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chore(cameras): remove 14 logs

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This commit is contained in:
Steven Palma
2025-05-21 13:50:52 +02:00
parent f8c7e59f83
commit 73bb9709a7
2 changed files with 9 additions and 44 deletions
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32
lerobot/common/cameras/opencv/camera_opencv.py
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@@ -224,12 +224,8 @@ class OpenCVCamera(Camera):
actual_fps = self.videocapture.get(cv2.CAP_PROP_FPS) actual_fps = self.videocapture.get(cv2.CAP_PROP_FPS)
# Use math.isclose for robust float comparison # Use math.isclose for robust float comparison
if not success or not math.isclose(self.fps, actual_fps, rel_tol=1e-3): if not success or not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
logger.warning(
f"Requested FPS {self.fps} for {self}, but camera reported {actual_fps} (set success: {success}). "
"This might be due to camera limitations."
)
raise RuntimeError( raise RuntimeError(
f"Failed to set requested FPS {self.fps} for {self}. Actual value reported: {actual_fps}." f"Failed to set requested FPS {self.fps} for {self}. Actual value reported: {actual_fps} set success: {success})."
) )
logger.debug(f"FPS set to {actual_fps} for {self}.") logger.debug(f"FPS set to {actual_fps} for {self}.")
@@ -239,22 +235,16 @@ class OpenCVCamera(Camera):
success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.capture_width)) success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.capture_width))
actual_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH))) actual_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
if not success or self.capture_width != actual_width: if not success or self.capture_width != actual_width:
logger.warning(
f"Requested capture width {self.capture_width} for {self}, but camera reported {actual_width} (set success: {success})."
)
raise RuntimeError( raise RuntimeError(
f"Failed to set requested capture width {self.capture_width} for {self}. Actual value: {actual_width}." f"Failed to set requested capture width {self.capture_width} for {self}. Actual value: {actual_width} (set success: {success})."
) )
logger.debug(f"Capture width set to {actual_width} for {self}.") logger.debug(f"Capture width set to {actual_width} for {self}.")
success = self.videocapture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.capture_height)) success = self.videocapture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.capture_height))
actual_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT))) actual_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
if not success or self.capture_height != actual_height: if not success or self.capture_height != actual_height:
logger.warning(
f"Requested capture height {self.capture_height} for {self}, but camera reported {actual_height} (set success: {success})."
)
raise RuntimeError( raise RuntimeError(
f"Failed to set requested capture height {self.capture_height} for {self}. Actual value: {actual_height}." f"Failed to set requested capture height {self.capture_height} for {self}. Actual value: {actual_height} (set success: {success})."
) )
logger.debug(f"Capture height set to {actual_height} for {self}.") logger.debug(f"Capture height set to {actual_height} for {self}.")
@@ -274,16 +264,12 @@ class OpenCVCamera(Camera):
found_cameras_info = [] found_cameras_info = []
if platform.system() == "Linux": if platform.system() == "Linux":
logger.info("Linux detected. Scanning '/dev/video*' device paths...")
possible_paths = sorted(Path("/dev").glob("video*"), key=lambda p: p.name) possible_paths = sorted(Path("/dev").glob("video*"), key=lambda p: p.name)
targets_to_scan = [str(p) for p in possible_paths] targets_to_scan = [str(p) for p in possible_paths]
logger.debug(f"Found potential paths: {targets_to_scan}")
else: else:
logger.info(
f"{platform.system()} system detected. Scanning indices from 0 to {MAX_OPENCV_INDEX}..."
)
targets_to_scan = list(range(MAX_OPENCV_INDEX)) targets_to_scan = list(range(MAX_OPENCV_INDEX))
logger.debug(f"Found potential paths: {targets_to_scan}")
for target in targets_to_scan: for target in targets_to_scan:
camera = cv2.VideoCapture(target) camera = cv2.VideoCapture(target)
if camera.isOpened(): if camera.isOpened():
@@ -305,7 +291,6 @@ class OpenCVCamera(Camera):
} }
found_cameras_info.append(camera_info) found_cameras_info.append(camera_info)
logger.debug(f"Found OpenCV camera:: {camera_info}")
camera.release() camera.release()
if not found_cameras_info: if not found_cameras_info:
@@ -444,11 +429,9 @@ class OpenCVCamera(Camera):
def _stop_read_thread(self) -> None: def _stop_read_thread(self) -> None:
"""Signals the background read thread to stop and waits for it to join.""" """Signals the background read thread to stop and waits for it to join."""
if self.stop_event is not None: if self.stop_event is not None:
logger.debug(f"Signaling stop event for read thread of {self}.")
self.stop_event.set() self.stop_event.set()
if self.thread is not None and self.thread.is_alive(): if self.thread is not None and self.thread.is_alive():
logger.debug(f"Waiting for read thread of {self} to join...")
self.thread.join(timeout=2.0) self.thread.join(timeout=2.0)
if self.thread.is_alive(): if self.thread.is_alive():
logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.") logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.")
@@ -457,6 +440,7 @@ class OpenCVCamera(Camera):
self.thread = None self.thread = None
self.stop_event = None self.stop_event = None
logger.debug(f"Read thread stopped for {self}.")
def async_read(self, timeout_ms: float = 2000) -> np.ndarray: def async_read(self, timeout_ms: float = 2000) -> np.ndarray:
""" """
@@ -490,12 +474,8 @@ class OpenCVCamera(Camera):
return self.frame_queue.get(timeout=timeout_ms / 1000.0) return self.frame_queue.get(timeout=timeout_ms / 1000.0)
except queue.Empty as e: except queue.Empty as e:
thread_alive = self.thread is not None and self.thread.is_alive() thread_alive = self.thread is not None and self.thread.is_alive()
logger.error(
f"Timeout waiting for frame from {self} queue after {timeout_ms}ms. "
f"(Read thread alive: {thread_alive})"
)
raise TimeoutError( raise TimeoutError(
f"Timed out waiting for frame from camera {self.index_or_path} after {timeout_ms} ms. " f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. "
f"Read thread alive: {thread_alive}." f"Read thread alive: {thread_alive}."
) from e ) from e
except Exception as e: except Exception as e:

