From 65d3a7c5890f5a83020c50e8d68f440078e6334e Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Mon, 21 Apr 2025 16:11:37 +0200
Subject: [PATCH] refactor(cameras): init abc class + config

---
 lerobot/common/cameras/camera.py                  | 12 ++++++------
 lerobot/common/cameras/configs.py                 |  6 ++++++
 .../common/cameras/opencv/configuration_opencv.py | 15 ++++++++-------
 .../robots/stretch3/configuration_stretch3.py     |  2 +-
 4 files changed, 21 insertions(+), 14 deletions(-)

diff --git a/lerobot/common/cameras/camera.py b/lerobot/common/cameras/camera.py
index 5d9ac509..a5198b99 100644
--- a/lerobot/common/cameras/camera.py
+++ b/lerobot/common/cameras/camera.py
@@ -4,8 +4,12 @@ import numpy as np
 
 
 class Camera(abc.ABC):
+    @abc.abstractproperty
+    def is_connected(self) -> bool:
+        pass
+
     @abc.abstractmethod
-    def connect(self):
+    def connect(self) -> None:
         pass
 
     @abc.abstractmethod
@@ -17,9 +21,5 @@ class Camera(abc.ABC):
         pass
 
     @abc.abstractmethod
-    def disconnect(self):
+    def disconnect(self) -> None:
         pass
-
-    def __del__(self):
-        if getattr(self, "is_connected", False):
-            self.disconnect()
diff --git a/lerobot/common/cameras/configs.py b/lerobot/common/cameras/configs.py
index 4c796a03..15fe4334 100644
--- a/lerobot/common/cameras/configs.py
+++ b/lerobot/common/cameras/configs.py
@@ -1,9 +1,15 @@
 import abc
 from dataclasses import dataclass
+from enum import Enum
 
 import draccus
 
 
+class ColorMode(Enum):
+    RGB = 0
+    BGR = 1
+
+
 @dataclass
 class CameraConfig(draccus.ChoiceRegistry, abc.ABC):
     @property
diff --git a/lerobot/common/cameras/opencv/configuration_opencv.py b/lerobot/common/cameras/opencv/configuration_opencv.py
index 983199bf..d2855250 100644
--- a/lerobot/common/cameras/opencv/configuration_opencv.py
+++ b/lerobot/common/cameras/opencv/configuration_opencv.py
@@ -1,6 +1,7 @@
 from dataclasses import dataclass
+from pathlib import Path
 
-from ..configs import CameraConfig
+from ..configs import CameraConfig, ColorMode
 
 
 @CameraConfig.register_subclass("opencv")
@@ -17,22 +18,22 @@ class OpenCVCameraConfig(CameraConfig):
     ```
     """
 
-    camera_index: int
+    index_or_path: int | Path
     fps: int | None = None
     width: int | None = None
     height: int | None = None
-    color_mode: str = "rgb"
-    channels: int | None = None
+    color_mode: ColorMode = ColorMode.RGB
+    channels: int = 3
     rotation: int | None = None
-    mock: bool = False
 
     def __post_init__(self):
-        if self.color_mode not in ["rgb", "bgr"]:
+        if self.color_mode not in [ColorMode.RGB, ColorMode.BGR]:
             raise ValueError(
                 f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided."
             )
 
-        self.channels = 3
+        if self.channels != 3:
+            raise NotImplementedError(f"Unsupported number of channels: {self.channels}")
 
         if self.rotation not in [-90, None, 90, 180]:
             raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})")
diff --git a/lerobot/common/robots/stretch3/configuration_stretch3.py b/lerobot/common/robots/stretch3/configuration_stretch3.py
index 47ddb54b..e80993a8 100644
--- a/lerobot/common/robots/stretch3/configuration_stretch3.py
+++ b/lerobot/common/robots/stretch3/configuration_stretch3.py
@@ -19,7 +19,7 @@ class Stretch3RobotConfig(RobotConfig):
     cameras: dict[str, CameraConfig] = field(
         default_factory=lambda: {
             "navigation": OpenCVCameraConfig(
-                camera_index="/dev/hello-nav-head-camera",
+                index_or_path="/dev/hello-nav-head-camera",
                 fps=10,
                 width=1280,
                 height=720,