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This commit is contained in:
Simon Alibert
2025-03-04 11:38:31 +01:00
parent f6c1049474
commit e2d13ba7e4
9 changed files with 82 additions and 59 deletions
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17
tests/utils.py
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@@ -23,9 +23,8 @@ import pytest
import torch
from lerobot import available_cameras, available_motors, available_robots
from lerobot.common.cameras.utils import Camera
from lerobot.common.cameras.utils import make_camera as make_camera_device
from lerobot.common.motors.utils import MotorsBus
from lerobot.common.cameras import Camera
from lerobot.common.motors.motors_bus import MotorsBus
from lerobot.common.motors.utils import make_motors_bus as make_motors_bus_device
from lerobot.common.utils.import_utils import is_package_available
@@ -306,11 +305,19 @@ def mock_calibration_dir(calibration_dir):
def make_camera(camera_type: str, **kwargs) -> Camera:
if camera_type == "opencv":
camera_index = kwargs.pop("camera_index", OPENCV_CAMERA_INDEX)
return make_camera_device(camera_type, camera_index=camera_index, **kwargs)
kwargs["camera_index"] = camera_index
from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
config = OpenCVCameraConfig(**kwargs)
return OpenCVCamera(config)
elif camera_type == "intelrealsense":
serial_number = kwargs.pop("serial_number", INTELREALSENSE_SERIAL_NUMBER)
return make_camera_device(camera_type, serial_number=serial_number, **kwargs)
kwargs["serial_number"] = serial_number
from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig
config = RealSenseCameraConfig(**kwargs)
return RealSenseCamera(config)
else:
raise ValueError(f"The camera type '{camera_type}' is not valid.")