Adding PS4Eye feature to current repository. First batch of test succ…

[rafafelixphd]

feat(cameras): Implement Sony PS4 Eye stereo camera driver

Type / Scope

• Type: Feature
• Scope: lerobot/cameras/ps4eye

Summary / Motivation

The PS4 Eye is an inexpensive (~$10–15 used) stereo USB camera that enumerates as a standard UVC device. This PR creates the full driver, bringing the PS4 Eye to the same standard as OpenCVCamera.

The key design challenge is running two eye instances (left / right) as independent cameras in the lerobot pipeline without opening the device twice. A class-level shared VideoCapture registry solves this: the device is opened once and both instances read from the same raw frame buffer, each applying its own stereo crop.

Related issues

• Related: # (none — community contribution)

What was created

• configuration_ps4eye.py — PS4EyeCameraConfig with EyeSelection enum (left / right / both); a str enum is required because draccus cannot decode Literal types from CLI config strings
• camera_ps4eye.py — PS4EyeCamera: shared VideoCapture registry, stereo crop table for 3448×808 and 1748×408 resolutions, read() / async_read() / read_latest(), eager read thread start on connect()
• cameras/utils.py — ps4eye registered in make_cameras_from_configs
• lerobot_teleoperate.py / lerobot_record.py — PS4EyeCameraConfig imported so draccus resolves type: ps4eye in --robot.cameras
• lerobot_find_cameras.py — lerobot-find-cameras ps4eye support added

No breaking changes. Existing camera types are unaffected.

How was this tested (or how to run locally)

Verified on macOS (Apple Silicon) with a PS4 Eye connected via USB.

Find the device index:

lerobot-find-cameras ps4eye

--- Detected Cameras ---
Camera #0:
  Name: PS4 Eye @ 1
  Type: PS4Eye
  Id: 1
  Backend api: AVFOUNDATION
  Default stream profile:
    Width: 1748
    Height: 408
    Fps: 30.00003
--------------------

Run teleoperation with both eyes as independent cameras:

lerobot-teleoperate \
  --robot.type=so101_follower \
  --robot.port=/dev/tty.usbmodemXXX \
  --robot.id=my_robot \
  --teleop.type=so101_leader \
  --teleop.port=/dev/tty.usbmodemYYY \
  --teleop.id=my_leader \
  --robot.cameras='{ left: {type: ps4eye, index_or_path: 1, width: 3448, height: 808, fps: 30, eye: left}, right: {type: ps4eye, index_or_path: 1, width: 3448, height: 808, fps: 30, eye: right}}' \
  --display_data=true

Python API:

cameras = {
    "left":  PS4EyeCamera(PS4EyeCameraConfig(index_or_path=1, eye="left",  width=3448, height=808, fps=30)),
    "right": PS4EyeCamera(PS4EyeCameraConfig(index_or_path=1, eye="right", width=3448, height=808, fps=30)),
}
for cam in cameras.values():
    cam.connect()
left_img  = cameras["left"].read()   # → (800, 1264, 3)
right_img = cameras["right"].read()  # → (800, 1264, 3)

Manual checks:

• ✅ Both eyes resolve to the correct crop dimensions
• ✅ Two instances share one VideoCapture (device opened once)
• ✅ read_latest() available immediately after connect()
• ✅ Full teleoperation loop at 60 Hz with --display_data=true
• ✅ Clean connect / disconnect lifecycle

No automated tests in this PR (can be added as follow-up).

Checklist (required before merge)

• Linting/formatting run (pre-commit run -a)
• All tests pass locally (pytest)
• Documentation updated
• CI is green

Reviewer notes

• The _SHARED_CAPTURES class-level registry in camera_ps4eye.py is the core non-obvious design — worth a close read
• Firmware upload (needed on some Linux distros to enumerate the device) is intentionally out of scope
• EyeSelection enum instead of Literal is a draccus requirement — see inline comment in configuration_ps4eye.py