mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-24 21:19:53 +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>
71 lines
3.1 KiB
Python
71 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, Cv2Rotation
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@CameraConfig.register_subclass("intelrealsense")
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@dataclass
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class RealSenseCameraConfig(CameraConfig):
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"""Configuration class for Intel RealSense cameras.
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This class provides specialized configuration options for Intel RealSense cameras,
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including support for depth sensing and device identification via serial number or name.
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Example configurations for Intel RealSense D405:
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```python
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# Basic configurations
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RealSenseCameraConfig("0123456789", 30, 1280, 720) # 1280x720 @ 30FPS
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RealSenseCameraConfig("0123456789", 60, 640, 480) # 640x480 @ 60FPS
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# Advanced configurations
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RealSenseCameraConfig("0123456789", 30, 640, 480, use_depth=True) # With depth sensing
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RealSenseCameraConfig("0123456789", 30, 640, 480, rotation=Cv2Rotation.ROTATE_90) # With 90° rotation
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```
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Attributes:
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fps: Requested frames per second for the color stream.
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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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serial_number_or_name: Unique serial number or human-readable name to identify the camera.
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color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
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use_depth: Whether to enable depth stream. Defaults to False.
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rotation: Image rotation setting (0°, 90°, 180°, or 270°). Defaults to no rotation.
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warmup_s: Time reading frames before returning from connect (in seconds)
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Note:
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- Either name or serial_number must be specified.
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- Depth stream configuration (if enabled) will use the same FPS as the color stream.
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- The actual resolution and FPS may be adjusted by the camera to the nearest supported mode.
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- For `fps`, `width` and `height`, either all of them need to be set, or none of them.
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"""
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serial_number_or_name: str
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color_mode: ColorMode = ColorMode.RGB
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use_depth: bool = False
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rotation: Cv2Rotation = Cv2Rotation.NO_ROTATION
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warmup_s: int = 1
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def __post_init__(self) -> None:
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self.color_mode = ColorMode(self.color_mode)
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self.rotation = Cv2Rotation(self.rotation)
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values = (self.fps, self.width, self.height)
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if any(v is not None for v in values) and any(v is None for v in values):
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raise ValueError(
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"For `fps`, `width` and `height`, either all of them need to be set, or none of them."
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)
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