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# 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.
from typing import Protocol
import numpy as np
from lerobot.common.robot_devices.cameras.configs import (
CameraConfig,
IntelRealSenseCameraConfig,
OpenCVCameraConfig,
)
# Defines a camera type
class Camera(Protocol):
def connect(self): ...
def read(self, temporary_color: str | None = None) -> np.ndarray: ...
def async_read(self) -> np.ndarray: ...
def disconnect(self): ...
def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> list[Camera]:
cameras = {}
for key, cfg in camera_configs.items():
if cfg.type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
cameras[key] = OpenCVCamera(cfg)
elif cfg.type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
cameras[key] = IntelRealSenseCamera(cfg)
else:
raise ValueError(f"The camera type '{cfg.type}' is not valid.")
return cameras
def make_camera(camera_type, **kwargs) -> Camera:
if camera_type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
config = OpenCVCameraConfig(**kwargs)
return OpenCVCamera(config)
elif camera_type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
config = IntelRealSenseCameraConfig(**kwargs)
return IntelRealSenseCamera(config)
else:
raise ValueError(f"The camera type '{camera_type}' is not valid.")
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