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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.") | |