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https://github.com/huggingface/lerobot.git
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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>
70 lines
2.3 KiB
Python
70 lines
2.3 KiB
Python
#!/usr/bin/env python
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# 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 typing import cast
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from lerobot.utils.import_utils import make_device_from_device_class
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from .camera import Camera
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from .configs import CameraConfig, Cv2Rotation
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def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[str, Camera]:
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cameras: dict[str, Camera] = {}
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for key, cfg in camera_configs.items():
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# TODO(Steven): Consider just using the make_device_from_device_class for all types
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if cfg.type == "opencv":
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from .opencv import OpenCVCamera
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cameras[key] = OpenCVCamera(cfg)
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elif cfg.type == "intelrealsense":
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from .realsense.camera_realsense import RealSenseCamera
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cameras[key] = RealSenseCamera(cfg)
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elif cfg.type == "reachy2_camera":
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from .reachy2_camera.reachy2_camera import Reachy2Camera
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cameras[key] = Reachy2Camera(cfg)
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elif cfg.type == "zmq":
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from .zmq.camera_zmq import ZMQCamera
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cameras[key] = ZMQCamera(cfg)
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else:
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try:
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cameras[key] = cast(Camera, make_device_from_device_class(cfg))
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except Exception as e:
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raise ValueError(f"Error creating camera {key} with config {cfg}: {e}") from e
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return cameras
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def get_cv2_rotation(rotation: Cv2Rotation) -> int | None:
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import cv2 # type: ignore # TODO: add type stubs for OpenCV
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if rotation == Cv2Rotation.ROTATE_90:
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return int(cv2.ROTATE_90_CLOCKWISE)
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elif rotation == Cv2Rotation.ROTATE_180:
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return int(cv2.ROTATE_180)
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elif rotation == Cv2Rotation.ROTATE_270:
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return int(cv2.ROTATE_90_COUNTERCLOCKWISE)
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else:
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return None
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