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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Simon Alibert
2025-06-03 18:18:44 +02:00
committed by GitHub
parent adcb07bf62
commit d25e3bd989
2 changed files with 4 additions and 7 deletions
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8
lerobot/common/cameras/opencv/camera_opencv.py
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@@ -124,10 +124,9 @@ class OpenCVCamera(Camera):
self.backend: int = get_cv2_backend() self.backend: int = get_cv2_backend()
if self.height and self.width: if self.height and self.width:
self.capture_width, self.capture_height = self.width, self.height
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]: if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.capture_width, self.capture_height = self.height, self.width self.capture_width, self.capture_height = self.height, self.width
else:
self.capture_width, self.capture_height = self.width, self.height
def __str__(self) -> str: def __str__(self) -> str:
return f"{self.__class__.__name__}({self.index_or_path})" return f"{self.__class__.__name__}({self.index_or_path})"
@@ -206,12 +205,11 @@ class OpenCVCamera(Camera):
default_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT))) default_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
if self.width is None or self.height is None: if self.width is None or self.height is None:
self.width, self.height = default_width, default_height
self.capture_width, self.capture_height = default_width, default_height
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]: if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.width, self.height = default_height, default_width self.width, self.height = default_height, default_width
self.capture_width, self.capture_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.capture_width, self.capture_height = default_width, default_height
else: else:
self._validate_width_and_height() self._validate_width_and_height()

3
lerobot/common/cameras/realsense/camera_realsense.py
View File

@@ -138,10 +138,9 @@ class RealSenseCamera(Camera):
self.rotation: int | None = get_cv2_rotation(config.rotation) self.rotation: int | None = get_cv2_rotation(config.rotation)
if self.height and self.width: if self.height and self.width:
self.capture_width, self.capture_height = self.width, self.height
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]: if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.capture_width, self.capture_height = self.height, self.width self.capture_width, self.capture_height = self.height, self.width
else:
self.capture_width, self.capture_height = self.width, self.height
def __str__(self) -> str: def __str__(self) -> str:
return f"{self.__class__.__name__}({self.serial_number})" return f"{self.__class__.__name__}({self.serial_number})"