Merge branch 'user/pepijn/2025_04_10_fix_camera_rotation' of https://github.com/huggingface/lerobot into user/pepijn/2025_04_10_fix_camera_rotation

Author: pkooij

lerobot/common/robot_devices/cameras/intelrealsense.py

@@ -231,8 +231,8 @@ def __init__(
 
         # If rotated by ±90, swap width and height.
         if config.rotation in [-90, 90]:
-            self.width = config.height  
-            self.height = config.width  
+            self.width = config.height
+            self.height = config.width
         else:
             self.width = config.width
             self.height = config.height
@@ -296,13 +296,17 @@ def connect(self):
 
         if self.fps and self.capture_width and self.capture_height:
             # TODO(rcadene): can we set rgb8 directly?
-            config.enable_stream(rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps)
+            config.enable_stream(
+                rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps
+            )
         else:
             config.enable_stream(rs.stream.color)
 
         if self.use_depth:
             if self.fps and self.capture_width and self.capture_height:
-                config.enable_stream(rs.stream.depth, self.capture_width, self.capture_height, rs.format.z16, self.fps)
+                config.enable_stream(
+                    rs.stream.depth, self.capture_width, self.capture_height, rs.format.z16, self.fps
+                )
             else:
                 config.enable_stream(rs.stream.depth)
 

lerobot/common/robot_devices/cameras/opencv.py

@@ -250,8 +250,8 @@ def __init__(self, config: OpenCVCameraConfig):
 
         # If rotated by ±90, swap width and height.
         if config.rotation in [-90, 90]:
-            self.width = config.height  
-            self.height = config.width  
+            self.width = config.height
+            self.height = config.width
         else:
             self.width = config.width
             self.height = config.height
@@ -349,11 +349,15 @@ def connect(self):
             raise OSError(
                 f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}."
             )
-        if self.capture_width is not None and not math.isclose(self.capture_width, actual_width, rel_tol=1e-3):
+        if self.capture_width is not None and not math.isclose(
+            self.capture_width, actual_width, rel_tol=1e-3
+        ):
             raise OSError(
                 f"Can't set {self.capture_width=} for OpenCVCamera({self.camera_index}). Actual value is {actual_width}."
             )
-        if self.capture_height is not None and not math.isclose(self.capture_height, actual_height, rel_tol=1e-3):
+        if self.capture_height is not None and not math.isclose(
+            self.capture_height, actual_height, rel_tol=1e-3
+        ):
             raise OSError(
                 f"Can't set {self.capture_height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}."
             )