forked from tangger/lerobot
3c0a209f9f
Co-authored-by: Remi <remi.cadene@huggingface.co> Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
54 lines
1.6 KiB
Python
54 lines
1.6 KiB
Python
from typing import Protocol
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import numpy as np
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from lerobot.common.robot_devices.cameras.configs import (
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CameraConfig,
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IntelRealSenseCameraConfig,
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OpenCVCameraConfig,
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)
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# Defines a camera type
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class Camera(Protocol):
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def connect(self): ...
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def read(self, temporary_color: str | None = None) -> np.ndarray: ...
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def async_read(self) -> np.ndarray: ...
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def disconnect(self): ...
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def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> list[Camera]:
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cameras = {}
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for key, cfg in camera_configs.items():
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if cfg.type == "opencv":
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from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
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cameras[key] = OpenCVCamera(cfg)
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elif cfg.type == "intelrealsense":
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from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
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cameras[key] = IntelRealSenseCamera(cfg)
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else:
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raise ValueError(f"The motor type '{cfg.type}' is not valid.")
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return cameras
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def make_camera(camera_type, **kwargs) -> Camera:
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if camera_type == "opencv":
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from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
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config = OpenCVCameraConfig(**kwargs)
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return OpenCVCamera(config)
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elif camera_type == "intelrealsense":
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from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
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config = IntelRealSenseCameraConfig(**kwargs)
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return IntelRealSenseCamera(config)
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else:
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raise ValueError(f"The camera type '{camera_type}' is not valid.")
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