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docs(cameras): update find_cameras instructions

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This commit is contained in:
Steven Palma
2025-05-21 13:29:30 +02:00
parent 76f661f8b5
commit 7f7c431061
4 changed files with 11 additions and 12 deletions
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2
lerobot/common/cameras/__init__.py
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@@ -13,5 +13,5 @@
# limitations under the License. # limitations under the License.
from .camera import Camera from .camera import Camera
from .configs import CameraConfig, ColorMode from .configs import CameraConfig, ColorMode, Cv2Rotation
from .utils import make_cameras_from_configs from .utils import make_cameras_from_configs

8
lerobot/common/cameras/opencv/camera_opencv.py
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@@ -58,7 +58,7 @@ class OpenCVCamera(Camera):
or port changes, especially on Linux. Use the provided utility script to find or port changes, especially on Linux. Use the provided utility script to find
available camera indices or paths: available camera indices or paths:
```bash ```bash
python -m lerobot.find_cameras python -m lerobot.find_cameras opencv
``` ```
The camera's default settings (FPS, resolution, color mode) are used unless The camera's default settings (FPS, resolution, color mode) are used unless
@@ -67,7 +67,7 @@ class OpenCVCamera(Camera):
Example: Example:
```python ```python
from lerobot.common.cameras.opencv import OpenCVCamera 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 # Basic usage with camera index 0
config = OpenCVCameraConfig(index_or_path=0) config = OpenCVCameraConfig(index_or_path=0)
@@ -92,7 +92,7 @@ class OpenCVCamera(Camera):
width=1280, width=1280,
height=720, height=720,
color_mode=ColorMode.RGB, color_mode=ColorMode.RGB,
rotation=90 rotation=Cv2Rotation.ROTATE_90
) )
custom_camera = OpenCVCamera(custom_config) custom_camera = OpenCVCamera(custom_config)
# ... connect, read, disconnect ... # ... connect, read, disconnect ...
@@ -164,7 +164,7 @@ class OpenCVCamera(Camera):
self.videocapture = None self.videocapture = None
raise ConnectionError( raise ConnectionError(
f"Failed to open OpenCV camera {self.index_or_path}." 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() self._configure_capture_settings()

11
lerobot/common/cameras/realsense/camera_realsense.py
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@@ -50,7 +50,7 @@ class RealSenseCamera(Camera):
Use the provided utility script to find available camera indices and default profiles: Use the provided utility script to find available camera indices and default profiles:
```bash ```bash
python -m lerobot.find_cameras python -m lerobot.find_cameras realsense
``` ```
A `RealSenseCamera` instance requires a configuration object specifying the A `RealSenseCamera` instance requires a configuration object specifying the
@@ -63,7 +63,7 @@ class RealSenseCamera(Camera):
Example: Example:
```python ```python
from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig 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 # Basic usage with serial number
config = RealSenseCameraConfig(serial_number_or_name="1234567890") # Replace with actual SN config = RealSenseCameraConfig(serial_number_or_name="1234567890") # Replace with actual SN
@@ -87,7 +87,7 @@ class RealSenseCamera(Camera):
width=1280, width=1280,
height=720, height=720,
color_mode=ColorMode.BGR, # Request BGR output color_mode=ColorMode.BGR, # Request BGR output
rotation=0, rotation=Cv2Rotation.NO_ROTATION,
use_depth=True use_depth=True
) )
depth_camera = RealSenseCamera(custom_config) depth_camera = RealSenseCamera(custom_config)
@@ -175,7 +175,7 @@ class RealSenseCamera(Camera):
self.rs_profile = None self.rs_profile = None
self.rs_pipeline = None self.rs_pipeline = None
raise ConnectionError( 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 ) from e
logger.debug(f"Validating stream configuration for {self}...") logger.debug(f"Validating stream configuration for {self}...")
@@ -388,10 +388,9 @@ class RealSenseCamera(Camera):
if not self.is_connected: if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.") raise DeviceNotConnectedError(f"{self} is not connected.")
if not self.use_depth: if not self.use_depth:
raise RuntimeError( 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() start_time = time.perf_counter()

2
lerobot/find_cameras.py
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@@ -179,7 +179,7 @@ def create_camera_instance(cam_meta: Dict[str, Any]) -> Dict[str, Any] | None:
instance = OpenCVCamera(cv_config) instance = OpenCVCamera(cv_config)
elif cam_type == "RealSense": elif cam_type == "RealSense":
rs_config = RealSenseCameraConfig( rs_config = RealSenseCameraConfig(
serial_number=str(cam_id), serial_number_or_name=int(cam_id),
color_mode=ColorMode.RGB, color_mode=ColorMode.RGB,
) )
instance = RealSenseCamera(rs_config) instance = RealSenseCamera(rs_config)