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Add support for Linux to opencv

This commit is contained in:
Remi Cadene 2024-07-29 19:14:59 +02:00
parent cff0347fb2
commit 163e81fbc8
1 changed files with 28 additions and 11 deletions
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39
lerobot/common/robot_devices/cameras/opencv.py
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@ -5,6 +5,7 @@ This file contains utilities for recording frames from cameras. For more info lo
import argparse
import concurrent.futures
import math
import platform
import shutil
import threading
import time
@ -33,8 +34,18 @@ MAX_OPENCV_INDEX = 60
def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX):
if platform.system() == "Linux":
# Linux uses camera ports
print("Linux detected. Finding available camera indices through scanning '/dev/video*' ports")
possible_camera_ids = [int(port.replace("/dev/video", "")) for port in Path("/dev").glob("video*")]
else:
print(
f"Mac or Windows dtected. Finding available camera indices through scanning all indices from 0 to {MAX_OPENCV_INDEX}"
)
possible_camera_ids = range(max_index_search_range)
camera_ids = []
for camera_idx in range(max_index_search_range):
for camera_idx in possible_camera_ids:
camera = cv2.VideoCapture(camera_idx)
is_open = camera.isOpened()
camera.release()
@ -59,10 +70,9 @@ def save_image(img_array, camera_index, frame_index, images_dir):
def save_images_from_cameras(
images_dir: Path, camera_ids=None, fps=None, width=None, height=None, record_time_s=2
images_dir: Path, camera_ids: list[int] | None = None, fps=None, width=None, height=None, record_time_s=2
):
if camera_ids is None:
print("Finding available camera indices")
camera_ids = find_camera_indices()
print("Connecting cameras")
@ -75,9 +85,7 @@ def save_images_from_cameras(
)
cameras.append(camera)
images_dir = Path(
images_dir,
)
images_dir = Path(images_dir)
if images_dir.exists():
shutil.rmtree(
images_dir,
@ -99,7 +107,7 @@ def save_images_from_cameras(
executor.submit(
save_image,
image,
camera.camera_index,
camera.index,
frame_index,
images_dir,
)
@ -160,7 +168,7 @@ class OpenCVCamera:
When an OpenCVCamera is instantiated, if no specific config is provided, the default fps, width, height and color_mode
of the given camera will be used.
Example of usage of the class:
Example of usage:
```python
camera = OpenCVCamera(camera_index=0)
camera.connect()
@ -182,7 +190,7 @@ class OpenCVCamera:
```
"""
def __init__(self, camera_index: int | str, config: OpenCVCameraConfig | None = None, **kwargs):
def __init__(self, camera_index: int, config: OpenCVCameraConfig | None = None, **kwargs):
if config is None:
config = OpenCVCameraConfig()
# Overwrite config arguments using kwargs
@ -207,7 +215,13 @@ class OpenCVCamera:
# First create a temporary camera trying to access `camera_index`,
# and verify it is a valid camera by calling `isOpened`.
tmp_camera = cv2.VideoCapture(self.camera_index)
if platform.system() == "Linux":
# Linux uses ports for connecting to cameras
tmp_camera = cv2.VideoCapture(f"/dev/video{self.camera_index}")
else:
tmp_camera = cv2.VideoCapture(self.camera_index)
is_camera_open = tmp_camera.isOpened()
# Release camera to make it accessible for `find_camera_indices`
del tmp_camera
@ -227,7 +241,10 @@ class OpenCVCamera:
# Secondly, create the camera that will be used downstream.
# Note: For some unknown reason, calling `isOpened` blocks the camera which then
# needs to be re-created.
self.camera = cv2.VideoCapture(self.camera_index)
if platform.system() == "Linux":
self.camera = cv2.VideoCapture(f"/dev/video{self.camera_index}")
else:
self.camera = cv2.VideoCapture(self.camera_index)
if self.fps is not None:
self.camera.set(cv2.CAP_PROP_FPS, self.fps)