Question: Where is the camera functionality actually used?

[Alkacid]

Hi! I'm exploring the codebase and noticed that LeLampFollower has camera integration code.

However, I couldn't find where the camera is actually called in the runtime code (main.py,, motors_service.py, etc.). The motors and RGB features are clearly used, but not the cameras.

Questions:

• Is the camera functionality currently being used somewhere I missed?
• Or is it reserved for future features?

Thanks for any clarification.

[NikolasNing]

I have the same question as you, and there is no information related to cameras in the BOM.

[much0762]

The camera in LeLampFollower is initialized but not actually called in the runtime code (main.py, motors_service.py, etc.).

The root cause is a configuration error in config_lelamp_follower.py. The default camera config is empty, so the camera cannot be loaded and used.

You can fix it by updating the camera configuration in config_lelamp_follower.py like this:

cameras: dict[str, OpenCVCameraConfig] = field(
    default_factory=lambda: {
        "cam": OpenCVCameraConfig(
            index_or_path=0,
            width=640,
            height=480,
            fps=30,
        )
    }
)