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#!/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 platform
from typing import cast
from lerobot.utils.import_utils import make_device_from_device_class
from .camera import Camera
from .configs import CameraConfig, Cv2Rotation
def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[str, Camera]:
cameras: dict[str, Camera] = {}
for key, cfg in camera_configs.items():
# TODO(Steven): Consider just using the make_device_from_device_class for all types
if cfg.type == "opencv":
from .opencv import OpenCVCamera
cameras[key] = OpenCVCamera(cfg)
elif cfg.type == "intelrealsense":
from .realsense.camera_realsense import RealSenseCamera
cameras[key] = RealSenseCamera(cfg)
elif cfg.type == "reachy2_camera":
from .reachy2_camera.reachy2_camera import Reachy2Camera
cameras[key] = Reachy2Camera(cfg)
else:
try:
cameras[key] = cast(Camera, make_device_from_device_class(cfg))
except Exception as e:
raise ValueError(f"Error creating camera {key} with config {cfg}: {e}") from e
return cameras
def get_cv2_rotation(rotation: Cv2Rotation) -> int | None:
import cv2 # type: ignore # TODO: add type stubs for OpenCV
if rotation == Cv2Rotation.ROTATE_90:
return int(cv2.ROTATE_90_CLOCKWISE)
elif rotation == Cv2Rotation.ROTATE_180:
return int(cv2.ROTATE_180)
elif rotation == Cv2Rotation.ROTATE_270:
return int(cv2.ROTATE_90_COUNTERCLOCKWISE)
else:
return None
def get_cv2_backend() -> int:
import cv2
if platform.system() == "Windows":
return int(cv2.CAP_MSMF) # Use MSMF for Windows instead of AVFOUNDATION
# elif platform.system() == "Darwin": # macOS
# return cv2.CAP_AVFOUNDATION
else: # Linux and others
return int(cv2.CAP_ANY)
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