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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.
"""Capture video feed from a camera as raw images."""
import argparse
import datetime as dt
import os
import time
from pathlib import Path
import cv2
import rerun as rr
# see https://rerun.io/docs/howto/visualization/limit-ram
RERUN_MEMORY_LIMIT = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "5%")
def display_and_save_video_stream(output_dir: Path, fps: int, width: int, height: int, duration: int):
rr.init("lerobot_capture_camera_feed")
rr.spawn(memory_limit=RERUN_MEMORY_LIMIT)
now = dt.datetime.now()
capture_dir = output_dir / f"{now:%Y-%m-%d}" / f"{now:%H-%M-%S}"
if not capture_dir.exists():
capture_dir.mkdir(parents=True, exist_ok=True)
# Opens the default webcam
cap = cv2.VideoCapture(0)
if not cap.isOpened():
print("Error: Could not open video stream.")
return
cap.set(cv2.CAP_PROP_FPS, fps)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
frame_index = 0
start_time = time.time()
while time.time() - start_time < duration:
ret, frame = cap.read()
if not ret:
print("Error: Could not read frame.")
break
rr.log("video/stream", rr.Image(frame.numpy()), static=True)
cv2.imwrite(str(capture_dir / f"frame_{frame_index:06d}.png"), frame)
frame_index += 1
# Release the capture
cap.release()
# TODO(Steven): Add a graceful shutdown via a close() method for the Viewer context, though not currently supported in the Rerun API.
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument(
"--output-dir",
type=Path,
default=Path("outputs/cam_capture/"),
help="Directory where the capture images are written. A subfolder named with the current date & time will be created inside it for each capture.",
)
parser.add_argument(
"--fps",
type=int,
default=30,
help="Frames Per Second of the capture.",
)
parser.add_argument(
"--width",
type=int,
default=1280,
help="Width of the captured images.",
)
parser.add_argument(
"--height",
type=int,
default=720,
help="Height of the captured images.",
)
parser.add_argument(
"--duration",
type=int,
default=20,
help="Duration in seconds for which the video stream should be captured.",
)
args = parser.parse_args()
display_and_save_video_stream(**vars(args))
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