From 3369d351a74bd359c4e3a0413d378af194caca05 Mon Sep 17 00:00:00 2001
From: Remi Cadene <re.cadene@gmail.com>
Date: Sat, 28 Sep 2024 15:41:15 +0200
Subject: [PATCH] Fix slow fps

---
 lerobot/common/robot_devices/cameras/opencv.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/lerobot/common/robot_devices/cameras/opencv.py b/lerobot/common/robot_devices/cameras/opencv.py
index 5c2f6460d..35e548ca5 100644
--- a/lerobot/common/robot_devices/cameras/opencv.py
+++ b/lerobot/common/robot_devices/cameras/opencv.py
@@ -401,9 +401,9 @@ class OpenCVCamera:
 
         num_tries = 0
         while True:
-            with self.lock:
-                if self.color_image is not None:
-                    return self.color_image
+            # Do not use `with self.lock` here, as it reduces fps
+            if self.color_image is not None:
+                return self.color_image
 
             time.sleep(1 / self.fps)
             num_tries += 1