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fix(cameras): realsense depth post_process channel check

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This commit is contained in:
Steven Palma
2025-05-15 16:48:52 +02:00
parent 6797e1d92b
commit 5daf552127
1 changed files with 12 additions and 7 deletions
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19
lerobot/common/cameras/intel/camera_realsense.py
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@@ -440,7 +440,7 @@ class RealSenseCamera(Camera):
depth_frame = frame.get_depth_frame() depth_frame = frame.get_depth_frame()
depth_map = np.asanyarray(depth_frame.get_data()) depth_map = np.asanyarray(depth_frame.get_data())
depth_map_processed = self._postprocess_image(depth_map) depth_map_processed = self._postprocess_image(depth_map, depth_frame=True)
read_duration_ms = (time.perf_counter() - start_time) * 1e3 read_duration_ms = (time.perf_counter() - start_time) * 1e3
logger.debug(f"{self} synchronous read took: {read_duration_ms:.1f}ms") logger.debug(f"{self} synchronous read took: {read_duration_ms:.1f}ms")
@@ -493,7 +493,9 @@ class RealSenseCamera(Camera):
self.logs["timestamp_utc"] = capture_timestamp_utc() self.logs["timestamp_utc"] = capture_timestamp_utc()
return color_image_processed return color_image_processed
def _postprocess_image(self, image: np.ndarray, color_mode: ColorMode | None = None) -> np.ndarray: def _postprocess_image(
self, image: np.ndarray, color_mode: ColorMode | None = None, depth_frame: bool = False
) -> np.ndarray:
""" """
Applies color conversion, dimension validation, and rotation to a raw color frame. Applies color conversion, dimension validation, and rotation to a raw color frame.
@@ -516,16 +518,19 @@ class RealSenseCamera(Camera):
f"Invalid requested color mode '{color_mode}'. Expected {ColorMode.RGB} or {ColorMode.BGR}." f"Invalid requested color mode '{color_mode}'. Expected {ColorMode.RGB} or {ColorMode.BGR}."
) )
h, w, c = image.shape if depth_frame:
h, w = image.shape
else:
h, w, c = image.shape
if c != self.channels:
logger.warning(
f"Captured frame channels ({c}) do not match configured channels ({self.channels}) for {self}."
)
if h != self.prerotated_height or w != self.prerotated_width: if h != self.prerotated_height or w != self.prerotated_width:
raise RuntimeError( raise RuntimeError(
f"Captured frame dimensions ({h}x{w}) do not match configured capture dimensions ({self.prerotated_height}x{self.prerotated_width}) for {self}." f"Captured frame dimensions ({h}x{w}) do not match configured capture dimensions ({self.prerotated_height}x{self.prerotated_width}) for {self}."
) )
if c != self.channels:
logger.warning(
f"Captured frame channels ({c}) do not match configured channels ({self.channels}) for {self}."
)
processed_image = image processed_image = image
if self.color_mode == ColorMode.BGR: if self.color_mode == ColorMode.BGR: