3c0a209f9f
Co-authored-by: Remi <remi.cadene@huggingface.co> Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
101 lines
3.2 KiB
Python
101 lines
3.2 KiB
Python
import abc
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from dataclasses import dataclass
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import draccus
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@dataclass
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class CameraConfig(draccus.ChoiceRegistry, abc.ABC):
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@property
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def type(self) -> str:
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return self.get_choice_name(self.__class__)
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@CameraConfig.register_subclass("opencv")
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@dataclass
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class OpenCVCameraConfig(CameraConfig):
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"""
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Example of tested options for Intel Real Sense D405:
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```python
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OpenCVCameraConfig(0, 30, 640, 480)
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OpenCVCameraConfig(0, 60, 640, 480)
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OpenCVCameraConfig(0, 90, 640, 480)
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OpenCVCameraConfig(0, 30, 1280, 720)
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```
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"""
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camera_index: int
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fps: int | None = None
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width: int | None = None
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height: int | None = None
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color_mode: str = "rgb"
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channels: int | None = None
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rotation: int | None = None
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mock: bool = False
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def __post_init__(self):
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if self.color_mode not in ["rgb", "bgr"]:
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raise ValueError(
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f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided."
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)
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self.channels = 3
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if self.rotation not in [-90, None, 90, 180]:
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raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})")
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@CameraConfig.register_subclass("intelrealsense")
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@dataclass
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class IntelRealSenseCameraConfig(CameraConfig):
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"""
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Example of tested options for Intel Real Sense D405:
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```python
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IntelRealSenseCameraConfig(128422271347, 30, 640, 480)
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IntelRealSenseCameraConfig(128422271347, 60, 640, 480)
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IntelRealSenseCameraConfig(128422271347, 90, 640, 480)
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IntelRealSenseCameraConfig(128422271347, 30, 1280, 720)
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IntelRealSenseCameraConfig(128422271347, 30, 640, 480, use_depth=True)
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IntelRealSenseCameraConfig(128422271347, 30, 640, 480, rotation=90)
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```
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"""
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name: str | None = None
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serial_number: int | None = None
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fps: int | None = None
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width: int | None = None
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height: int | None = None
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color_mode: str = "rgb"
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channels: int | None = None
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use_depth: bool = False
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force_hardware_reset: bool = True
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rotation: int | None = None
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mock: bool = False
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def __post_init__(self):
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# bool is stronger than is None, since it works with empty strings
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if bool(self.name) and bool(self.serial_number):
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raise ValueError(
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f"One of them must be set: name or serial_number, but {self.name=} and {self.serial_number=} provided."
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)
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if self.color_mode not in ["rgb", "bgr"]:
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raise ValueError(
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f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided."
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)
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self.channels = 3
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at_least_one_is_not_none = self.fps is not None or self.width is not None or self.height is not None
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at_least_one_is_none = self.fps is None or self.width is None or self.height is None
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if at_least_one_is_not_none and at_least_one_is_none:
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raise ValueError(
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"For `fps`, `width` and `height`, either all of them need to be set, or none of them, "
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f"but {self.fps=}, {self.width=}, {self.height=} were provided."
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)
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if self.rotation not in [-90, None, 90, 180]:
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raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})")
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