21
lerobot/common/cameras/realsense/camera_realsense.py
View File

@@ -235,7 +235,6 @@ class RealSenseCamera(Camera):
camera_info["default_stream_profile"] = stream_info camera_info["default_stream_profile"] = stream_info
found_cameras_info.append(camera_info) found_cameras_info.append(camera_info)
logger.debug(f"Found RealSense camera: {camera_info}")
logger.info(f"Detected RealSense cameras: {[cam['id'] for cam in found_cameras_info]}") logger.info(f"Detected RealSense cameras: {[cam['id'] for cam in found_cameras_info]}")
return found_cameras_info return found_cameras_info
@@ -350,18 +349,12 @@ class RealSenseCamera(Camera):
actual_height = int(round(stream.height())) actual_height = int(round(stream.height()))
if self.capture_width != actual_width: if self.capture_width != actual_width:
logger.warning(
f"Requested capture width {self.capture_width} for {self}, but camera reported {actual_width}."
)
raise RuntimeError( raise RuntimeError(
f"Failed to set requested capture width {self.capture_width} for {self}. Actual value: {actual_width}." f"Failed to set requested capture width {self.capture_width} for {self}. Actual value: {actual_width}."
) )
logger.debug(f"Capture width set to {actual_width} for {self}.") logger.debug(f"Capture width set to {actual_width} for {self}.")
if self.capture_height != actual_height: if self.capture_height != actual_height:
logger.warning(
f"Requested capture height {self.capture_height} for {self}, but camera reported {actual_height}."
)
raise RuntimeError( raise RuntimeError(
f"Failed to set requested capture height {self.capture_height} for {self}. Actual value: {actual_height}." f"Failed to set requested capture height {self.capture_height} for {self}. Actual value: {actual_height}."
) )
@@ -542,11 +535,9 @@ class RealSenseCamera(Camera):
def _stop_read_thread(self): def _stop_read_thread(self):
"""Signals the background read thread to stop and waits for it to join.""" """Signals the background read thread to stop and waits for it to join."""
if self.stop_event is not None: if self.stop_event is not None:
logger.debug(f"Signaling stop event for read thread of {self}.")
self.stop_event.set() self.stop_event.set()
if self.thread is not None and self.thread.is_alive(): if self.thread is not None and self.thread.is_alive():
logger.debug(f"Waiting for read thread of {self} to join...")
self.thread.join(timeout=2.0) self.thread.join(timeout=2.0)
if self.thread.is_alive(): if self.thread.is_alive():
logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.") logger.warning(f"Read thread for {self} did not terminate gracefully after 2 seconds.")
@@ -555,6 +546,7 @@ class RealSenseCamera(Camera):
self.thread = None self.thread = None
self.stop_event = None self.stop_event = None
logger.debug(f"Read thread stopped for {self}.")
# NOTE(Steven): Missing implementation for depth for now # NOTE(Steven): Missing implementation for depth for now
def async_read(self, timeout_ms: float = 100) -> np.ndarray: def async_read(self, timeout_ms: float = 100) -> np.ndarray:
@@ -589,19 +581,12 @@ class RealSenseCamera(Camera):
return self.frame_queue.get(timeout=timeout_ms / 1000.0) return self.frame_queue.get(timeout=timeout_ms / 1000.0)
except queue.Empty as e: except queue.Empty as e:
thread_alive = self.thread is not None and self.thread.is_alive() thread_alive = self.thread is not None and self.thread.is_alive()
logger.error(
f"Timeout waiting for frame from {self} queue after {timeout_ms}ms. "
f"(Read thread alive: {thread_alive})"
)
raise TimeoutError( raise TimeoutError(
f"Timed out waiting for frame from camera {self.serial_number} after {timeout_ms} ms. " f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. "
f"Read thread alive: {thread_alive}." f"Read thread alive: {thread_alive}."
) from e ) from e
except Exception as e: except Exception as e:
logger.exception(f"Unexpected error getting frame data from queue for {self}: {e}") raise RuntimeError(f"Error getting frame data from queue for camera {self}: {e}") from e
raise RuntimeError(
f"Error getting frame data from queue for camera {self.serial_number}: {e}"
) from e
def disconnect(self): def disconnect(self):
""" """