Capture format. Linux only. On macOS the camera negotiates its own and this
is ignored.
Keep pixel_format="mjpeg" on any host with more than one camera. Uncompressed
video needs about 18 MB per second per camera, and two of those do not fit on
one USB bus.
On Linux, the handle is the camera’s device name or path. On macOS and
Windows, a camera passed in cameras= is not opened: it streams a test pattern.
Linux
macOS
Windows
python -m zeroruntime.teleops.devices
That lists every camera and serial device with its by-path name, which is
the handle to put in your config. Or leave cameras= out: the follower then
streams every USB camera, or the ones ZERORUNTIME_CAMERAS names.
from zeroruntime.teleops import (list_cameras, list_serial, resolve_camera, resolve_serial)list_cameras() # every camera, with its by-path namelist_serial() # every serial device, for servo busesresolve_camera(handle) # by-path name to a /dev/video noderesolve_serial(handle) # by-path name to a /dev/ttyACM node
Use the by-path name, never /dev/video0 or /dev/ttyACM0. Those
numbers change across reboots, so two identical cameras can swap places
between runs.
Tired of long names? Register your own short ones once, then use those
anywhere a handle is accepted.
from zeroruntime.teleops import devicesdevices.CAMERA_ALIASES["wrist"] = "platform-3610000.usb-...-video-index0"
Leave cameras= out, and the follower streams every camera on the Mac. To
choose, set ZERORUNTIME_CAMERAS to their numbers. You need OpenCV:
The numbers change when you plug a camera in or out, so run it again after.
The alias table is Linux only.
The SDK doesn’t open cameras on Windows. To send video, open the camera in
your own code, declare it in push_camera_configs(), and return its frames
from read_images(). See
Follower.
Camera numbers on macOS are not stable the way a by-path name is.
On a machine with more than one camera, confirm which is which before a
session rather than during one.
