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[pre-commit.ci] auto fixes from pre-commit.com hooks

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for more information, see https://pre-commit.ci
This commit is contained in:
pre-commit-ci[bot]
2025-03-24 13:41:27 +00:00
committed by Michel Aractingi
parent 2abbd60a0d
commit 0ea27704f6
123 changed files with 1161 additions and 3425 deletions
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42
lerobot/common/robot_devices/cameras/opencv.py
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@@ -45,14 +45,10 @@ from lerobot.common.utils.utils import capture_timestamp_utc
MAX_OPENCV_INDEX = 60
def find_cameras(
raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False
) -> list[dict]:
def find_cameras(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False) -> list[dict]:
cameras = []
if platform.system() == "Linux":
print(
"Linux detected. Finding available camera indices through scanning '/dev/video*' ports"
)
print("Linux detected. Finding available camera indices through scanning '/dev/video*' ports")
possible_ports = [str(port) for port in Path("/dev").glob("video*")]
ports = _find_cameras(possible_ports, mock=mock)
for port in ports:
@@ -144,9 +140,7 @@ def save_images_from_cameras(
print("Connecting cameras")
cameras = []
for cam_idx in camera_ids:
config = OpenCVCameraConfig(
camera_index=cam_idx, fps=fps, width=width, height=height, mock=mock
)
config = OpenCVCameraConfig(camera_index=cam_idx, fps=fps, width=width, height=height, mock=mock)
camera = OpenCVCamera(config)
camera.connect()
print(
@@ -186,9 +180,7 @@ def save_images_from_cameras(
dt_s = time.perf_counter() - now
busy_wait(1 / fps - dt_s)
print(
f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}"
)
print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}")
if time.perf_counter() - start_time > record_time_s:
break
@@ -245,16 +237,12 @@ class OpenCVCamera:
if platform.system() == "Linux":
if isinstance(self.camera_index, int):
self.port = Path(f"/dev/video{self.camera_index}")
elif isinstance(self.camera_index, str) and is_valid_unix_path(
self.camera_index
):
elif isinstance(self.camera_index, str) and is_valid_unix_path(self.camera_index):
self.port = Path(self.camera_index)
# Retrieve the camera index from a potentially symlinked path
self.camera_index = get_camera_index_from_unix_port(self.port)
else:
raise ValueError(
f"Please check the provided camera_index: {self.camera_index}"
)
raise ValueError(f"Please check the provided camera_index: {self.camera_index}")
# Store the raw (capture) resolution from the config.
self.capture_width = config.width
@@ -295,9 +283,7 @@ class OpenCVCamera:
def connect(self):
if self.is_connected:
raise RobotDeviceAlreadyConnectedError(
f"OpenCVCamera({self.camera_index}) is already connected."
)
raise RobotDeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.")
if self.mock:
import tests.cameras.mock_cv2 as cv2
@@ -318,11 +304,7 @@ class OpenCVCamera:
else cv2.CAP_ANY
)
camera_idx = (
f"/dev/video{self.camera_index}"
if platform.system() == "Linux"
else self.camera_index
)
camera_idx = f"/dev/video{self.camera_index}" if platform.system() == "Linux" else self.camera_index
# First create a temporary camera trying to access `camera_index`,
# and verify it is a valid camera by calling `isOpened`.
tmp_camera = cv2.VideoCapture(camera_idx, backend)
@@ -362,9 +344,7 @@ class OpenCVCamera:
actual_height = self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT)
# Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30)
if self.fps is not None and not math.isclose(
self.fps, actual_fps, rel_tol=1e-3
):
if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
# Using `OSError` since it's a broad that encompasses issues related to device communication
raise OSError(
f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}."
@@ -406,9 +386,7 @@ class OpenCVCamera:
if not ret:
raise OSError(f"Can't capture color image from camera {self.camera_index}.")
requested_color_mode = (
self.color_mode if temporary_color_mode is None else temporary_color_mode
)
requested_color_mode = self.color_mode if temporary_color_mode is None else temporary_color_mode
if requested_color_mode not in ["rgb", "bgr"]:
raise ValueError(