forked from tangger/lerobot
71e6520cd1
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
121 lines
3.8 KiB
Python
121 lines
3.8 KiB
Python
#!/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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import abc
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from typing import Any, Dict, List
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import numpy as np
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from .configs import CameraConfig, ColorMode
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class Camera(abc.ABC):
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"""Base class for camera implementations.
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Defines a standard interface for camera operations across different backends.
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Subclasses must implement all abstract methods.
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Manages basic camera properties (FPS, resolution) and core operations:
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- Connection/disconnection
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- Frame capture (sync/async)
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Attributes:
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fps (int | None): Configured frames per second
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width (int | None): Frame width in pixels
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height (int | None): Frame height in pixels
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Example:
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class MyCamera(Camera):
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def __init__(self, config): ...
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@property
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def is_connected(self) -> bool: ...
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def connect(self, warmup=True): ...
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# Plus other required methods
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"""
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def __init__(self, config: CameraConfig):
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"""Initialize the camera with the given configuration.
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Args:
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config: Camera configuration containing FPS and resolution.
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"""
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self.fps: int | None = config.fps
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self.width: int | None = config.width
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self.height: int | None = config.height
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@property
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@abc.abstractmethod
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def is_connected(self) -> bool:
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"""Check if the camera is currently connected.
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Returns:
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bool: True if the camera is connected and ready to capture frames,
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False otherwise.
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"""
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pass
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@staticmethod
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@abc.abstractmethod
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def find_cameras() -> List[Dict[str, Any]]:
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"""Detects available cameras connected to the system.
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Returns:
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List[Dict[str, Any]]: A list of dictionaries,
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where each dictionary contains information about a detected camera.
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"""
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pass
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@abc.abstractmethod
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def connect(self, warmup: bool = True) -> None:
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"""Establish connection to the camera.
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Args:
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warmup: If True (default), captures a warmup frame before returning. Useful
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for cameras that require time to adjust capture settings.
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If False, skips the warmup frame.
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"""
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pass
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@abc.abstractmethod
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def read(self, color_mode: ColorMode | None = None) -> np.ndarray:
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"""Capture and return a single frame from the camera.
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Args:
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color_mode: Desired color mode for the output frame. If None,
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uses the camera's default color mode.
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Returns:
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np.ndarray: Captured frame as a numpy array.
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"""
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pass
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@abc.abstractmethod
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def async_read(self, timeout_ms: float = ...) -> np.ndarray:
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"""Asynchronously capture and return a single frame from the camera.
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Args:
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timeout_ms: Maximum time to wait for a frame in milliseconds.
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Defaults to implementation-specific timeout.
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Returns:
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np.ndarray: Captured frame as a numpy array.
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"""
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pass
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@abc.abstractmethod
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def disconnect(self) -> None:
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"""Disconnect from the camera and release resources."""
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pass
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