hub-camera
Use for camera and video capture nodes in dora. Triggers on: opencv-video-capture, dora-pyrealsense, dora-pyorbbecksdk, realsense, orbbeck, camera, webcam, video capture, RGB, depth camera, image capture, 摄像头, 视频捕获, 深度相机, 图像采集
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- 仓库
- ZhangHanDong/dora-skills
- 最近来源活动
- 2026年1月21日 16:16
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SKILL.md
来源说明 · 只读预览- name
- hub-camera
- description
- Use for camera and video capture nodes in dora. Triggers on: opencv-video-capture, dora-pyrealsense, dora-pyorbbecksdk, realsense, orbbeck, camera, webcam, video capture, RGB, depth camera, image capture, 摄像头, 视频捕获, 深度相机, 图像采集
- globs
- ["**/dataflow.yml","**/dataflow.yaml"]
- source
- https://github.com/dora-rs/dora-hub
# Camera & Video Capture Nodes
> Capture video frames from cameras and depth sensors
## Available Camera Nodes
| Node | Install | Description | Platform |
|------|---------|-------------|----------|
| opencv-video-capture | `pip install opencv-video-capture` | OpenCV camera/video | All |
| dora-pyrealsense | `pip install dora-pyrealsense` | Intel RealSense depth | Linux |
| dora-pyorbbecksdk | `pip install dora-pyorbbecksdk` | Orbbeck depth camera | All |
## opencv-video-capture
OpenCV-based video capture from webcam or video file.
### YAML Configuration
```yaml
- id: camera
build: pip install opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/16 # ~60fps
outputs:
- image
env:
PATH: "0" # Camera index (0, 1, ...) or video file path
IMAGE_WIDTH: 640 # Optional: output width
IMAGE_HEIGHT: 480 # Optional: output height
```
### Outputs
**image** - UInt8Array with metadata:
```python
metadata = {
"width": 640,
"height": 480,
"encoding": "bgr8", # or "rgb8"
"primitive": "image" # for dora-rerun
}
```
### Decoding Output
```python
storage = event["value"]
metadata = event["metadata"]
width = metadata["width"]
height = metadata["height"]
encoding = metadata["encoding"]
channels = 3
frame = storage.to_numpy().astype(np.uint8).reshape((height, width, channels))
# Convert BGR to RGB if needed
if encoding == "bgr8":
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
```
## dora-pyrealsense
Intel RealSense camera with RGB and depth streams.
### YAML Configuration
```yaml
- id: realsense
build: pip install dora-pyrealsense
path: dora-pyrealsense
inputs:
tick: dora/timer/millis/33 # ~30fps
outputs:
- image # RGB image
- depth # Depth image
env:
IMAGE_WIDTH: 640
IMAGE_HEIGHT: 480
```
### Outputs
**image** - RGB UInt8Array
```python
metadata = {"width": 640, "height": 480, "encoding": "rgb8"}
```
**depth** - Float32Array depth values (meters)
```python
metadata = {"width": 640, "height": 480}
```
## dora-pyorbbecksdk
Orbbeck depth camera support.
### YAML Configuration
```yaml
- id: orbbeck
build: pip install dora-pyorbbecksdk
path: dora-pyorbbecksdk
inputs:
tick: dora/timer/millis/33
outputs:
- image
- depth
```
## Image Data Format
All camera nodes output images in Apache Arrow format:
```python
import pyarrow as pa
import numpy as np
# Encoding image
image_data = pa.array(frame.ravel()) # UInt8Array
# Sending
node.send_output("image", image_data, {
"width": 640,
"height": 480,
"encoding": "bgr8",
"primitive": "image" # for dora-rerun visualization
})
```
## Common Patterns
### Camera with Detection Pipeline
```yaml
nodes:
- id: camera
build: pip install opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/33
outputs:
- image
env:
IMAGE_WIDTH: 640
IMAGE_HEIGHT: 480
- id: yolo
build: pip install dora-yolo
path: dora-yolo
inputs:
image: camera/image
outputs:
- bbox
- id: rerun
build: pip install dora-rerun
path: dora-rerun
inputs:
image: camera/image
detections: yolo/bbox
```
### Dual Camera Setup
```yaml
nodes:
- id: camera_left
build: pip install opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/33
outputs:
- image
env:
PATH: "0"
- id: camera_right
build: pip install opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/33
outputs:
- image
env:
PATH: "1"
```
### Depth Camera with 3D Visualization
```yaml
nodes:
- id: realsense
build: pip install dora-pyrealsense
path: dora-pyrealsense
inputs:
tick: dora/timer/millis/33
outputs:
- image
- depth
- id: rerun
build: pip install dora-rerun
path: dora-rerun
inputs:
rgb_camera:
source: realsense/image
metadata:
primitive: "image"
depth_sensor:
source: realsense/depth
metadata:
primitive: "depth"
focal: [600, 600]
camera_position: [0, 0, 0]
```
## Troubleshooting
### Camera not found
```bash
# List available cameras
v4l2-ctl --list-devices # Linux
```
### Permission denied
```bash
# Add user to video group (Linux)
sudo usermod -a -G video $USER
```
### Frame rate issues
- Reduce resolution in env vars
- Increase timer interval (e.g., millis/50 for 20fps)
## Related Skills
- **hub-detection** - Object detection with YOLO, SAM2
- **hub-visualization** - Rerun visualization
- **domain-vision** - Vision pipeline patterns
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