Made script to save camera images instead of these funcitons existing in the camera driver classes.

examples/7_get_started_with_real_robot.md

@@ -544,7 +544,8 @@ To instantiate an [`OpenCVCamera`](../lerobot/common/robot_devices/cameras/openc
 
 To find the camera indices, run the following utility script, which will save a few frames from each detected camera:
 ```bash
-python lerobot/common/robot_devices/cameras/opencv.py \
+python lerobot/scripts/save_images_from_cameras.py \
+    --driver opencv \
     --images-dir outputs/images_from_opencv_cameras
 ```
 

lerobot/common/robot_devices/cameras/intelrealsense.py

@@ -2,28 +2,21 @@
 This file contains utilities for recording frames from Intel Realsense cameras.
 """
 
-import argparse
-import concurrent.futures
-import logging
-import shutil
 import threading
 import time
 import traceback
 from dataclasses import dataclass, replace
-from pathlib import Path
 from threading import Thread
 
 import cv2
 import numpy as np
 import pyrealsense2 as rs
-from PIL import Image
 
 from lerobot.common.robot_devices.utils import (
     RobotDeviceAlreadyConnectedError,
     RobotDeviceNotConnectedError,
 )
 from lerobot.common.utils.utils import capture_timestamp_utc
-from lerobot.scripts.control_robot import busy_wait
 
 SERIAL_NUMBER_INDEX = 1
 
@@ -46,89 +39,6 @@ def find_camera_indices(raise_when_empty=True) -> list[int]:
     return camera_ids
 
 
-def save_image(img_array, camera_idx, frame_index, images_dir):
-    try:
-        img = Image.fromarray(img_array)
-        path = images_dir / f"camera_{camera_idx}_frame_{frame_index:06d}.png"
-        path.parent.mkdir(parents=True, exist_ok=True)
-        img.save(str(path), quality=100)
-        logging.info(f"Saved image: {path}")
-    except Exception as e:
-        logging.error(f"Failed to save image for camera {camera_idx} frame {frame_index}: {e}")
-
-
-def save_images_from_cameras(
-    images_dir: Path,
-    camera_ids: list[int] | None = None,
-    fps=None,
-    width=None,
-    height=None,
-    record_time_s=2,
-):
-    """
-    Initializes all the cameras and saves images to the directory. Useful to visually identify the camera
-    associated to a given camera index.
-    """
-    if camera_ids is None:
-        camera_ids = find_camera_indices()
-
-    print("Connecting cameras")
-    cameras = []
-    for cam_idx in camera_ids:
-        camera = IntelRealSenseCamera(cam_idx, fps=fps, width=width, height=height)
-        camera.connect()
-        print(
-            f"IntelRealSenseCamera({camera.camera_index}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})"
-        )
-        cameras.append(camera)
-
-    images_dir = Path(images_dir)
-    if images_dir.exists():
-        shutil.rmtree(
-            images_dir,
-        )
-    images_dir.mkdir(parents=True, exist_ok=True)
-
-    print(f"Saving images to {images_dir}")
-    frame_index = 0
-    start_time = time.perf_counter()
-    try:
-        with concurrent.futures.ThreadPoolExecutor(max_workers=4) as executor:
-            while True:
-                now = time.perf_counter()
-
-                for camera in cameras:
-                    # If we use async_read when fps is None, the loop will go full speed, and we will end up
-                    # saving the same images from the cameras multiple times until the RAM/disk is full.
-                    image = camera.read() if fps is None else camera.async_read()
-                    if image is None:
-                        print("No Frame")
-                    bgr_converted_image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
-
-                    executor.submit(
-                        save_image,
-                        bgr_converted_image,
-                        camera.camera_index,
-                        frame_index,
-                        images_dir,
-                    )
-
-                if fps is not None:
-                    dt_s = time.perf_counter() - now
-                    busy_wait(1 / fps - dt_s)
-
-                if time.perf_counter() - start_time > record_time_s:
-                    break
-
-                print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}")
-
-                frame_index += 1
-    finally:
-        print(f"Images have been saved to {images_dir}")
-        for camera in cameras:
-            camera.disconnect()
-
-
 @dataclass
 class IntelRealSenseCameraConfig:
     """
@@ -173,7 +83,9 @@ class IntelRealSenseCamera:
 
