add dora-webcam node

Captures frames from a V4L2 camera and publishes them as std/media/v1/Image:
an Arrow struct of width, height, encoding and data, so a receiver needs
nothing from the message metadata. For a compressed encoding the recorded
dimensions are the image's, not the length of the payload.

Based on opencv-video-capture from dora-hub, with three changes. The output is
the typed image struct rather than a flat UInt8 buffer plus metadata. Camera
selection by id reads /dev/v4l/by-id/ only; the upstream macOS system_profiler
and Windows PowerShell enumeration is not carried. CAPTURE_FRAMES bounds a run
so a test ends on its own, in place of upstream's ten-second CI cutoff -- a
timeout would have made the CI step exit non-zero.

CI=true keeps a failed capture from raising, publishing a labelled black frame
instead, which is what lets dataflow.yml run on a machine with no camera.

Two dataflows, run one at a time, as dora has no cross-dataflow wiring:
dataflow.yml is the camera alone and the CI gate; dataflow_view.yml wires it
into dora-image-view and is not run by CI, since it fetches that node over the
network and needs a tag to exist there.

.gitea/workflows/validate.yml

@@ -0,0 +1,86 @@
+# Gates that need no camera: the dataflow still matches the typed contract in
+# dora-node.yml and still runs end to end, the unit tests pass, and the docs
+# lint. CI=true is set by the runner, which is what makes a failed capture
+# publish a placeholder frame instead of raising.
+name: validate
+
+# A pull request would otherwise run this twice on the same commit: once for
+# the branch push and once for the PR.
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+env:
+  DORA_VERSION: v1.0.1
+  DORA_TARGET: x86_64-unknown-linux-gnu
+
+jobs:
+  validate:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      # The opencv-python wheel links against libGL at import time, so cv2
+      # cannot even be imported on the bare runner image.
+      - name: Install the OpenCV shared libraries
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends libgl1 libglib2.0-0
+
+      - uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+
+      # The CLI is a single static binary pinned to DORA_VERSION, so the cache
+      # hit is exact and the download only happens when the version changes.
+      - name: Cache the dora CLI
+        id: dora-cache
+        uses: actions/cache@v4
+        with:
+          path: ~/.local/bin/dora
+          key: dora-cli-${{ env.DORA_VERSION }}-${{ env.DORA_TARGET }}
+
+      - name: Install the dora CLI
+        if: steps.dora-cache.outputs.cache-hit != 'true'
+        run: |
+          curl -fsSL -o dora-cli.tar.gz \
+            "https://github.com/dora-rs/dora/releases/download/${DORA_VERSION}/dora-cli-${DORA_TARGET}.tar.gz"
+          tar xzf dora-cli.tar.gz
+          mkdir -p "$HOME/.local/bin"
+          install -m 755 "dora-cli-${DORA_TARGET}/dora" "$HOME/.local/bin/dora"
+          rm -rf dora-cli.tar.gz "dora-cli-${DORA_TARGET}"
+
+      - name: Put the dora CLI on PATH
+        run: echo "$HOME/.local/bin" >> "$GITHUB_PATH"
+
+      - run: dora --version
+
+      # --locked fails if uv.lock is out of date with pyproject.toml, so a
+      # dependency change that was never locked cannot reach main.
+      - name: Install
+        run: uv sync --locked --group dev
+
+      - run: uv run ruff check .
+
+      - run: uv run pymarkdown scan *.md
+
+      - run: uv run pytest -q
+
+      - name: Validate the node manifest
+        run: dora validate --node-manifest dora-node.yml
+
+      # strict_types: true in the dataflow turns a type warning into a non-zero
+      # exit, so a mismatched annotation fails here rather than at runtime.
+      - name: Validate the dataflow
+        run: dora validate dataflow.yml
+
+      # dataflow_view.yml is deliberately not run: it fetches dora-image-view
+      # over the network and needs a tag to exist there.
+      # CAPTURE_FRAMES bounds the run so it ends on its own; CI=true is already
+      # set by the runner, which makes a failed capture publish a placeholder
+      # frame rather than raising on a machine with no camera.
+      - name: Run the dataflow headless
+        env:
+          CAPTURE_FRAMES: 30
+        run: dora run dataflow.yml --uv

.gitignore

@@ -0,0 +1,11 @@
+__pycache__/
+*.py[cod]
+.venv/
+.pytest_cache/
+.ruff_cache/
+dist/
+
+# dora build working directories
+.dora/
+git/
+out/

AGENTS.md

@@ -0,0 +1,25 @@
+# AGENTS.md
+
+Rules for AI coding assistants working in this repository.
+
+- **dora >= 1.0.** Verified against `dora-cli 1.0.1`, which CI pins in
+  `.gitea/workflows/validate.yml`.
+- **`uv` for everything:** `uv sync --group dev`, `uv run pytest`,
+  `uv run ruff check .`, `uv run python ...`. Never `pip` into the ambient
+  environment.
+- **`ruff` is the linter and the formatter.** `uv run ruff check .` must be clean.
+- **Markdown is linted too.** `uv run pymarkdown scan *.md` must be clean. Its line
+  length is set in `pyproject.toml`.
+- **numpy-style docstrings.**
+- **Dependencies must ship prebuilt wheels for linux-x86_64, linux-aarch64 and
+  macos-arm64.** `uv sync` is the whole install: no system packages, no compiler.
+- **Run the workflow locally with `act` before asking for a commit.** It lives in
+  `.gitea/workflows/`, which is not where `act` looks by default:
+
+  ```bash
+  act pull_request -W .gitea/workflows/validate.yml \
+      -P ubuntu-latest=catthehacker/ubuntu:act-latest
+  ```
+
+- **Do not commit or push.** Leave changes in the working tree and wait to be asked.
+- **Do not mention AI tools in commit messages or documentation.**

CLAUDE.md

@@ -0,0 +1,3 @@
+# CLAUDE.md
+
+See [AGENTS.md](AGENTS.md) for repository guidance.

