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Fix unable to set camera width/height to non-default (#1225)

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This commit is contained in:
Ben Zhang
2025-06-10 01:23:33 -07:00
committed by GitHub
parent 0e7caae714
commit f0a903c98f
1 changed files with 11 additions and 8 deletions
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19
lerobot/common/cameras/opencv/camera_opencv.py
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@@ -225,16 +225,19 @@ 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."""
success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.capture_width)) width_success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.capture_width))
actual_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH))) height_success = self.videocapture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.capture_height))
if not success or self.capture_width != actual_width:
raise RuntimeError(f"{self} failed to set capture_width={self.capture_width} ({actual_width=}).")
success = self.videocapture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.capture_height)) actual_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
actual_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT))) if not width_success or self.capture_width != actual_width:
if not success or self.capture_height != actual_height:
raise RuntimeError( raise RuntimeError(
f"{self} failed to set capture_height={self.capture_height} ({actual_height})." f"{self} failed to set capture_width={self.capture_width} ({actual_width=}, {width_success=})."
)
actual_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
if not height_success or self.capture_height != actual_height:
raise RuntimeError(
f"{self} failed to set capture_height={self.capture_height} ({actual_height=}, {height_success=})."
) )
@staticmethod @staticmethod