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Add channels to intelrealsense

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This commit is contained in:
Simon Alibert
2024-10-22 20:07:11 +02:00
parent a805458c7e
commit ee52b8b782
1 changed files with 4 additions and 0 deletions
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4
lerobot/common/robot_devices/cameras/intelrealsense.py
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@@ -168,6 +168,7 @@ class IntelRealSenseCameraConfig:
width: int | None = None
height: int | None = None
color_mode: str = "rgb"
channels: int | None = None
use_depth: bool = False
force_hardware_reset: bool = True
rotation: int | None = None
@@ -179,6 +180,8 @@ class IntelRealSenseCameraConfig:
f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided."
)
self.channels = 3
at_least_one_is_not_none = self.fps is not None or self.width is not None or self.height is not None
at_least_one_is_none = self.fps is None or self.width is None or self.height is None
if at_least_one_is_not_none and at_least_one_is_none:
@@ -254,6 +257,7 @@ class IntelRealSenseCamera:
self.fps = config.fps
self.width = config.width
self.height = config.height
self.channels = config.channels
self.color_mode = config.color_mode
self.use_depth = config.use_depth
self.force_hardware_reset = config.force_hardware_reset