mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-24 18:26:11 +00:00
Steven Palma
fc8a388a25
* feat(cameras): make backend configurable to the CLI * chore(cameras): address feedback * feat(Enum error messages): adding better instanciation error messages for Enum classes * chore(Enum error messages): propagating Enum error messages to all camera classes * chore(comments): removing superfluous comments * chore(format): applying ruff checks --------- Co-authored-by: CarolinePascal <caroline8.pascal@gmail.com>
78 lines
3.1 KiB
Python
78 lines
3.1 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from dataclasses import dataclass
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from ..configs import CameraConfig, ColorMode
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__all__ = ["CameraConfig", "ColorMode", "Reachy2CameraConfig"]
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@CameraConfig.register_subclass("reachy2_camera")
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@dataclass
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class Reachy2CameraConfig(CameraConfig):
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"""Configuration class for Reachy 2 camera devices.
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This class provides configuration options for Reachy 2 cameras,
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supporting both the teleop and depth cameras. It includes settings
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for resolution, frame rate, color mode, and the selection of the cameras.
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Example configurations:
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```python
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# Basic configurations
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Reachy2CameraConfig(
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name="teleop",
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image_type="left",
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ip_address="192.168.0.200", # IP address of the robot
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port=50065, # Port of the camera server
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width=640,
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height=480,
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fps=30, # Not configurable for Reachy 2 cameras
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color_mode=ColorMode.RGB,
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) # Left teleop camera, 640x480 @ 30FPS
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```
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Attributes:
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name: Name of the camera device. Can be "teleop" or "depth".
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image_type: Type of image stream. For "teleop" camera, can be "left" or "right".
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For "depth" camera, can be "rgb" or "depth". (depth is not supported yet)
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fps: Requested frames per second for the color stream. Not configurable for Reachy 2 cameras.
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width: Requested frame width in pixels for the color stream.
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height: Requested frame height in pixels for the color stream.
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color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
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ip_address: IP address of the robot. Defaults to "localhost".
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port: Port number for the camera server. Defaults to 50065.
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Note:
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- Only 3-channel color output (RGB/BGR) is currently supported.
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"""
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name: str
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image_type: str
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color_mode: ColorMode = ColorMode.RGB
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ip_address: str | None = "localhost"
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port: int = 50065
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def __post_init__(self) -> None:
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if self.name not in ["teleop", "depth"]:
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raise ValueError(f"`name` is expected to be 'teleop' or 'depth', but {self.name} is provided.")
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if (self.name == "teleop" and self.image_type not in ["left", "right"]) or (
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self.name == "depth" and self.image_type not in ["rgb", "depth"]
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):
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raise ValueError(
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f"`image_type` is expected to be 'left' or 'right' for teleop camera, and 'rgb' or 'depth' for depth camera, but {self.image_type} is provided."
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)
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self.color_mode = ColorMode(self.color_mode)
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