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fix(cameras): update docstring + handle sn when starts with 0 + update timeouts to more reasonable value (#1154)

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This commit is contained in:
Steven Palma
2025-05-26 10:48:42 +02:00
committed by GitHub
parent f4c11593d4
commit 809a9c6de0
4 changed files with 51 additions and 47 deletions
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20
lerobot/common/cameras/opencv/camera_opencv.py
View File

@@ -370,11 +370,14 @@ class OpenCVCamera(Camera):
def _read_loop(self):
"""
Internal loop run by the background thread for asynchronous reading.
Internal loop for background thread for asynchronous reading.
Continuously reads frames from the camera using the synchronous `read()`
method and places the latest frame into the `frame_queue`. It overwrites
any previous frame in the queue.
On each iteration:
1. Reads a color frame
2. Stores result in latest_frame (thread-safe)
3. Sets new_frame_event to notify listeners
Stops on DeviceNotConnectedError, logs other errors and continues.
"""
while not self.stop_event.is_set():
try:
@@ -412,18 +415,17 @@ class OpenCVCamera(Camera):
self.thread = None
self.stop_event = None
def async_read(self, timeout_ms: float = 2000) -> np.ndarray:
def async_read(self, timeout_ms: float = 200) -> np.ndarray:
"""
Reads the latest available frame asynchronously.
This method retrieves the most recent frame captured by the background
read thread. It does not block waiting for the camera hardware directly,
only waits for a frame to appear in the internal queue up to the specified
timeout.
but may wait up to timeout_ms for the background thread to provide a frame.
Args:
timeout_ms (float): Maximum time in milliseconds to wait for a frame
to become available in the queue. Defaults to 2000ms (2 seconds).
to become available. Defaults to 200ms (0.2 seconds).
Returns:
np.ndarray: The latest captured frame as a NumPy array in the format
@@ -432,7 +434,7 @@ class OpenCVCamera(Camera):
Raises:
DeviceNotConnectedError: If the camera is not connected.
TimeoutError: If no frame becomes available within the specified timeout.
RuntimeError: If an unexpected error occurs while retrieving from the queue.
RuntimeError: If an unexpected error occurs.
"""
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")

40
lerobot/common/cameras/realsense/camera_realsense.py
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@@ -67,7 +67,7 @@ class RealSenseCamera(Camera):
from lerobot.common.cameras import ColorMode, Cv2Rotation
# Basic usage with serial number
config = RealSenseCameraConfig(serial_number_or_name=1234567890) # Replace with actual SN
config = RealSenseCameraConfig(serial_number_or_name="0123456789") # Replace with actual SN
camera = RealSenseCamera(config)
camera.connect()
@@ -83,7 +83,7 @@ class RealSenseCamera(Camera):
# Example with depth capture and custom settings
custom_config = RealSenseCameraConfig(
serial_number_or_name=1234567890, # Replace with actual SN
serial_number_or_name="0123456789", # Replace with actual SN
fps=30,
width=1280,
height=720,
@@ -116,8 +116,8 @@ class RealSenseCamera(Camera):
self.config = config
if isinstance(config.serial_number_or_name, int):
self.serial_number = str(config.serial_number_or_name)
if config.serial_number_or_name.isdigit():
self.serial_number = config.serial_number_or_name
else:
self.serial_number = self._find_serial_number_from_name(config.serial_number_or_name)
@@ -310,7 +310,7 @@ class RealSenseCamera(Camera):
self.width, self.height = actual_width, actual_height
self.capture_width, self.capture_height = actual_width, actual_height
def read_depth(self, timeout_ms: int = 100) -> np.ndarray:
def read_depth(self, timeout_ms: int = 200) -> np.ndarray:
"""
Reads a single frame (depth) synchronously from the camera.
@@ -318,7 +318,7 @@ class RealSenseCamera(Camera):
from the camera hardware via the RealSense pipeline.
Args:
timeout_ms (int): Maximum time in milliseconds to wait for a frame. Defaults to 100ms.
timeout_ms (int): Maximum time in milliseconds to wait for a frame. Defaults to 200ms.
Returns:
np.ndarray: The depth map as a NumPy array (height, width)
@@ -353,7 +353,7 @@ class RealSenseCamera(Camera):
return depth_map_processed
def read(self, color_mode: ColorMode | None = None, timeout_ms: int = 100) -> np.ndarray:
def read(self, color_mode: ColorMode | None = None, timeout_ms: int = 200) -> np.ndarray:
"""
Reads a single frame (color) synchronously from the camera.
@@ -361,7 +361,7 @@ class RealSenseCamera(Camera):
from the camera hardware via the RealSense pipeline.
Args:
timeout_ms (int): Maximum time in milliseconds to wait for a frame. Defaults to 100ms.
timeout_ms (int): Maximum time in milliseconds to wait for a frame. Defaults to 200ms.
Returns:
np.ndarray: The captured color frame as a NumPy array
@@ -442,11 +442,14 @@ class RealSenseCamera(Camera):
def _read_loop(self):
"""
Internal loop run by the background thread for asynchronous reading.
Internal loop for background thread for asynchronous reading.
Continuously reads frames (color and optional depth) using `read()`
and places the latest result (single image or tuple) into the `frame_queue`.
It overwrites any previous frame in the queue.
On each iteration:
1. Reads a color frame with 500ms timeout
2. Stores result in latest_frame (thread-safe)
3. Sets new_frame_event to notify listeners
Stops on DeviceNotConnectedError, logs other errors and continues.
"""
while not self.stop_event.is_set():
try:
@@ -485,18 +488,17 @@ class RealSenseCamera(Camera):
self.stop_event = None
# 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 = 200) -> np.ndarray:
"""
Reads the latest available frame data (color or color+depth) asynchronously.
Reads the latest available frame data (color) asynchronously.
This method retrieves the most recent frame captured by the background
This method retrieves the most recent color frame captured by the background
read thread. It does not block waiting for the camera hardware directly,
only waits for a frame to appear in the internal queue up to the specified
timeout.
but may wait up to timeout_ms for the background thread to provide a frame.
Args:
timeout_ms (float): Maximum time in milliseconds to wait for a frame
to become available in the queue. Defaults to 100ms (0.1 seconds).
to become available. Defaults to 200ms (0.2 seconds).
Returns:
np.ndarray:
@@ -505,7 +507,7 @@ class RealSenseCamera(Camera):
Raises:
DeviceNotConnectedError: If the camera is not connected.
TimeoutError: If no frame data becomes available within the specified timeout.
RuntimeError: If the background thread died unexpectedly or another queue error occurs.
RuntimeError: If the background thread died unexpectedly or another error occurs.
"""
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")

10
lerobot/common/cameras/realsense/configuration_realsense.py
View File

@@ -28,12 +28,12 @@ class RealSenseCameraConfig(CameraConfig):
Example configurations for Intel RealSense D405:
```python
# Basic configurations
RealSenseCameraConfig(128422271347, 30, 1280, 720) # 1280x720 @ 30FPS
RealSenseCameraConfig(128422271347, 60, 640, 480) # 640x480 @ 60FPS
RealSenseCameraConfig("0123456789", 30, 1280, 720) # 1280x720 @ 30FPS
RealSenseCameraConfig("0123456789", 60, 640, 480) # 640x480 @ 60FPS
# Advanced configurations
RealSenseCameraConfig(128422271347, 30, 640, 480, use_depth=True) # With depth sensing
RealSenseCameraConfig(128422271347, 30, 640, 480, rotation=Cv2Rotation.ROTATE_90) # With 90° rotation
RealSenseCameraConfig("0123456789", 30, 640, 480, use_depth=True) # With depth sensing
RealSenseCameraConfig("0123456789", 30, 640, 480, rotation=Cv2Rotation.ROTATE_90) # With 90° rotation
```
Attributes:
@@ -53,7 +53,7 @@ class RealSenseCameraConfig(CameraConfig):
- For `fps`, `width` and `height`, either all of them need to be set, or none of them.
"""
serial_number_or_name: int | str
serial_number_or_name: str
color_mode: ColorMode = ColorMode.RGB
use_depth: bool = False
rotation: Cv2Rotation = Cv2Rotation.NO_ROTATION

