forked from tangger/lerobot
51 lines
1.4 KiB
Python
51 lines
1.4 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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import numpy as np
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from .configs import CameraConfig, ColorMode
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# NOTE(Steven): Consider something like configure() if makes sense for both cameras
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class Camera(abc.ABC):
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def __init__(self, config: CameraConfig):
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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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pass
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@abc.abstractmethod
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def connect(self, do_warmup_read: bool = True) -> None:
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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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pass
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@abc.abstractmethod
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def async_read(self, timeout_ms: float = 2000) -> np.ndarray:
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pass
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@abc.abstractmethod
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def disconnect(self) -> None:
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pass
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