     To find the camera indices of your cameras, you can run our utility script that will save a few frames for each camera:
     ```bash
-    python lerobot/common/robot_devices/cameras/intelrealsense.py --images-dir outputs/images_from_intelrealsense_cameras
+    python lerobot/scripts/save_images_from_cameras.py \
+    --driver intelrealsense \
+    --images-dir outputs/images_from_intelrealsense_cameras
     ```
 
     When an IntelRealSenseCamera is instantiated, if no specific config is provided, the default fps, width, height and color_mode
@@ -274,7 +186,7 @@ class IntelRealSenseCamera:
             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. "
-                    "To find the camera index you should use, run `python lerobot/common/robot_devices/cameras/intelrealsense.py`."
+                    "To find the camera index you should use, run `python lerobot/scripts/save_images_from_cameras.py --driver intelrealsense`."
                 )
 
             raise OSError(f"Can't access IntelRealSenseCamera({self.camera_index}).")
@@ -401,48 +313,3 @@ class IntelRealSenseCamera:
     def __del__(self):
         if getattr(self, "is_connected", False):
             self.disconnect()
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(
-        description="Save a few frames using `IntelRealSenseCamera` for all cameras connected to the computer, or a selected subset."
-    )
-    parser.add_argument(
-        "--camera-ids",
-        type=int,
-        nargs="*",
-        default=None,
-        help="List of camera indices used to instantiate the `IntelRealSenseCamera`. If not provided, find and use all available camera indices.",
-    )
-    parser.add_argument(
-        "--fps",
-        type=int,
-        default=30,
-        help="Set the number of frames recorded per seconds for all cameras. If not provided, use the default fps of each camera.",
-    )
-    parser.add_argument(
-        "--width",
-        type=str,
-        default=640,
-        help="Set the width for all cameras. If not provided, use the default width of each camera.",
-    )
-    parser.add_argument(
-        "--height",
-        type=str,
-        default=480,
-        help="Set the height for all cameras. If not provided, use the default height of each camera.",
-    )
-    parser.add_argument(
-        "--images-dir",
-        type=Path,
-        default="outputs/images_from_intelrealsense_cameras",
-        help="Set directory to save a few frames for each camera.",
-    )
-    parser.add_argument(
-        "--record-time-s",
-        type=float,
-        default=2.0,
-        help="Set the number of seconds used to record the frames. By default, 2 seconds.",
-    )
-    args = parser.parse_args()
-    save_images_from_cameras(**vars(args))

lerobot/common/robot_devices/cameras/opencv.py

@@ -2,11 +2,8 @@
 This file contains utilities for recording frames from cameras. For more info look at `OpenCVCamera` docstring.
 """
 
-import argparse
-import concurrent.futures
 import math
 import platform
-import shutil
 import threading
 import time
 from dataclasses import dataclass, replace
@@ -15,12 +12,10 @@ from threading import Thread
 
 import cv2
 import numpy as np
-from PIL import Image
 
 from lerobot.common.robot_devices.utils import (
     RobotDeviceAlreadyConnectedError,
     RobotDeviceNotConnectedError,
-    busy_wait,
 )
 from lerobot.common.utils.utils import capture_timestamp_utc
 
@@ -70,75 +65,6 @@ def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENC
     return camera_ids
 
