forked from tangger/lerobot
Improve video benchmark (#282)
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com> Co-authored-by: Remi <re.cadene@gmail.com>
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90
benchmarks/video/capture_camera_feed.py
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90
benchmarks/video/capture_camera_feed.py
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#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Capture video feed from a camera as raw images."""
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import argparse
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import datetime as dt
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from pathlib import Path
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import cv2
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def display_and_save_video_stream(output_dir: Path, fps: int, width: int, height: int):
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now = dt.datetime.now()
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capture_dir = output_dir / f"{now:%Y-%m-%d}" / f"{now:%H-%M-%S}"
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if not capture_dir.exists():
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capture_dir.mkdir(parents=True, exist_ok=True)
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# Opens the default webcam
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cap = cv2.VideoCapture(0)
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if not cap.isOpened():
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print("Error: Could not open video stream.")
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return
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cap.set(cv2.CAP_PROP_FPS, fps)
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cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
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cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
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frame_index = 0
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while True:
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ret, frame = cap.read()
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if not ret:
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print("Error: Could not read frame.")
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break
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cv2.imshow("Video Stream", frame)
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cv2.imwrite(str(capture_dir / f"frame_{frame_index:06d}.png"), frame)
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frame_index += 1
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# Break the loop on 'q' key press
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if cv2.waitKey(1) & 0xFF == ord("q"):
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break
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# Release the capture and destroy all windows
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cap.release()
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cv2.destroyAllWindows()
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument(
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"--output-dir",
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type=Path,
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default=Path("outputs/cam_capture/"),
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help="Directory where the capture images are written. A subfolder named with the current date & time will be created inside it for each capture.",
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)
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parser.add_argument(
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"--fps",
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type=int,
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default=30,
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help="Frames Per Second of the capture.",
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)
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parser.add_argument(
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"--width",
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type=int,
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default=1280,
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help="Width of the captured images.",
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)
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parser.add_argument(
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"--height",
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type=int,
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default=720,
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help="Height of the captured images.",
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)
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args = parser.parse_args()
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display_and_save_video_stream(**vars(args))
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