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chore(cameras): rename prerotated_ to capture_ var names

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This commit is contained in:
Steven Palma
2025-05-20 18:09:22 +02:00
parent 18b56e1533
commit 7a4b9f0cbf
2 changed files with 30 additions and 30 deletions
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28
lerobot/common/cameras/opencv/camera_opencv.py
View File

@@ -125,9 +125,9 @@ class OpenCVCamera(Camera):
if self.height and self.width:
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.prerotated_width, self.prerotated_height = self.height, self.width
self.capture_width, self.capture_height = self.height, self.width
else:
self.prerotated_width, self.prerotated_height = self.width, self.height
self.capture_width, self.capture_height = self.width, self.height
def __str__(self) -> str:
return f"{self.__class__.__name__}({self.index_or_path})"
@@ -208,10 +208,10 @@ class OpenCVCamera(Camera):
if self.width is None or self.height is None:
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.width, self.height = default_height, default_width
self.prerotated_width, self.prerotated_height = default_width, default_height
self.capture_width, self.capture_height = default_width, default_height
else:
self.width, self.height = default_width, default_height
self.prerotated_width, self.prerotated_height = default_width, default_height
self.capture_width, self.capture_height = default_width, default_height
logger.info(f"Capture width set to camera default: {self.width}.")
logger.info(f"Capture height set to camera default: {self.height}.")
else:
@@ -236,25 +236,25 @@ class OpenCVCamera(Camera):
def _validate_width_and_height(self) -> None:
"""Validates and sets the camera's frame capture width and height."""
success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.prerotated_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)))
if not success or self.prerotated_width != actual_width:
if not success or self.capture_width != actual_width:
logger.warning(
f"Requested capture width {self.prerotated_width} for {self}, but camera reported {actual_width} (set success: {success})."
f"Requested capture width {self.capture_width} for {self}, but camera reported {actual_width} (set success: {success})."
)
raise RuntimeError(
f"Failed to set requested capture width {self.prerotated_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}.")
success = self.videocapture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.prerotated_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)))
if not success or self.prerotated_height != actual_height:
if not success or self.capture_height != actual_height:
logger.warning(
f"Requested capture height {self.prerotated_height} for {self}, but camera reported {actual_height} (set success: {success})."
f"Requested capture height {self.capture_height} for {self}, but camera reported {actual_height} (set success: {success})."
)
raise RuntimeError(
f"Failed to set requested capture height {self.prerotated_height} for {self}. Actual value: {actual_height}."
f"Failed to set requested capture height {self.capture_height} for {self}. Actual value: {actual_height}."
)
logger.debug(f"Capture height set to {actual_height} for {self}.")
@@ -387,9 +387,9 @@ class OpenCVCamera(Camera):
h, w, c = image.shape
if h != self.prerotated_height or w != self.prerotated_width:
if h != self.capture_height or w != self.capture_width:
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.capture_height}x{self.capture_width}) for {self}."
)
processed_image = image

32
lerobot/common/cameras/realsense/camera_realsense.py
View File

@@ -137,9 +137,9 @@ class RealSenseCamera(Camera):
if self.height and self.width:
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.prerotated_width, self.prerotated_height = self.height, self.width
self.capture_width, self.capture_height = self.height, self.width
else:
self.prerotated_width, self.prerotated_height = self.width, self.height
self.capture_width, self.capture_height = self.width, self.height
def __str__(self) -> str:
return f"{self.__class__.__name__}({self.serial_number})"
@@ -269,17 +269,17 @@ class RealSenseCamera(Camera):
if self.width and self.height and self.fps:
logger.debug(
f"Requesting Color Stream: {self.prerotated_width}x{self.prerotated_height} @ {self.fps} FPS, Format: {rs.format.rgb8}"
f"Requesting Color Stream: {self.capture_width}x{self.capture_height} @ {self.fps} FPS, Format: {rs.format.rgb8}"
)
rs_config.enable_stream(
rs.stream.color, self.prerotated_width, self.prerotated_height, rs.format.rgb8, self.fps
rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps
)
if self.use_depth:
logger.debug(
f"Requesting Depth Stream: {self.prerotated_width}x{self.prerotated_height} @ {self.fps} FPS, Format: {rs.format.z16}"
f"Requesting Depth Stream: {self.capture_width}x{self.capture_height} @ {self.fps} FPS, Format: {rs.format.z16}"
)
rs_config.enable_stream(
rs.stream.depth, self.prerotated_width, self.prerotated_height, rs.format.z16, self.fps
rs.stream.depth, self.capture_width, self.capture_height, rs.format.z16, self.fps
)
else:
logger.debug(f"Requesting Color Stream: Default settings, Format: {rs.stream.color}")
@@ -319,10 +319,10 @@ class RealSenseCamera(Camera):
if self.width is None or self.height is None:
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.width, self.height = actual_height, actual_width
self.prerotated_width, self.prerotated_height = actual_width, actual_height
self.capture_width, self.capture_height = actual_width, actual_height
else:
self.width, self.height = actual_width, actual_height
self.prerotated_width, self.prerotated_height = actual_width, actual_height
self.capture_width, self.capture_height = actual_width, actual_height
logger.info(f"Capture width set to camera default: {self.width}.")
logger.info(f"Capture height set to camera default: {self.height}.")
else:
@@ -349,21 +349,21 @@ class RealSenseCamera(Camera):
actual_width = int(round(stream.width()))
actual_height = int(round(stream.height()))
if self.prerotated_width != actual_width:
if self.capture_width != actual_width:
logger.warning(
f"Requested capture width {self.prerotated_width} for {self}, but camera reported {actual_width}."
f"Requested capture width {self.capture_width} for {self}, but camera reported {actual_width}."
)
raise RuntimeError(
f"Failed to set requested capture width {self.prerotated_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}.")
if self.prerotated_height != actual_height:
if self.capture_height != actual_height:
logger.warning(
f"Requested capture height {self.prerotated_height} for {self}, but camera reported {actual_height}."
f"Requested capture height {self.capture_height} for {self}, but camera reported {actual_height}."
)
raise RuntimeError(
f"Failed to set requested capture height {self.prerotated_height} for {self}. Actual value: {actual_height}."
f"Failed to set requested capture height {self.capture_height} for {self}. Actual value: {actual_height}."
)
logger.debug(f"Capture height set to {actual_height} for {self}.")
@@ -485,9 +485,9 @@ class RealSenseCamera(Camera):
else:
h, w, _c = image.shape
if h != self.prerotated_height or w != self.prerotated_width:
if h != self.capture_height or w != self.capture_width:
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.capture_height}x{self.capture_width}) for {self}."
)
processed_image = image