(realsense): validate manual color controls
* refactor(camera): apply feedback
---------
Co-authored-by: Lev Kozlov <kozlov.l.a10@gmail.com>
* (depth image processing): excluding depth frames from the RGB to BGR image processing
* test(update): updating tests to include RGB/BGR conversion checks
* feat(cameras): add new read_latest() method
* fix(cameras): fix threading bug + clear state
* refactor(cameras): multiple improvements
* feat(camera): add context manager to camera base class
* chore(camera): slight modifications to opencv
* test(cameras): update opencv tests according to the changes
* refactor(cameras): reflect desing changes to realsense + deal with depth
* test(cameras): fix realsense tests accordingly to new changes
* refactor(cameras): update reachymini and zmq accordingly
* chore: wrap resource sensitive examples into a try/finally
* test(cameras): add test for new read_latest
* test(cameras): fix problem with image artifact in opencv tests
* test(cameras): fix test_read_latest_high_frequency expectations
* Apply suggestions from code review 1
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
* chore(cameras): address feedback
* feat(cameras): add max_age_ms check in read_latest
* test(cameras): fix read_latest tests
* chore(redundancies): removing redundancies in Reachy 2 camera class
* fix(warmup): replacing the arbitrary time.sleep in by an actual warmup in the RealSense camera class
* chore(format): formatting latest changes
* chore(warning): adding a "to be implemented" warning for read_latest() in Camera base class
* chore(warning): making read_latest() warning message shorter and clearer
---------
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
* Enhance OpenCVCamera with FOURCC support and validation
- Added FOURCC configuration option to OpenCVCamera and OpenCVCameraConfig for specifying video format.
- Implemented _validate_fourcc method to validate and set the camera's FOURCC code.
- Updated _configure_capture_settings to apply FOURCC settings before FPS and resolution.
- Enhanced camera detection to include default FOURCC code in camera info.
- Updated documentation to reflect new FOURCC parameter and its implications on performance.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Add tests for FOURCC configuration in OpenCVCamera
- Implemented tests to validate FOURCC configuration and its application in OpenCVCamera.
- Added checks for valid FOURCC codes and ensured that invalid codes raise appropriate errors.
- Included a test for camera connection functionality using specified FOURCC settings.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Fix circular import in __init__.py - change to relative import
* Update src/lerobot/cameras/opencv/configuration_opencv.py
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Signed-off-by: hls <56255627+forgetwhatuwant@users.noreply.github.com>
* Update src/lerobot/cameras/opencv/configuration_opencv.py
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Signed-off-by: hls <56255627+forgetwhatuwant@users.noreply.github.com>
* fix(camera_opencv): ensure MSMF hardware transform compatibility on Windows before importing OpenCV
* This change reverts the import from a relative import (.) back to the absolute import (lerobot.) as it was previously
* opencv/config: satisfy Ruff SIM102 by merging nested if for fourcc validation
* style(opencv/config): apply ruff-format changes
---------
Signed-off-by: hls <56255627+forgetwhatuwant@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: forgetwhatuwant <forgetwhatuwant@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
* test(cameras): increase timeout in depth read for testing
* test(cameras): skip test_depth in realsense
---------
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Caroline Pascal