feat(realworld): add LUMOS V4L2 camera backend#1146
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Add a third camera backend alongside RealSense and ZED for LUMOS USB cameras, which expose a raw I420 (YU12) V4L2 stream. LumosCamera disables OpenCV's built-in RGB conversion, reshapes the packed YUV buffer, and does the I420->BGR conversion manually so the output matches the RealSense / ZED backends (BGR uint8). Depth is not available from this V4L2 interface. FrankaRobot gains a "lumos" branch in camera enumeration and SDK validation; the only runtime dependency is opencv-python (cv2). Mirroring the ZED smoke script, toolkits/realworld_check/test_lumos_camera.py provides a hardware-in-loop sanity check. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> Signed-off-by: Brunch-Life <brunchlife@hotmail.com>
QuanluZhang
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May 14, 2026
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Add a third camera backend alongside RealSense and ZED for LUMOS USB cameras.
FrankaRobot gains a "lumos" branch in camera enumeration and SDK validation; the only runtime dependency is opencv-python (cv2).
Mirroring the ZED smoke script, toolkits/realworld_check/test_lumos_camera.py provides a hardware-in-loop sanity check.
Motivation and Context
Add Lumos camera support for RLinf.
How has this been tested?
It can pass the realworld test. Also the test_lumos_camera.py can pass.
Additional information (optional, e.g., figures and logs):
Types of changes
Checklist: