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[skip ci] refactor(cameras): add warmup read + images different size testing opencv + compressed test artefacts

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This commit is contained in:
Steven Palma
2025-05-13 13:43:25 +02:00
parent 4675b3cd02
commit 81c49cecd0
10 changed files with 91 additions and 58 deletions
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2
lerobot/common/cameras/camera.py
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@@ -34,7 +34,7 @@ class Camera(abc.ABC):
pass
@abc.abstractmethod
def connect(self) -> None:
def connect(self, do_warmup_read: bool = True) -> None:
pass
@abc.abstractmethod

7
lerobot/common/cameras/intel/camera_realsense.py
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@@ -302,7 +302,7 @@ class RealSenseCamera(Camera):
)
# NOTE(Steven): Add a wamr-up period time config
def connect(self):
def connect(self, do_warmup_read: bool = True):
"""
Connects to the RealSense camera specified in the configuration.
@@ -337,8 +337,9 @@ class RealSenseCamera(Camera):
logger.debug(f"Validating stream configuration for {self.serial_number}...")
self._validate_capture_settings()
logger.debug(f"Reading a warm-up frame for {self.serial_number}...")
self.read() # NOTE(Steven): For now we just read one frame, we could also loop for X secs
if do_warmup_read:
logger.debug(f"Reading a warm-up frame for {self.serial_number}...")
self.read() # NOTE(Steven): For now we just read one frame, we could also loop for X secs
logger.info(f"Camera {self.serial_number} connected and configured successfully.")

7
lerobot/common/cameras/opencv/camera_opencv.py
View File

@@ -172,7 +172,7 @@ class OpenCVCamera(Camera):
self._validate_fps()
self._validate_width_and_height()
def connect(self):
def connect(self, do_warmup_read: bool = True):
"""
Connects to the OpenCV camera specified in the configuration.
@@ -206,8 +206,9 @@ class OpenCVCamera(Camera):
logger.debug(f"Successfully opened camera {self.index_or_path}. Applying configuration...")
self._configure_capture_settings()
logger.debug(f"Reading a warm-up frame for {self.serial_number}...")
self.read() # NOTE(Steven): For now we just read one frame, we could also loop for X secs\
if do_warmup_read:
logger.debug(f"Reading a warm-up frame for {self.index_or_path}...")
self.read() # NOTE(Steven): For now we just read one frame, we could also loop for X secs\
logger.debug(f"Camera {self.index_or_path} connected and configured successfully.")