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revert threads to thread, results to color_image in OpenCVCamera

This commit is contained in:
Remi Cadene 2024-07-06 18:10:47 +02:00
parent d83d34d9b3
commit 72b2e342ae
1 changed files with 15 additions and 15 deletions
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30
lerobot/common/robot_devices/cameras/opencv.py
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@ -98,7 +98,7 @@ class OpenCVCamera:
```python ```python
camera = OpenCVCamera(2) camera = OpenCVCamera(2)
color_image = camera.capture_image() color_image = camera.read()
``` ```
""" """
@ -124,8 +124,8 @@ class OpenCVCamera:
self.camera = None self.camera = None
self.is_connected = False self.is_connected = False
self.threads = {} self.thread = None
self.results = {} self.color_image = None
self.logs = {} self.logs = {}
def connect(self): def connect(self):
@ -212,31 +212,31 @@ class OpenCVCamera:
def read_loop(self): def read_loop(self):
while True: while True:
self.results["color_image"] = self.read() self.color_image = self.read()
def async_read(self): def async_read(self):
if "read" not in self.threads: if self.thread is None:
self.threads["read"] = Thread(target=self.read_loop, args=()) self.thread = Thread(target=self.read_loop, args=())
self.threads["read"].daemon = True self.thread.daemon = True
self.threads["read"].start() self.thread.start()
num_tries = 0 num_tries = 0
while "color_image" not in self.results: while self.color_image is None:
num_tries += 1 num_tries += 1
time.sleep(1/self.fps) time.sleep(1/self.fps)
if num_tries > self.fps: if num_tries > self.fps:
if self.threads["read"].ident is None and not self.threads["read"].is_alive(): if self.thread.ident is None and not self.thread.is_alive():
raise Exception("The thread responsible for `self.async_read()` took too much time to start. There might be an issue. Verify that `self.threads[\"read\"].start()` has been called.") raise Exception("The thread responsible for `self.async_read()` took too much time to start. There might be an issue. Verify that `self.thread.start()` has been called.")
return self.results["color_image"] #, self.logs["timestamp_utc"] return self.color_image
def disconnect(self): def disconnect(self):
if getattr(self, "camera", None): if getattr(self, "camera", None):
self.camera.release() self.camera.release()
for name in self.threads: if self.thread is not None:
if self.threads[name].is_alive(): if self.thread.is_alive():
# wait for the thread to finish # wait for the thread to finish
self.threads[name].join() self.thread.join()
def __del__(self): def __del__(self):
self.disconnect() self.disconnect()