 
-def save_image(img_array, camera_index, frame_index, images_dir):
-    img = Image.fromarray(img_array)
-    path = images_dir / f"camera_{camera_index:02d}_frame_{frame_index:06d}.png"
-    path.parent.mkdir(parents=True, exist_ok=True)
-    img.save(str(path), quality=100)
-
-
-def save_images_from_cameras(
-    images_dir: Path, camera_ids: list[int] | None = None, fps=None, width=None, height=None, record_time_s=2
-):
-    """
-    Initializes all the cameras and saves images to the directory. Useful to visually identify the camera
-    associated to a given camera index.
-    """
-    if camera_ids is None:
-        camera_ids = find_camera_indices()
-
-    print("Connecting cameras")
-    cameras = []
-    for cam_idx in camera_ids:
-        camera = OpenCVCamera(cam_idx, fps=fps, width=width, height=height)
-        camera.connect()
-        print(
-            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)
-    if images_dir.exists():
-        shutil.rmtree(
-            images_dir,
-        )
-    images_dir.mkdir(parents=True, exist_ok=True)
-
-    print(f"Saving images to {images_dir}")
-    frame_index = 0
-    start_time = time.perf_counter()
-    with concurrent.futures.ThreadPoolExecutor(max_workers=4) as executor:
-        while True:
-            now = time.perf_counter()
-
-            for camera in cameras:
-                # If we use async_read when fps is None, the loop will go full speed, and we will endup
-                # saving the same images from the cameras multiple times until the RAM/disk is full.
-                image = camera.read() if fps is None else camera.async_read()
-
-                executor.submit(
-                    save_image,
-                    image,
-                    camera.camera_index,
-                    frame_index,
-                    images_dir,
-                )
-
-            if fps is not None:
-                dt_s = time.perf_counter() - now
-                busy_wait(1 / fps - dt_s)
-
-            if time.perf_counter() - start_time > record_time_s:
-                break
-
-            print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}")
-
-            frame_index += 1
-
-    print(f"Images have been saved to {images_dir}")
-
-
 @dataclass
 class OpenCVCameraConfig:
     """
@@ -175,7 +101,9 @@ class OpenCVCamera:
 
     To find the camera indices of your cameras, you can run our utility script that will be save a few frames for each camera:
     ```bash
-    python lerobot/common/robot_devices/cameras/opencv.py --images-dir outputs/images_from_opencv_cameras
+    python lerobot/scripts/save_images_from_cameras.py \
+    --driver opencv \
+    --images-dir outputs/images_from_opencv_cameras
     ```
 
     When an OpenCVCamera is instantiated, if no specific config is provided, the default fps, width, height and color_mode
@@ -248,7 +176,7 @@ class OpenCVCamera:
             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. "
-                    "To find the camera index you should use, run `python lerobot/common/robot_devices/cameras/opencv.py`."
+                    "To find the camera index you should use, run `python lerobot/scripts/save_images_from_cameras.py --driver opencv`."
                 )
 
             raise OSError(f"Can't access OpenCVCamera({self.camera_index}).")
@@ -384,48 +312,3 @@ class OpenCVCamera:
     def __del__(self):
         if getattr(self, "is_connected", False):
             self.disconnect()
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(
-        description="Save a few frames using `OpenCVCamera` for all cameras connected to the computer, or a selected subset."
-    )
-    parser.add_argument(
-        "--camera-ids",
-        type=int,
-        nargs="*",
-        default=None,
-        help="List of camera indices used to instantiate the `OpenCVCamera`. If not provided, find and use all available camera indices.",
-    )
-    parser.add_argument(
-        "--fps",
-        type=int,
-        default=None,
-        help="Set the number of frames recorded per seconds for all cameras. If not provided, use the default fps of each camera.",
-    )
-    parser.add_argument(
-        "--width",
-        type=str,
-        default=None,
-        help="Set the width for all cameras. If not provided, use the default width of each camera.",
-    )
-    parser.add_argument(
-        "--height",
-        type=str,
-        default=None,
-        help="Set the height for all cameras. If not provided, use the default height of each camera.",
-    )
-    parser.add_argument(
-        "--images-dir",
-        type=Path,
-        default="outputs/images_from_opencv_cameras",
-        help="Set directory to save a few frames for each camera.",
-    )
-    parser.add_argument(
-        "--record-time-s",
-        type=float,
-        default=2.0,
-        help="Set the number of seconds used to record the frames. By default, 2 seconds.",
-    )
-    args = parser.parse_args()
-    save_images_from_cameras(**vars(args))

