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https://github.com/huggingface/lerobot.git
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CarolinePascal
2178e11eaa
Takes src/lerobot/cameras/ to 100% public docstring coverage, the first module of Wave 1 after Person A's robots/ pilot and infrastructure PR. Converts the three config classes that already had prose but used a bold **Attributes**: block (invisible to check_docstrings.py, not the standard's Args: pattern for config dataclasses) and documents the previously-bare CameraConfig, its three enums, ZMQCameraConfig, and the module's utility functions. Adds per-backend sections to docs/source/api/cameras.mdx and removes the module's ruff D-ignore. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
74 lines
1.7 KiB
Plaintext
74 lines
1.7 KiB
Plaintext
# Cameras
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Cameras supply the image observations a policy sees. Every backend — OpenCV, Intel RealSense, Reachy 2 —
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implements the [`Camera`] interface, so swapping hardware does not change the code that reads frames.
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See the [Cameras guide](../cameras) for choosing and configuring a camera, and
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[Third-Party Cameras & Sensors](../third_party_sensors) for devices outside the core set.
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## Camera
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[[autodoc]] lerobot.cameras.Camera
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- connect
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- disconnect
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- read
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- async_read
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- find_cameras
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## CameraConfig
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[[autodoc]] lerobot.cameras.CameraConfig
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## make_cameras_from_configs
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[[autodoc]] lerobot.cameras.make_cameras_from_configs
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## ColorMode
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[[autodoc]] lerobot.cameras.ColorMode
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## Cv2Rotation
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[[autodoc]] lerobot.cameras.Cv2Rotation
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## Cv2Backends
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[[autodoc]] lerobot.cameras.Cv2Backends
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## OpenCVCamera
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The default backend for USB webcams and video files, built on OpenCV.
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[[autodoc]] lerobot.cameras.opencv.OpenCVCamera
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- all
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[[autodoc]] lerobot.cameras.opencv.OpenCVCameraConfig
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## RealSenseCamera
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Intel RealSense cameras, with optional depth sensing.
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[[autodoc]] lerobot.cameras.realsense.RealSenseCamera
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- all
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[[autodoc]] lerobot.cameras.realsense.RealSenseCameraConfig
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## Reachy2Camera
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Cameras exposed by a Reachy 2 robot's own camera manager.
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[[autodoc]] lerobot.cameras.reachy2_camera.Reachy2Camera
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- all
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[[autodoc]] lerobot.cameras.reachy2_camera.Reachy2CameraConfig
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## ZMQCamera
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Reads frames published over a ZeroMQ socket by `ImageServer`, for cameras attached to a different machine
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than the one running the policy.
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[[autodoc]] lerobot.cameras.zmq.ZMQCamera
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- all
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[[autodoc]] lerobot.cameras.zmq.ZMQCameraConfig
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