hex_dora_node_camera

Dora nodes for capturing and viewing camera images. Supports multiple camera backends including USB cameras, Intel RealSense, Berxel depth cameras, and a dummy camera for testing.

Nodes

Installation

# Base (includes usb, dummy, and test nodes)
pip install hex_dora_node_camera

# With Berxel support
pip install hex_dora_node_camera[berxel]

# With RealSense support
pip install hex_dora_node_camera[realsense]

# All backends
pip install hex_dora_node_camera[all]

YAML Examples

USB Camera

nodes:
  - id: cam_usb
    build: pip install hex_dora_node_camera
    path: hex-dora-node-usb
    inputs:
      tick: dora/timer/millis/2
    outputs:
      - color
    env:
      NODE_NAME: cam_usb
      # base
      FRAME_RATE: 30
      HEIGHT: 480
      WIDTH: 640
      CAM_BUFFER_SIZE: 8
      SEN_TS: True
      # usb
      CAM_PATH: /dev/video0
      EXPOSURE: 0
      TEMPERATURE: 0
      # encoding
      COLOR_ENCODING: mjpg # bgr8 or mjpg

  - id: test_usb
    build: pip install hex_dora_node_camera
    path: hex-dora-node-test-usb
    inputs:
      tick: dora/timer/millis/2
      color: cam_usb/color
    env:
      NODE_NAME: test_usb

Intel RealSense

nodes:
  - id: cam_realsense
    build: pip install hex_dora_node_camera[realsense]
    path: hex-dora-node-realsense
    inputs:
      tick: dora/timer/millis/2
    outputs:
      - color
      - depth
    env:
      NODE_NAME: cam_realsense
      # base
      FRAME_RATE: 30
      HEIGHT: 480
      WIDTH: 640
      CAM_BUFFER_SIZE: 8
      SEN_TS: True
      # realsense
      SERIAL_NUMBER: b021222071077
      # encoding
      COLOR_ENCODING: bgr8 # bgr8 or mjpg
      DEPTH_ENCODING: uint16 # uint16 or png

  - id: test_realsense
    build: pip install hex_dora_node_camera
    path: hex-dora-node-test-realsense
    inputs:
      tick: dora/timer/millis/2
      color: cam_realsense/color
      depth: cam_realsense/depth
    env:
      NODE_NAME: test_realsense

Berxel Depth Camera

nodes:
  - id: cam_berxel
    build: pip install hex_dora_node_camera[berxel]
    path: hex-dora-node-berxel
    inputs:
      tick: dora/timer/millis/2
    outputs:
      - color
      - depth
    env:
      NODE_NAME: cam_berxel
      # base
      FRAME_RATE: 30
      HEIGHT: 400
      WIDTH: 640
      CAM_BUFFER_SIZE: 8
      SEN_TS: True
      # berxel
      SERIAL_NUMBER: bP050HYX5410E1A001
      EXPOSURE: 10000
      GAIN: 100
      # encoding
      COLOR_ENCODING: bgr8 # bgr8 or mjpg
      DEPTH_ENCODING: uint16 # uint16 or mjpg

  - id: test_berxel
    build: pip install hex_dora_node_camera
    path: hex-dora-node-test-berxel
    inputs:
      tick: dora/timer/millis/2
      color: cam_berxel/color
      depth: cam_berxel/depth
    env:
      NODE_NAME: test_berxel

Dummy Camera (Testing)

nodes:
  - id: cam_dummy
    build: pip install hex_dora_node_camera
    path: hex-dora-node-dummy
    inputs:
      tick: dora/timer/millis/2
    outputs:
      - color
    env:
      NODE_NAME: cam_dummy
      # base
      FRAME_RATE: 30
      HEIGHT: 480
      WIDTH: 640
      CAM_BUFFER_SIZE: 8
      SEN_TS: True
      # encoding
      COLOR_ENCODING: bgr8 # bgr8 or mjpg

  - id: test_dummy
    build: pip install hex_dora_node_camera
    path: hex-dora-node-test-dummy
    inputs:
      tick: dora/timer/millis/2
      color: cam_dummy/color
    env:
      NODE_NAME: test_dummy
      SHOW_COLOR_TS: True

Inputs

Camera Nodes (usb / realsense / berxel / dummy)

Test Nodes (test-usb / test-dummy)

Test Nodes (test-realsense / test-berxel)

Outputs

color

Arrow array containing the color image.

color_data: UInt8Array  # pa.array(img.ravel()) or pa.array(jpeg_bytes)
metadata = {
    "width": int,       # e.g. 640
    "height": int,      # e.g. 480
    "encoding": str,    # "bgr8" or "mjpg"
    "primitive": "image",
}

depth

Arrow array containing the depth image (only for realsense and berxel).

depth_data: UInt16Array  # pa.array(depth.ravel()) or pa.array(png_bytes)
metadata = {
    "width": int,       # e.g. 640
    "height": int,      # e.g. 480
    "encoding": str,    # "uint16", "png" (realsense) or "mjpg" (berxel)
    "primitive": "image",
}

Environment Variables

Common (all camera nodes)

USB Camera

Intel RealSense

Berxel

Test Dummy

License

This project is licensed under Apache-2.0.