From 7f7c4310613358dab86b90f2bf4b9c99b1a6a2a6 Mon Sep 17 00:00:00 2001
From: Steven Palma <steven.palma@huggingface.co>
Date: Wed, 21 May 2025 13:29:30 +0200
Subject: [PATCH] docs(cameras): update find_cameras instructions

---
 lerobot/common/cameras/__init__.py                   |  2 +-
 lerobot/common/cameras/opencv/camera_opencv.py       |  8 ++++----
 lerobot/common/cameras/realsense/camera_realsense.py | 11 +++++------
 lerobot/find_cameras.py                              |  2 +-
 4 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/lerobot/common/cameras/__init__.py b/lerobot/common/cameras/__init__.py
index 917bb789..1488cd89 100644
--- a/lerobot/common/cameras/__init__.py
+++ b/lerobot/common/cameras/__init__.py
@@ -13,5 +13,5 @@
 # limitations under the License.
 
 from .camera import Camera
-from .configs import CameraConfig, ColorMode
+from .configs import CameraConfig, ColorMode, Cv2Rotation
 from .utils import make_cameras_from_configs
diff --git a/lerobot/common/cameras/opencv/camera_opencv.py b/lerobot/common/cameras/opencv/camera_opencv.py
index 48d3adad..614c6675 100644
--- a/lerobot/common/cameras/opencv/camera_opencv.py
+++ b/lerobot/common/cameras/opencv/camera_opencv.py
@@ -58,7 +58,7 @@ class OpenCVCamera(Camera):
     or port changes, especially on Linux. Use the provided utility script to find
     available camera indices or paths:
     ```bash
-    python -m lerobot.find_cameras
+    python -m lerobot.find_cameras opencv
     ```
 
     The camera's default settings (FPS, resolution, color mode) are used unless
@@ -67,7 +67,7 @@ class OpenCVCamera(Camera):
     Example:
         ```python
         from lerobot.common.cameras.opencv import OpenCVCamera
-        from lerobot.common.cameras.configuration_opencv import OpenCVCameraConfig, ColorMode
+        from lerobot.common.cameras.configuration_opencv import OpenCVCameraConfig, ColorMode, Cv2Rotation
 
         # Basic usage with camera index 0
         config = OpenCVCameraConfig(index_or_path=0)
@@ -92,7 +92,7 @@ class OpenCVCamera(Camera):
             width=1280,
             height=720,
             color_mode=ColorMode.RGB,
-            rotation=90
+            rotation=Cv2Rotation.ROTATE_90
         )
         custom_camera = OpenCVCamera(custom_config)
         # ... connect, read, disconnect ...
@@ -164,7 +164,7 @@ class OpenCVCamera(Camera):
             self.videocapture = None
             raise ConnectionError(
                 f"Failed to open OpenCV camera {self.index_or_path}."
-                f"Run 'python -m find_cameras Run 'python -m find_cameras' for details about the available cameras in your system."
+                f"Run 'python -m lerobot.find_cameras opencv' for details about the available cameras in your system."
             )
 
         self._configure_capture_settings()
diff --git a/lerobot/common/cameras/realsense/camera_realsense.py b/lerobot/common/cameras/realsense/camera_realsense.py
index d791a7e6..9e89cd64 100644
--- a/lerobot/common/cameras/realsense/camera_realsense.py
+++ b/lerobot/common/cameras/realsense/camera_realsense.py
@@ -50,7 +50,7 @@ class RealSenseCamera(Camera):
 
     Use the provided utility script to find available camera indices and default profiles:
     ```bash
-    python -m lerobot.find_cameras
+    python -m lerobot.find_cameras realsense
     ```
 
     A `RealSenseCamera` instance requires a configuration object specifying the
@@ -63,7 +63,7 @@ class RealSenseCamera(Camera):
     Example:
         ```python
         from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
-        from lerobot.common.cameras import ColorMode
+        from lerobot.common.cameras import ColorMode, Cv2Rotation
 
         # Basic usage with serial number
         config = RealSenseCameraConfig(serial_number_or_name="1234567890") # Replace with actual SN
@@ -87,7 +87,7 @@ class RealSenseCamera(Camera):
             width=1280,
             height=720,
             color_mode=ColorMode.BGR, # Request BGR output
-            rotation=0,
+            rotation=Cv2Rotation.NO_ROTATION,
             use_depth=True
         )
         depth_camera = RealSenseCamera(custom_config)
@@ -175,7 +175,7 @@ class RealSenseCamera(Camera):
             self.rs_profile = None
             self.rs_pipeline = None
             raise ConnectionError(
-                f"Failed to open {self} camera. Run 'python -m find_cameras' for details about the available cameras in your system."
+                f"Failed to open {self} camera. Run 'python -m lerobot.find_cameras realsense' for details about the available cameras in your system."
             ) from e
 
         logger.debug(f"Validating stream configuration for {self}...")
@@ -388,10 +388,9 @@ class RealSenseCamera(Camera):
 
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")
-
         if not self.use_depth:
             raise RuntimeError(
-                f"Failed to capture depth frame from {self}. '.read_depth()'. Depth stream is not enabled."
+                f"Failed to capture depth frame '.read_depth()'. Depth stream is not enabled for {self}."
             )
 
         start_time = time.perf_counter()
diff --git a/lerobot/find_cameras.py b/lerobot/find_cameras.py
index 1d051d69..5cff0fe5 100644
--- a/lerobot/find_cameras.py
+++ b/lerobot/find_cameras.py
@@ -179,7 +179,7 @@ def create_camera_instance(cam_meta: Dict[str, Any]) -> Dict[str, Any] | None:
             instance = OpenCVCamera(cv_config)
         elif cam_type == "RealSense":
             rs_config = RealSenseCameraConfig(
-                serial_number=str(cam_id),
+                serial_number_or_name=int(cam_id),
                 color_mode=ColorMode.RGB,
             )
             instance = RealSenseCamera(rs_config)