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fix(cameras): correct validate_width_height logic

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This commit is contained in:
Steven Palma
2025-05-15 16:30:18 +02:00
parent 859a369b29
commit 9adbd245e5
1 changed files with 8 additions and 6 deletions
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14
lerobot/common/cameras/opencv/camera_opencv.py
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@@ -234,21 +234,22 @@ class OpenCVCamera(Camera):
def _validate_width_and_height(self) -> None: def _validate_width_and_height(self) -> None:
"""Validates and sets the camera's frame capture width and height.""" """Validates and sets the camera's frame capture width and height."""
actual_width = int(round(self.videocapture_camera.get(cv2.CAP_PROP_FRAME_WIDTH))) default_width = int(round(self.videocapture_camera.get(cv2.CAP_PROP_FRAME_WIDTH)))
actual_height = int(round(self.videocapture_camera.get(cv2.CAP_PROP_FRAME_HEIGHT))) default_height = int(round(self.videocapture_camera.get(cv2.CAP_PROP_FRAME_HEIGHT)))
if self.width is None or self.height is None: if self.width is None or self.height is None:
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]: if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]:
self.width, self.height = actual_height, actual_width self.width, self.height = default_height, default_width
self.prerotated_width, self.prerotated_height = actual_width, actual_height self.prerotated_width, self.prerotated_height = default_width, default_height
else: else:
self.width, self.height = actual_width, actual_height self.width, self.height = default_width, default_height
self.prerotated_width, self.prerotated_height = actual_width, actual_height self.prerotated_width, self.prerotated_height = default_width, default_height
logger.info(f"Capture width set to camera default: {self.width}.") logger.info(f"Capture width set to camera default: {self.width}.")
logger.info(f"Capture height set to camera default: {self.height}.") logger.info(f"Capture height set to camera default: {self.height}.")
return return
success = self.videocapture_camera.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.prerotated_width)) success = self.videocapture_camera.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.prerotated_width))
actual_width = int(round(self.videocapture_camera.get(cv2.CAP_PROP_FRAME_WIDTH)))
if not success or self.prerotated_width != actual_width: if not success or self.prerotated_width != actual_width:
logger.warning( logger.warning(
f"Requested capture width {self.prerotated_width} for {self}, but camera reported {actual_width} (set success: {success})." f"Requested capture width {self.prerotated_width} for {self}, but camera reported {actual_width} (set success: {success})."
@@ -259,6 +260,7 @@ class OpenCVCamera(Camera):
logger.debug(f"Capture width set to {actual_width} for {self}.") logger.debug(f"Capture width set to {actual_width} for {self}.")
success = self.videocapture_camera.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.prerotated_height)) success = self.videocapture_camera.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.prerotated_height))
actual_height = int(round(self.videocapture_camera.get(cv2.CAP_PROP_FRAME_HEIGHT)))
if not success or self.prerotated_height != actual_height: if not success or self.prerotated_height != actual_height:
logger.warning( logger.warning(
f"Requested capture height {self.prerotated_height} for {self}, but camera reported {actual_height} (set success: {success})." f"Requested capture height {self.prerotated_height} for {self}, but camera reported {actual_height} (set success: {success})."