forked from tangger/lerobot
110 lines
3.4 KiB
Python
110 lines
3.4 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 abc
|
|
|
|
import numpy as np
|
|
|
|
from .configs import CameraConfig, ColorMode
|
|
|
|
|
|
class Camera(abc.ABC):
|
|
"""Base class for camera implementations.
|
|
|
|
Defines a standard interface for camera operations across different backends.
|
|
Subclasses must implement all abstract methods.
|
|
|
|
Manages basic camera properties (FPS, resolution) and core operations:
|
|
- Connection/disconnection
|
|
- Frame capture (sync/async)
|
|
|
|
Attributes:
|
|
fps (int | None): Configured frames per second
|
|
width (int | None): Frame width in pixels
|
|
height (int | None): Frame height in pixels
|
|
|
|
Example:
|
|
class MyCamera(Camera):
|
|
def __init__(self, config): ...
|
|
@property
|
|
def is_connected(self) -> bool: ...
|
|
def connect(self, warmup=True): ...
|
|
# Plus other required methods
|
|
"""
|
|
|
|
def __init__(self, config: CameraConfig):
|
|
"""Initialize the camera with the given configuration.
|
|
|
|
Args:
|
|
config: Camera configuration containing FPS and resolution.
|
|
"""
|
|
self.fps: int | None = config.fps
|
|
self.width: int | None = config.width
|
|
self.height: int | None = config.height
|
|
|
|
@property
|
|
@abc.abstractmethod
|
|
def is_connected(self) -> bool:
|
|
"""Check if the camera is currently connected.
|
|
|
|
Returns:
|
|
bool: True if the camera is connected and ready to capture frames,
|
|
False otherwise.
|
|
"""
|
|
pass
|
|
|
|
@abc.abstractmethod
|
|
def connect(self, warmup: bool = True) -> None:
|
|
"""Establish connection to the camera.
|
|
|
|
Args:
|
|
warmup: If True (default), captures a warmup frame before returning. Useful
|
|
for cameras that require time to adjust capture settings.
|
|
If False, skips the warmup frame.
|
|
"""
|
|
pass
|
|
|
|
@abc.abstractmethod
|
|
def read(self, color_mode: ColorMode | None = None) -> np.ndarray:
|
|
"""Capture and return a single frame from the camera.
|
|
|
|
Args:
|
|
color_mode: Desired color mode for the output frame. If None,
|
|
uses the camera's default color mode.
|
|
|
|
Returns:
|
|
np.ndarray: Captured frame as a numpy array.
|
|
"""
|
|
pass
|
|
|
|
@abc.abstractmethod
|
|
def async_read(self, timeout_ms: float = ...) -> np.ndarray:
|
|
"""Asynchronously capture and return a single frame from the camera.
|
|
|
|
Args:
|
|
timeout_ms: Maximum time to wait for a frame in milliseconds.
|
|
Defaults to implementation-specific timeout.
|
|
|
|
Returns:
|
|
np.ndarray: Captured frame as a numpy array.
|
|
"""
|
|
pass
|
|
|
|
@abc.abstractmethod
|
|
def disconnect(self) -> None:
|
|
"""Disconnect from the camera and release resources."""
|
|
pass
|