Add capture_camera_feed

lerobot/common/datasets/_video_benchmark/capture_camera_feed.py

@@ -0,0 +1,89 @@
+#!/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
+from pathlib import Path
+
+import cv2
+
+
+def display_and_save_video_stream(output_dir: Path, fps: int, width: int, height: int):
+    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
+    while True:
+        ret, frame = cap.read()
+
+        if not ret:
+            print("Error: Could not read frame.")
+            break
+
+        cv2.imshow("Video Stream", frame)
+        cv2.imwrite(capture_dir / f"frame_{frame_index:06d}.png", frame)
+        frame_index += 1
+
+        # Break the loop on 'q' key press
+        if cv2.waitKey(1) & 0xFF == ord("q"):
+            break
+
+    # Release the capture and destroy all windows
+    cap.release()
+    cv2.destroyAllWindows()
+
+
+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.",
+    )
+    args = parser.parse_args()
+    display_and_save_video_stream(**vars(args))