LeRobot-SO100入门教程-配置摄像头
说明:
- 介绍如何配置两个摄像头
- 获取摄像头的帧数,分辨率,更改配置文件
相关设备
- LeRobot-SO100套件:采购地址
步骤:
两个摄像头摆放到合理的位置,尽可能拍到从臂附近的工作区即可
查找两个摄像机索引,将保存每个检测到的摄像机的几帧:
python3 ~/lerobot/lerobot/common/robot_devices/cameras/opencv.py \
--images-dir outputs/images_from_opencv_cameras
- 结果如下:
相机1,/dev/video0,索引camera_index索引为0,fps帧数为25,分辨率 width为640,height为480
相机2,/dev/video2,索引camera_index索引为2,fps帧数为25,分辨率 width为640,height为480
Linux detected. Finding available camera indices through scanning '/dev/video*' ports
Camera found at index /dev/video0
Camera found at index /dev/video2
Connecting cameras
OpenCVCamera(0, fps=25, width=640, height=480, color_mode=rgb)
OpenCVCamera(2, fps=25, width=640, height=480, color_mode=rgb)
Saving images to outputs/images_from_opencv_cameras
Frame: 0000 Latency (ms): 1011.64
Frame: 0001 Latency (ms): 31.14
Frame: 0002 Latency (ms): 44.36
Frame: 0003 Latency (ms): 35.54
Frame: 0004 Latency (ms): 44.39
Frame: 0005 Latency (ms): 35.47
Frame: 0006 Latency (ms): 44.44
Frame: 0007 Latency (ms): 39.86
Frame: 0008 Latency (ms): 40.01
Frame: 0009 Latency (ms): 40.18
Frame: 0010 Latency (ms): 35.13
Frame: 0011 Latency (ms): 44.25
Frame: 0012 Latency (ms): 35.58
Frame: 0013 Latency (ms): 44.06
Frame: 0014 Latency (ms): 40.26
Frame: 0015 Latency (ms): 39.65
Frame: 0016 Latency (ms): 40.38
Frame: 0017 Latency (ms): 35.12
Frame: 0018 Latency (ms): 43.70
Frame: 0019 Latency (ms): 35.68
Frame: 0020 Latency (ms): 44.38
Frame: 0021 Latency (ms): 35.59
Frame: 0022 Latency (ms): 48.05
Frame: 0023 Latency (ms): 40.52
Frame: 0024 Latency (ms): 35.23
Frame: 0025 Latency (ms): 43.76
Frame: 0026 Latency (ms): 36.08
Frame: 0027 Latency (ms): 43.83
Frame: 0028 Latency (ms): 35.83
Frame: 0029 Latency (ms): 45.41
Frame: 0030 Latency (ms): 34.63
Frame: 0031 Latency (ms): 44.24
Frame: 0032 Latency (ms): 39.66
Frame: 0033 Latency (ms): 35.82
Frame: 0034 Latency (ms): 44.21
Frame: 0035 Latency (ms): 35.52
Frame: 0036 Latency (ms): 43.96
Frame: 0037 Latency (ms): 40.45
Frame: 0038 Latency (ms): 39.29
Frame: 0039 Latency (ms): 40.12
Frame: 0040 Latency (ms): 33.09
Frame: 0041 Latency (ms): 44.61
Frame: 0042 Latency (ms): 40.80
Frame: 0043 Latency (ms): 38.72
Frame: 0044 Latency (ms): 40.10
Frame: 0045 Latency (ms): 35.17
Frame: 0046 Latency (ms): 44.40
Frame: 0047 Latency (ms): 40.18
Frame: 0048 Latency (ms): 35.15
Frame: 0049 Latency (ms): 43.80
Frame: 0050 Latency (ms): 35.69
Frame: 0051 Latency (ms): 44.16
Frame: 0052 Latency (ms): 40.66
Frame: 0053 Latency (ms): 35.12
Frame: 0054 Latency (ms): 43.73
Frame: 0055 Latency (ms): 36.00
Frame: 0056 Latency (ms): 44.50
Frame: 0057 Latency (ms): 39.45
Frame: 0058 Latency (ms): 35.71
Frame: 0059 Latency (ms): 44.01
Frame: 0060 Latency (ms): 35.29
Frame: 0061 Latency (ms): 44.40
Frame: 0062 Latency (ms): 39.37
Frame: 0063 Latency (ms): 35.89
Frame: 0064 Latency (ms): 44.25
Frame: 0065 Latency (ms): 35.80
Frame: 0066 Latency (ms): 44.38
Frame: 0067 Latency (ms): 39.98
Frame: 0068 Latency (ms): 35.25
Frame: 0069 Latency (ms): 43.99
Frame: 0070 Latency (ms): 39.89
Frame: 0071 Latency (ms): 39.91
Frame: 0072 Latency (ms): 39.66
Frame: 0073 Latency (ms): 35.63
Frame: 0074 Latency (ms): 44.44
Frame: 0075 Latency (ms): 38.93
- 保存的图像在~/lerobot/outputs/images_from_opencv_cameras,确定哪个相机索引对应于哪个相机,0 对应 camera_00, 1 对应camera_01
camera_00_frame_000000.png
[...]
camera_00_frame_000047.png
camera_01_frame_000000.png
[...]
camera_01_frame_000047.png
- 修改两个相机的索引 camera_index
vim ~/lerobot/lerobot/common/robot_devices/robots/configs.py
- 修改的内容如下,camera_index相机索引,fps帧数
@RobotConfig.register_subclass("so100")
...
cameras: dict[str, CameraConfig] = field(
default_factory=lambda: {
"laptop": OpenCVCameraConfig(
camera_index=0,
fps=25,
width=640,
height=480,
),
"phone": OpenCVCameraConfig(
camera_index=2,
fps=25,
width=640,
height=480,
),
}
)
- 加载lerobot环境
conda activate lerobot
- 进入lerobot目录
cd ~/lerobot
- 运行程序,操控机械臂,显示两个相机的画面
python ~/lerobot/lerobot/scripts/control_robot.py \
--robot.type=so100 \
--control.type=teleoperate
演示视频
获取最新文章: 扫一扫右上角的二维码加入“创客智造”公众号