refactor(cameras): improvements for cameras implementations + tests

.gitattributes

@@ -11,10 +11,10 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-
 *.memmap filter=lfs diff=lfs merge=lfs -text
 *.stl filter=lfs diff=lfs merge=lfs -text
 *.safetensors filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.arrow filter=lfs diff=lfs merge=lfs -text
 *.json !text !filter !merge !diff
+tests/artifacts/cameras/*.{png,bag} filter=lfs diff=lfs merge=lfs -text

lerobot/common/cameras/camera.py

@@ -1,25 +1,50 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import abc
 
 import numpy as np
 
+from .configs import CameraConfig, ColorMode
+
 
+# NOTE(Steven): Consider something like configure() if makes sense for both cameras
 class Camera(abc.ABC):
+    def __init__(self, config: CameraConfig):
+        self.fps: int | None = config.fps
+        self.width: int | None = config.width
+        self.height: int | None = config.height
+
+    @property
     @abc.abstractmethod
-    def connect(self):
+    def is_connected(self) -> bool:
         pass
 
     @abc.abstractmethod
-    def read(self, temporary_color: str | None = None) -> np.ndarray:
+    def connect(self, do_warmup_read: bool = True) -> None:
         pass
 
     @abc.abstractmethod
-    def async_read(self) -> np.ndarray:
+    def read(self, color_mode: ColorMode | None = None) -> np.ndarray:
         pass
 
     @abc.abstractmethod
-    def disconnect(self):
+    def async_read(self, timeout_ms: float = 2000) -> np.ndarray:
         pass
 
-    def __del__(self):
-        if getattr(self, "is_connected", False):
-            self.disconnect()
+    @abc.abstractmethod
+    def disconnect(self) -> None:
+        pass

lerobot/common/cameras/configs.py

@@ -1,11 +1,44 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import abc
 from dataclasses import dataclass
+from enum import Enum
 
 import draccus
 
 
-@dataclass
+class ColorMode(Enum):
+    RGB = "rgb"
+    BGR = "bgr"
+
+
+class Cv2Rotation(Enum):
+    NO_ROTATION = 0
+    ROTATE_90 = 90
+    ROTATE_180 = 180
+    ROTATE_270 = -90
+
+
+@dataclass(kw_only=True)
 class CameraConfig(draccus.ChoiceRegistry, abc.ABC):
+    fps: int | None = None
+    width: int | None = None
+    height: int | None = None
+
     @property
     def type(self) -> str:
         return self.get_choice_name(self.__class__)

lerobot/common/cameras/intel/__init__.py

@@ -1,4 +1,2 @@
 from .camera_realsense import RealSenseCamera
 from .configuration_realsense import RealSenseCameraConfig
-
-__all__ = ["RealSenseCamera", "RealSenseCameraConfig"]