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>
66 lines
1.8 KiB
Python
66 lines
1.8 KiB
Python
#!/usr/bin/env python
|
|
|
|
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
import platform
|
|
from pathlib import Path
|
|
from typing import TypeAlias
|
|
|
|
from .camera import Camera
|
|
from .configs import CameraConfig, Cv2Rotation
|
|
|
|
IndexOrPath: TypeAlias = int | Path
|
|
|
|
|
|
def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[str, Camera]:
|
|
cameras = {}
|
|
|
|
for key, cfg in camera_configs.items():
|
|
if cfg.type == "opencv":
|
|
from .opencv import OpenCVCamera
|
|
|
|
cameras[key] = OpenCVCamera(cfg)
|
|
|
|
elif cfg.type == "intelrealsense":
|
|
from .realsense.camera_realsense import RealSenseCamera
|
|
|
|
cameras[key] = RealSenseCamera(cfg)
|
|
else:
|
|
raise ValueError(f"The motor type '{cfg.type}' is not valid.")
|
|
|
|
return cameras
|
|
|
|
|
|
def get_cv2_rotation(rotation: Cv2Rotation) -> int | None:
|
|
import cv2
|
|
|
|
if rotation == Cv2Rotation.ROTATE_90:
|
|
return cv2.ROTATE_90_CLOCKWISE
|
|
elif rotation == Cv2Rotation.ROTATE_180:
|
|
return cv2.ROTATE_180
|
|
elif rotation == Cv2Rotation.ROTATE_270:
|
|
return cv2.ROTATE_90_COUNTERCLOCKWISE
|
|
else:
|
|
return None
|
|
|
|
|
|
def get_cv2_backend() -> int:
|
|
import cv2
|
|
|
|
if platform.system() == "Windows":
|
|
return cv2.CAP_AVFOUNDATION
|
|
else:
|
|
return cv2.CAP_ANY
|