hex-dora-node-camera 0.0.1a3

Dora Node for using Hex Camera

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

Node	Description	Inputs	Outputs
hex-dora-node-usb	USB camera capture (V4L2)	tick	color
hex-dora-node-realsense	Intel RealSense depth camera capture	tick	color, depth
hex-dora-node-berxel	Berxel depth camera capture	tick	color, depth
hex-dora-node-dummy	Dummy camera for testing (generates synthetic frames)	tick	color
hex-dora-node-cam-test	OpenCV window viewer for color/depth streams	tick, color, depth	-

Installation

# Base (includes usb, dummy, cam-test)
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
      FRAME_RATE: 30
      HEIGHT: 480
      WIDTH: 640
      CAM_BUFFER_SIZE: 8
      SEN_TS: True
      CAM_PATH: /dev/video0
      EXPOSURE: 0
      TEMPERATURE: 0
      COLOR_ENCODING: mjpg # bgr8 or mjpg

  - id: cam_test
    build: pip install hex_dora_node_camera
    path: hex-dora-node-cam-test
    inputs:
      tick: dora/timer/millis/2
      color: cam_usb/color
    env:
      NODE_NAME: cam_test
      SHOW_COLOR_TS: False

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
      FRAME_RATE: 30
      HEIGHT: 480
      WIDTH: 640
      CAM_BUFFER_SIZE: 8
      SEN_TS: True
      SERIAL_NUMBER: b021222071077
      COLOR_ENCODING: bgr8 # bgr8 or mjpg
      DEPTH_ENCODING: uint16 # uint16 or png

  - id: cam_test
    build: pip install hex_dora_node_camera
    path: hex-dora-node-cam-test
    inputs:
      tick: dora/timer/millis/2
      color: cam_realsense/color
      depth: cam_realsense/depth
    env:
      NODE_NAME: cam_test
      SHOW_COLOR_TS: False

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
      FRAME_RATE: 30
      HEIGHT: 400
      WIDTH: 640
      CAM_BUFFER_SIZE: 8
      SEN_TS: True
      SERIAL_NUMBER: bP050HYX5410E1A001
      EXPOSURE: 10000
      GAIN: 100
      COLOR_ENCODING: bgr8 # bgr8 or mjpg
      DEPTH_ENCODING: uint16 # uint16 or mjpg

  - id: cam_test
    build: pip install hex_dora_node_camera
    path: hex-dora-node-cam-test
    inputs:
      tick: dora/timer/millis/2
      color: cam_berxel/color
      depth: cam_berxel/depth
    env:
      NODE_NAME: cam_test
      SHOW_COLOR_TS: False

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
      FRAME_RATE: 30
      HEIGHT: 480
      WIDTH: 640
      CAM_BUFFER_SIZE: 8
      SEN_TS: True
      COLOR_ENCODING: bgr8 # bgr8 or mjpg

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

Inputs

Camera Nodes (usb / realsense / berxel / dummy)

Input	Type	Description
tick	dora/timer/millis/*	Timer tick to trigger frame capture

Cam Test Node

Input	Type	Description
tick	dora/timer/millis/*	Timer tick to refresh display
color	Arrow array	Color image from a camera node
depth	Arrow array	(Optional) Depth image from a depth camera node

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)

Variable	Type	Default	Description
NODE_NAME	str	""	Dora node name
FRAME_RATE	int	30	Camera frame rate
HEIGHT	int	480	Image height in pixels
WIDTH	int	640	Image width in pixels
CAM_BUFFER_SIZE	int	8	Camera internal buffer size
SEN_TS	bool	True	Use sensor timestamp
COLOR_ENCODING	str	bgr8	Color encoding: bgr8 or mjpg

USB Camera

Variable	Type	Default	Description
CAM_PATH	str	/dev/video0	V4L2 device path
EXPOSURE	int	100	Camera exposure value (0 = auto)
TEMPERATURE	int	4000	White balance temperature (0 = auto)

Intel RealSense

Variable	Type	Default	Description
SERIAL_NUMBER	str	(required)	Device serial number (prefix with b)
DEPTH_ENCODING	str	uint16	Depth encoding: uint16 or png

Berxel

Variable	Type	Default	Description
SERIAL_NUMBER	str	(required)	Device serial number (prefix with b)
EXPOSURE	int	10000	Camera exposure value
GAIN	int	100	Camera gain value
DEPTH_ENCODING	str	uint16	Depth encoding: uint16 or mjpg

Cam Test

Variable	Type	Default	Description
NODE_NAME	str	""	Dora node name
SHOW_COLOR_TS	bool	False	Overlay timestamp text on color image

License

This project is licensed under Apache-2.0.