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Fix delay in teleoperation start time (#676)

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This commit is contained in:
Joe Clinton
2025-03-08 10:40:07 +00:00
committed by GitHub
parent 03c7cf8a63
commit 32fffd4bbb
2 changed files with 17 additions and 2 deletions
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14
lerobot/common/robot_devices/cameras/opencv.py
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@@ -285,10 +285,20 @@ class OpenCVCamera:
# when other threads are used to save the images.
cv2.setNumThreads(1)
backend = (
cv2.CAP_V4L2
if platform.system() == "Linux"
else cv2.CAP_DSHOW
if platform.system() == "Windows"
else cv2.CAP_AVFOUNDATION
if platform.system() == "Darwin"
else cv2.CAP_ANY
)
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)
tmp_camera = cv2.VideoCapture(camera_idx, backend)
is_camera_open = tmp_camera.isOpened()
# Release camera to make it accessible for `find_camera_indices`
tmp_camera.release()
@@ -311,7 +321,7 @@ 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(camera_idx)
self.camera = cv2.VideoCapture(camera_idx, backend)
if self.fps is not None:
self.camera.set(cv2.CAP_PROP_FPS, self.fps)