lerobot/scripts/save_images_from_cameras.py

@@ -0,0 +1,158 @@
+import argparse
+import concurrent.futures
+import importlib
+import shutil
+import time
+from pathlib import Path
+
+import cv2
+from PIL import Image
+
+from lerobot.scripts.control_robot import busy_wait
+
+
+def save_image(img_array, camera_index, frame_index, images_dir):
+    try:
+        img = Image.fromarray(img_array)
+        path = images_dir / f"camera_{camera_index:02d}_frame_{frame_index:06d}.png"
+        path.parent.mkdir(parents=True, exist_ok=True)
+        img.save(str(path), quality=100)
+        print(f"Image saved to: {path}")
+    except Exception as e:
+        print(f"Failed to save image: {e}")
+
+
+def save_images_from_cameras(
+    driver: str,
+    images_dir: Path,
+    camera_ids: list[int] | None = None,
+    fps=None,
+    width=None,
+    height=None,
+    record_time_s=2,
+):
+    """
+    Initializes all the cameras and saves images to the directory. Useful to visually identify the camera
+    associated to a given camera index.
+    """
+    # Dynamically import the appropriate camera class based on the brand
+    if driver == "intelrealsense":
+        camera_module = importlib.import_module("lerobot.common.robot_devices.cameras.intelrealsense")
+        camera_class = camera_module.IntelRealSenseCamera
+        find_camera_indices = camera_module.find_camera_indices
+    elif driver == "opencv":
+        camera_module = importlib.import_module("lerobot.common.robot_devices.cameras.opencv")
+        camera_class = camera_module.OpenCVCamera
+        find_camera_indices = camera_module.find_camera_indices
+    else:
+        raise ValueError(
+            f"Unsupported camera driver: {driver}. Note: the drivers we currently support are opencv and intelrealsense."
+        )
+
+    if camera_ids is None:
+        camera_ids = find_camera_indices()
+
+    print("Connecting cameras")
+    cameras = []
+    for cam_idx in camera_ids:
+        camera = camera_class(cam_idx, fps=fps, width=width, height=height)
+        camera.connect()
+        print(
+            f"{camera.__class__.__name__}({camera.camera_index}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})"
+        )
+        cameras.append(camera)
+
+    images_dir = Path(images_dir)
+    if images_dir.exists():
+        shutil.rmtree(images_dir)
+    images_dir.mkdir(parents=True, exist_ok=True)
+
+    print(f"Saving images to {images_dir}")
+    frame_index = 0
+    start_time = time.perf_counter()
+
+    # Use ThreadPoolExecutor for saving images asynchronously
+    with concurrent.futures.ThreadPoolExecutor(max_workers=4) as executor:
+        try:
+            while True:
+                now = time.perf_counter()
+
+                for camera in cameras:
+                    # Capture image
+                    image = camera.read() if fps is None else camera.async_read()
+                    if image is None:
+                        print("No Frame")
+                    else:
+                        bgr_converted_image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
+
+                        # Submit the save_image function to be executed in the background
+                        executor.submit(
+                            save_image,
+                            bgr_converted_image,
+                            camera.camera_index,
+                            frame_index,
+                            images_dir,
+                        )
+
+                if fps is not None:
+                    dt_s = time.perf_counter() - now
+                    busy_wait(1 / fps - dt_s)
+
+                if time.perf_counter() - start_time > record_time_s:
+                    break
+
+                print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}")
+
+                frame_index += 1
+        finally:
+            print(f"Images have been saved to {images_dir}")
+            for camera in cameras:
+                camera.disconnect()
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        description="Save a few frames for all cameras connected to the computer, or a selected subset."
+    )
+    parser.add_argument(
+        "--driver", type=str, required=True, help="Camera driver (e.g., intelrealsense, opencv)"
+    )
+    parser.add_argument(
+        "--camera-ids",
+        type=int,
+        nargs="*",
+        default=None,
+        help="List of camera indices used to instantiate the `IntelRealSenseCamera`. If not provided, find and use all available camera indices.",
+    )
+    parser.add_argument(
+        "--fps",
+        type=int,
+        default=30,
+        help="Set the number of frames recorded per second for all cameras. If not provided, use the default fps of each camera.",
+    )
+    parser.add_argument(
+        "--width",
+        type=str,
+        default=640,
+        help="Set the width for all cameras. If not provided, use the default width of each camera.",
+    )
+    parser.add_argument(
+        "--height",
+        type=str,
+        default=480,
+        help="Set the height for all cameras. If not provided, use the default height of each camera.",
+    )
+    parser.add_argument(
+        "--images-dir",
+        type=Path,
+        default="outputs/images_from_cameras",
+        help="Set directory to save a few frames for each camera.",
+    )
+    parser.add_argument(
+        "--record-time-s",
+        type=float,
+        default=2.0,
+        help="Set the number of seconds used to record the frames. By default, 2 seconds.",
+    )
+    args = parser.parse_args()
+    save_images_from_cameras(**vars(args))