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25cf72f | 1 2 3 4 5 6 7 8 9 10 | """Template for `fit_check_pi05_cups.py --client-fn example_client_fn:opencv_camera_to_tensor --client-frame-format bgr`.
Replace the body with YOUR robot-side code path (camera frame -> model image tensor). Must return float (3, H, W) in [0, 1]."""
import numpy as np
import torch
def opencv_camera_to_tensor(frame_bgr_uint8: np.ndarray) -> torch.Tensor:
rgb = frame_bgr_uint8[:, :, ::-1] # OpenCV delivers BGR; the model was trained on RGB
return torch.from_numpy(np.ascontiguousarray(rgb)).permute(2, 0, 1).float() / 255.0
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