From ee52b8b7825764a286656fe2081ed096ad2d4d76 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Tue, 22 Oct 2024 20:07:11 +0200 Subject: [PATCH] Add channels to intelrealsense --- lerobot/common/robot_devices/cameras/intelrealsense.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/lerobot/common/robot_devices/cameras/intelrealsense.py b/lerobot/common/robot_devices/cameras/intelrealsense.py index 66c7fe5c..684774fa 100644 --- a/lerobot/common/robot_devices/cameras/intelrealsense.py +++ b/lerobot/common/robot_devices/cameras/intelrealsense.py @@ -168,6 +168,7 @@ class IntelRealSenseCameraConfig: width: int | None = None height: int | None = None color_mode: str = "rgb" + channels: int | None = None use_depth: bool = False force_hardware_reset: bool = True rotation: int | None = None @@ -179,6 +180,8 @@ class IntelRealSenseCameraConfig: f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided." ) + self.channels = 3 + at_least_one_is_not_none = self.fps is not None or self.width is not None or self.height is not None at_least_one_is_none = self.fps is None or self.width is None or self.height is None if at_least_one_is_not_none and at_least_one_is_none: @@ -254,6 +257,7 @@ class IntelRealSenseCamera: self.fps = config.fps self.width = config.width self.height = config.height + self.channels = config.channels self.color_mode = config.color_mode self.use_depth = config.use_depth self.force_hardware_reset = config.force_hardware_reset