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Improve control robot ; Add process to configure motor indices (#326)

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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
This commit is contained in:
Remi
2024-08-15 18:11:33 +02:00
committed by GitHub
parent 8c4643687c
commit bbe9057225
35 changed files with 2085 additions and 476 deletions
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53
lerobot/common/robot_devices/cameras/opencv.py
View File

@@ -5,6 +5,7 @@ This file contains utilities for recording frames from cameras. For more info lo
import argparse
import concurrent.futures
import math
import platform
import shutil
import threading
import time
@@ -33,8 +34,22 @@ MAX_OPENCV_INDEX = 60
def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX):
if platform.system() == "Linux":
# Linux uses camera ports
print("Linux detected. Finding available camera indices through scanning '/dev/video*' ports")
possible_camera_ids = []
for port in Path("/dev").glob("video*"):
camera_idx = int(str(port).replace("/dev/video", ""))
possible_camera_ids.append(camera_idx)
else:
print(
"Mac or Windows detected. Finding available camera indices through "
f"scanning all indices from 0 to {MAX_OPENCV_INDEX}"
)
possible_camera_ids = range(max_index_search_range)
camera_ids = []
for camera_idx in range(max_index_search_range):
for camera_idx in possible_camera_ids:
camera = cv2.VideoCapture(camera_idx)
is_open = camera.isOpened()
camera.release()
@@ -45,7 +60,8 @@ def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENC
if raise_when_empty and len(camera_ids) == 0:
raise OSError(
"Not a single camera was detected. Try re-plugging, or re-installing `opencv2`, or your camera driver, or make sure your camera is compatible with opencv2."
"Not a single camera was detected. Try re-plugging, or re-installing `opencv2`, "
"or your camera driver, or make sure your camera is compatible with opencv2."
)
return camera_ids
@@ -59,10 +75,9 @@ def save_image(img_array, camera_index, frame_index, images_dir):
def save_images_from_cameras(
images_dir: Path, camera_ids=None, fps=None, width=None, height=None, record_time_s=2
images_dir: Path, camera_ids: list[int] | None = None, fps=None, width=None, height=None, record_time_s=2
):
if camera_ids is None:
print("Finding available camera indices")
camera_ids = find_camera_indices()
print("Connecting cameras")
@@ -71,13 +86,12 @@ def save_images_from_cameras(
camera = OpenCVCamera(cam_idx, fps=fps, width=width, height=height)
camera.connect()
print(
f"OpenCVCamera({camera.camera_index}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})"
f"OpenCVCamera({camera.camera_index}, fps={camera.fps}, width={camera.width}, "
f"height={camera.height}, color_mode={camera.color_mode})"
)
cameras.append(camera)
images_dir = Path(
images_dir,
)
images_dir = Path(images_dir)
if images_dir.exists():
shutil.rmtree(
images_dir,
@@ -160,7 +174,7 @@ class OpenCVCamera:
When an OpenCVCamera is instantiated, if no specific config is provided, the default fps, width, height and color_mode
of the given camera will be used.
Example of usage of the class:
Example of usage:
```python
camera = OpenCVCamera(camera_index=0)
camera.connect()
@@ -194,11 +208,6 @@ class OpenCVCamera:
self.height = config.height
self.color_mode = config.color_mode
if not isinstance(self.camera_index, int):
raise ValueError(
f"Camera index must be provided as an int, but {self.camera_index} was given instead."
)
self.camera = None
self.is_connected = False
self.thread = None
@@ -212,7 +221,13 @@ class OpenCVCamera:
# First create a temporary camera trying to access `camera_index`,
# and verify it is a valid camera by calling `isOpened`.
tmp_camera = cv2.VideoCapture(self.camera_index)
if platform.system() == "Linux":
# Linux uses ports for connecting to cameras
tmp_camera = cv2.VideoCapture(f"/dev/video{self.camera_index}")
else:
tmp_camera = cv2.VideoCapture(self.camera_index)
is_camera_open = tmp_camera.isOpened()
# Release camera to make it accessible for `find_camera_indices`
del tmp_camera
@@ -224,7 +239,8 @@ class OpenCVCamera:
available_cam_ids = find_camera_indices()
if self.camera_index not in available_cam_ids:
raise ValueError(
f"`camera_index` is expected to be one of these available cameras {available_cam_ids}, but {self.camera_index} is provided instead."
f"`camera_index` is expected to be one of these available cameras {available_cam_ids}, but {self.camera_index} is provided instead. "
"To find the camera index you should use, run `python lerobot/common/robot_devices/cameras/opencv.py`."
)
raise OSError(f"Can't access camera {self.camera_index}.")
@@ -232,7 +248,10 @@ class OpenCVCamera:
# Secondly, create the camera that will be used downstream.
# Note: For some unknown reason, calling `isOpened` blocks the camera which then
# needs to be re-created.
self.camera = cv2.VideoCapture(self.camera_index)
if platform.system() == "Linux":
self.camera = cv2.VideoCapture(f"/dev/video{self.camera_index}")
else:
self.camera = cv2.VideoCapture(self.camera_index)
if self.fps is not None:
self.camera.set(cv2.CAP_PROP_FPS, self.fps)

11
lerobot/common/robot_devices/cameras/utils.py
View File

@@ -2,6 +2,7 @@ from pathlib import Path
from typing import Protocol
import cv2
import einops
import numpy as np
@@ -39,6 +40,16 @@ def save_depth_image(depth, path, write_shape=False):
cv2.imwrite(str(path), depth_image)
def convert_torch_image_to_cv2(tensor, rgb_to_bgr=True):
assert tensor.ndim == 3
c, h, w = tensor.shape
assert c < h and c < w
color_image = einops.rearrange(tensor, "c h w -> h w c").numpy()
if rgb_to_bgr:
color_image = cv2.cvtColor(color_image, cv2.COLOR_RGB2BGR)
return color_image
# Defines a camera type
class Camera(Protocol):
def connect(self): ...