68 lines
2.2 KiB
Python
68 lines
2.2 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 typing import Protocol
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import numpy as np
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from lerobot.common.robot_devices.cameras.configs import (
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CameraConfig,
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IntelRealSenseCameraConfig,
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OpenCVCameraConfig,
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)
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# Defines a camera type
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class Camera(Protocol):
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def connect(self): ...
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def read(self, temporary_color: str | None = None) -> np.ndarray: ...
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def async_read(self) -> np.ndarray: ...
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def disconnect(self): ...
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def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[str, Camera]:
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cameras = {}
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for key, cfg in camera_configs.items():
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if cfg.type == "opencv":
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from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
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cameras[key] = OpenCVCamera(cfg)
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elif cfg.type == "intelrealsense":
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from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
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cameras[key] = IntelRealSenseCamera(cfg)
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else:
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raise ValueError(f"The camera type '{cfg.type}' is not valid.")
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return cameras
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def make_camera(camera_type, **kwargs) -> Camera:
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if camera_type == "opencv":
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from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
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config = OpenCVCameraConfig(**kwargs)
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return OpenCVCamera(config)
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elif camera_type == "intelrealsense":
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from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
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config = IntelRealSenseCameraConfig(**kwargs)
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return IntelRealSenseCamera(config)
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else:
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raise ValueError(f"The camera type '{camera_type}' is not valid.")
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