forked from tangger/lerobot
[pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
This commit is contained in:
pre-commit-ci[bot]
committed by
Michel Aractingi
Michel Aractingi
parent
bb69cb3c8c
commit
85fe8a3f4e
@@ -79,7 +79,9 @@ def save_image(img_array, serial_number, frame_index, images_dir):
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img.save(str(path), quality=100)
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logging.info(f"Saved image: {path}")
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except Exception as e:
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logging.error(f"Failed to save image for camera {serial_number} frame {frame_index}: {e}")
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logging.error(
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f"Failed to save image for camera {serial_number} frame {frame_index}: {e}"
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)
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def save_images_from_cameras(
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@@ -157,7 +159,9 @@ def save_images_from_cameras(
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if time.perf_counter() - start_time > record_time_s:
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break
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print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}")
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print(
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f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}"
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)
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frame_index += 1
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finally:
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@@ -275,7 +279,9 @@ class IntelRealSenseCamera:
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f"Multiple {name} cameras have been detected. Please use their serial number to instantiate them."
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)
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name_to_serial_dict = {cam["name"]: cam["serial_number"] for cam in camera_infos}
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name_to_serial_dict = {
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cam["name"]: cam["serial_number"] for cam in camera_infos
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}
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cam_sn = name_to_serial_dict[name]
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return cam_sn
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@@ -339,7 +345,9 @@ class IntelRealSenseCamera:
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actual_height = color_profile.height()
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# Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30)
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if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
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if self.fps is not None and not math.isclose(
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self.fps, actual_fps, rel_tol=1e-3
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):
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# Using `OSError` since it's a broad that encompasses issues related to device communication
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raise OSError(
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f"Can't set {self.fps=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_fps}."
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@@ -359,7 +367,9 @@ class IntelRealSenseCamera:
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self.is_connected = True
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def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndarray, np.ndarray]:
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def read(
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self, temporary_color: str | None = None
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) -> np.ndarray | tuple[np.ndarray, np.ndarray]:
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"""Read a frame from the camera returned in the format height x width x channels (e.g. 480 x 640 x 3)
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of type `np.uint8`, contrarily to the pytorch format which is float channel first.
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@@ -386,11 +396,15 @@ class IntelRealSenseCamera:
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color_frame = frame.get_color_frame()
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if not color_frame:
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raise OSError(f"Can't capture color image from IntelRealSenseCamera({self.serial_number}).")
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raise OSError(
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f"Can't capture color image from IntelRealSenseCamera({self.serial_number})."
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)
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color_image = np.asanyarray(color_frame.get_data())
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requested_color_mode = self.color_mode if temporary_color is None else temporary_color
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requested_color_mode = (
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self.color_mode if temporary_color is None else temporary_color
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)
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if requested_color_mode not in ["rgb", "bgr"]:
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raise ValueError(
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f"Expected color values are 'rgb' or 'bgr', but {requested_color_mode} is provided."
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@@ -418,7 +432,9 @@ class IntelRealSenseCamera:
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if self.use_depth:
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depth_frame = frame.get_depth_frame()
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if not depth_frame:
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raise OSError(f"Can't capture depth image from IntelRealSenseCamera({self.serial_number}).")
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raise OSError(
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f"Can't capture depth image from IntelRealSenseCamera({self.serial_number})."
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)
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depth_map = np.asanyarray(depth_frame.get_data())
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@@ -460,7 +476,9 @@ class IntelRealSenseCamera:
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# TODO(rcadene, aliberts): intelrealsense has diverged compared to opencv over here
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num_tries += 1
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time.sleep(1 / self.fps)
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if num_tries > self.fps and (self.thread.ident is None or not self.thread.is_alive()):
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if num_tries > self.fps and (
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self.thread.ident is None or not self.thread.is_alive()
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):
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raise Exception(
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"The thread responsible for `self.async_read()` took too much time to start. There might be an issue. Verify that `self.thread.start()` has been called."
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)
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@@ -45,10 +45,14 @@ from lerobot.common.utils.utils import capture_timestamp_utc
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MAX_OPENCV_INDEX = 60
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def find_cameras(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False) -> list[dict]:
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def find_cameras(
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raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False
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) -> list[dict]:
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cameras = []
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if platform.system() == "Linux":
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print("Linux detected. Finding available camera indices through scanning '/dev/video*' ports")
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print(
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"Linux detected. Finding available camera indices through scanning '/dev/video*' ports"
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)
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possible_ports = [str(port) for port in Path("/dev").glob("video*")]
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ports = _find_cameras(possible_ports, mock=mock)
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for port in ports:
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@@ -180,7 +184,9 @@ def save_images_from_cameras(
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dt_s = time.perf_counter() - now
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busy_wait(1 / fps - dt_s)
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print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}")
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print(
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f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}"
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)
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if time.perf_counter() - start_time > record_time_s:
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break
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@@ -237,7 +243,9 @@ class OpenCVCamera:
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if platform.system() == "Linux":
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if isinstance(self.camera_index, int):
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self.port = Path(f"/dev/video{self.camera_index}")
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elif isinstance(self.camera_index, str) and is_valid_unix_path(self.camera_index):
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elif isinstance(self.camera_index, str) and is_valid_unix_path(
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self.camera_index
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):
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self.port = Path(self.camera_index)
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# Retrieve the camera index from a potentially symlinked path
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self.camera_index = get_camera_index_from_unix_port(self.port)
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@@ -283,7 +291,9 @@ class OpenCVCamera:
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def connect(self):
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if self.is_connected:
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raise RobotDeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.")
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raise RobotDeviceAlreadyConnectedError(
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f"OpenCVCamera({self.camera_index}) is already connected."
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)
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if self.mock:
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import tests.cameras.mock_cv2 as cv2
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@@ -344,7 +354,9 @@ class OpenCVCamera:
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actual_height = self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT)
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# Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30)
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if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
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if self.fps is not None and not math.isclose(
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self.fps, actual_fps, rel_tol=1e-3
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):
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# Using `OSError` since it's a broad that encompasses issues related to device communication
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raise OSError(
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f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}."
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@@ -386,7 +398,9 @@ class OpenCVCamera:
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if not ret:
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raise OSError(f"Can't capture color image from camera {self.camera_index}.")
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requested_color_mode = self.color_mode if temporary_color_mode is None else temporary_color_mode
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requested_color_mode = (
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self.color_mode if temporary_color_mode is None else temporary_color_mode
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)
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if requested_color_mode not in ["rgb", "bgr"]:
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raise ValueError(
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