28
tests/cameras/test_realsense.py
View File

@@ -57,12 +57,12 @@ def fixture_patch_realsense():
def test_abc_implementation():
"""Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
config = RealSenseCameraConfig(serial_number_or_name=42)
config = RealSenseCameraConfig(serial_number_or_name="042")
_ = RealSenseCamera(config)
def test_connect():
config = RealSenseCameraConfig(serial_number_or_name=42)
config = RealSenseCameraConfig(serial_number_or_name="042")
camera = RealSenseCamera(config)
camera.connect(warmup=False)
@@ -70,7 +70,7 @@ def test_connect():
def test_connect_already_connected():
config = RealSenseCameraConfig(serial_number_or_name=42)
config = RealSenseCameraConfig(serial_number_or_name="042")
camera = RealSenseCamera(config)
camera.connect(warmup=False)
@@ -80,7 +80,7 @@ def test_connect_already_connected():
def test_connect_invalid_camera_path(patch_realsense):
patch_realsense.side_effect = mock_rs_config_enable_device_bad_file
config = RealSenseCameraConfig(serial_number_or_name=42)
config = RealSenseCameraConfig(serial_number_or_name="042")
camera = RealSenseCamera(config)
with pytest.raises(ConnectionError):
@@ -88,7 +88,7 @@ def test_connect_invalid_camera_path(patch_realsense):
def test_invalid_width_connect():
config = RealSenseCameraConfig(serial_number_or_name=42, width=99999, height=480, fps=30)
config = RealSenseCameraConfig(serial_number_or_name="042", width=99999, height=480, fps=30)
camera = RealSenseCamera(config)
with pytest.raises(ConnectionError):
@@ -96,7 +96,7 @@ def test_invalid_width_connect():
def test_read():
config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
config = RealSenseCameraConfig(serial_number_or_name="042", width=640, height=480, fps=30)
camera = RealSenseCamera(config)
camera.connect(warmup=False)
@@ -105,7 +105,7 @@ def test_read():
def test_read_depth():
config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30, use_depth=True)
config = RealSenseCameraConfig(serial_number_or_name="042", width=640, height=480, fps=30, use_depth=True)
camera = RealSenseCamera(config)
camera.connect(warmup=False)
@@ -114,7 +114,7 @@ def test_read_depth():
def test_read_before_connect():
config = RealSenseCameraConfig(serial_number_or_name=42)
config = RealSenseCameraConfig(serial_number_or_name="042")
camera = RealSenseCamera(config)
with pytest.raises(DeviceNotConnectedError):
@@ -122,7 +122,7 @@ def test_read_before_connect():
def test_disconnect():
config = RealSenseCameraConfig(serial_number_or_name=42)
config = RealSenseCameraConfig(serial_number_or_name="042")
camera = RealSenseCamera(config)
camera.connect(warmup=False)
@@ -132,7 +132,7 @@ def test_disconnect():
def test_disconnect_before_connect():
config = RealSenseCameraConfig(serial_number_or_name=42)
config = RealSenseCameraConfig(serial_number_or_name="042")
camera = RealSenseCamera(config)
with pytest.raises(DeviceNotConnectedError):
@@ -140,7 +140,7 @@ def test_disconnect_before_connect():
def test_async_read():
config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
config = RealSenseCameraConfig(serial_number_or_name="042", width=640, height=480, fps=30)
camera = RealSenseCamera(config)
camera.connect(warmup=False)
@@ -156,7 +156,7 @@ def test_async_read():
def test_async_read_timeout():
config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
config = RealSenseCameraConfig(serial_number_or_name="042", width=640, height=480, fps=30)
camera = RealSenseCamera(config)
camera.connect(warmup=False)
@@ -171,7 +171,7 @@ def test_async_read_timeout():
def test_async_read_before_connect():
config = RealSenseCameraConfig(serial_number_or_name=42)
config = RealSenseCameraConfig(serial_number_or_name="042")
camera = RealSenseCamera(config)
with pytest.raises(DeviceNotConnectedError):
@@ -189,7 +189,7 @@ def test_async_read_before_connect():
ids=["no_rot", "rot90", "rot180", "rot270"],
)
def test_rotation(rotation):
config = RealSenseCameraConfig(serial_number_or_name=42, rotation=rotation)
config = RealSenseCameraConfig(serial_number_or_name="042", rotation=rotation)
camera = RealSenseCamera(config)
camera.connect(warmup=False)