From 4d9825bb1d6c8965a3685ded0e5b016a4d7b9c32 Mon Sep 17 00:00:00 2001
From: Steven Palma <steven.palma@huggingface.co>
Date: Wed, 21 May 2025 16:06:16 +0200
Subject: [PATCH] fix(ci): change default opencv backend

---
 lerobot/common/cameras/utils.py | 28 +++++++++++++---------------
 1 file changed, 13 insertions(+), 15 deletions(-)

diff --git a/lerobot/common/cameras/utils.py b/lerobot/common/cameras/utils.py
index d95703da5..72f1dd3eb 100644
--- a/lerobot/common/cameras/utils.py
+++ b/lerobot/common/cameras/utils.py
@@ -46,28 +46,26 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[s
     return cameras
 
 
-def get_cv2_rotation(rotation: Cv2Rotation) -> int:
+def get_cv2_rotation(rotation: Cv2Rotation) -> int | None:
     import cv2
 
-    available_rotation_dict = {
-        Cv2Rotation.ROTATE_270: cv2.ROTATE_90_COUNTERCLOCKWISE,
-        Cv2Rotation.ROTATE_90: cv2.ROTATE_90_CLOCKWISE,
-        Cv2Rotation.ROTATE_180: cv2.ROTATE_180,
-    }
-
-    return available_rotation_dict.get(rotation)
+    if rotation == Cv2Rotation.ROTATE_90:
+        return cv2.ROTATE_90_CLOCKWISE
+    elif rotation == Cv2Rotation.ROTATE_180:
+        return cv2.ROTATE_180
+    elif rotation == Cv2Rotation.ROTATE_270:
+        return cv2.ROTATE_90_COUNTERCLOCKWISE
+    else:
+        return None
 
 
 def get_cv2_backend() -> int:
     import cv2
 
-    available_cv2_backends = {
-        "Linux": cv2.CAP_V4L2,
-        "Windows": cv2.CAP_AVFOUNDATION,
-        "Darwin": cv2.CAP_ANY,
-    }
-
-    return available_cv2_backends.get(platform.system(), cv2.CAP_V4L2)
+    if platform.system() == "Windows":
+        return cv2.CAP_AVFOUNDATION
+    else:
+        return cv2.CAP_ANY
 
 
 def save_image(img_array: np.ndarray, camera_index: int, frame_index: int, images_dir: Path):