README.md

@@ -0,0 +1,114 @@
+# dora-webcam
+
+Dora node that captures frames from a webcam and publishes them as
+`std/media/v1/Image`. A source for a vision pipeline: it takes a tick and produces
+frames.
+
+Based on [`opencv-video-capture`](https://github.com/dora-rs/dora-hub/tree/main/node-hub/opencv-video-capture)
+from dora-hub, brought up to the dora 1.0 node contract, narrowed to Linux camera
+selection, and changed to publish the typed Arrow image struct rather than a flat
+buffer plus metadata.
+
+## Usage
+
+Add to your dataflow:
+
+```yaml
+nodes:
+  - id: camera
+    git: ssh://git@gitea.liria.cl:5001/liria/dora-webcam.git
+    tag: v0.1.0
+    build: pip install .
+    path: dora-webcam
+    inputs:
+      tick: dora/timer/millis/33
+    outputs:
+      - image
+```
+
+Run the dataflow with `--uv` (`dora run dataflow.yml --uv`) so the node gets its own
+managed environment.
+
+### Runnable dataflows
+
+Two dataflows live here, run one at a time — dora has no cross-dataflow wiring, so each
+declares the camera itself:
+
+Run either with `dora run <file> --uv`:
+
+| File | Contents |
+|---|---|
+| [`dataflow.yml`](dataflow.yml) | The camera alone |
+| [`dataflow_view.yml`](dataflow_view.yml) | The camera into `dora-image-view` |
+
+`dataflow_view.yml` is the end-to-end check of the pair: it wires this node's `image`
+output into the viewer's `image` input, so a window opens showing the webcam. It fetches
+the viewer over the network, which is why CI validates and runs `dataflow.yml` only.
+
+## Output
+
+| Output | Payload | Metadata |
+|---|---|---|
+| `image` | `std/media/v1/Image` struct | none — the struct describes itself |
+
+The struct carries `width: UInt32`, `height: UInt32`, `encoding: Utf8` and
+`data: LargeBinary`, so a receiver needs nothing from the message metadata. For a
+compressed encoding, `width` and `height` are the image's dimensions, not the length of
+`data`.
+
+## Inputs
+
+| Input | Description |
+|---|---|
+| `tick` | Publishes one frame. Wire to `dora/timer/millis/N`; the node stops when it closes. |
+
+## Environment variables
+
+| Variable | Default | Meaning |
+|---|---|---|
+| `CAMERA_ID` | unset | Substring of a `/dev/v4l/by-id/` entry. Wins over `CAPTURE_PATH`. |
+| `CAPTURE_PATH` | `0` | Device path (`/dev/video1`) or index. A numeric string is an index. |
+| `IMAGE_WIDTH` | native | Requested capture width; frames are also resized to it. |
+| `IMAGE_HEIGHT` | native | Requested capture height; frames are also resized to it. |
+| `ENCODING` | `bgr8` | One of `bgr8`, `rgb8`, `yuv420`, `jpeg`/`jpg`/`jpe`, `png`, `bmp`, `webp`. |
+| `JPEG_QUALITY` | `95` | Quality 0-100, used only by the JPEG encodings. |
+| `FLIP` | unset | `VERTICAL`, `HORIZONTAL` or `BOTH`. |
+| `CAPTURE_FRAMES` | `0` | Stop after this many frames. 0 runs until the tick closes. |
+
+Resizing only happens when both `IMAGE_WIDTH` and `IMAGE_HEIGHT` are set.
+
+`CAMERA_ID` is worth preferring on a robot: a by-id name is stable across reboots and
+across which USB port the camera is in, and an index is not.
+
+`CI=true` makes a failed read publish a labelled black frame instead of raising, which
+is what lets the dataflow run on a machine with no camera. It is not a configuration
+knob.
+
+## Build
+
+```bash
+uv sync
+```
+
+Every dependency ships prebuilt wheels for linux-x86_64, linux-aarch64 and macos-arm64,
+so the node installs with no system packages and no compiler.
+
+**Requirements:** dora 1.0+ (verified with `dora-cli 1.0.1`), Python 3.11+, `uv`, and a
+V4L2 camera. On a bare Linux image `opencv-python` also needs the libGL shared libraries
+(`libgl1`, `libglib2.0-0`), which it links at import time.
+
+## Test
+
+```bash
+uv run pytest
+```
+
+Unit tests over device resolution, encoding and the image struct; they need neither a
+camera nor a dataflow. The headless `dataflow.yml` run covers the wiring and the event
+loop.
+
+## Camera selection on other platforms
+
+Selecting by `CAMERA_ID` reads `/dev/v4l/by-id/`, so it is Linux only. Upstream also
+enumerates cameras through macOS `system_profiler` and Windows PowerShell; that is not
+carried here. `CAPTURE_PATH` works everywhere.

dataflow.yml

@@ -0,0 +1,16 @@
+# The camera alone, and the CI gate: with CI=true a failed read publishes a
+# placeholder frame rather than raising, so this runs on a machine with no
+# camera.
+strict_types: true
+
+nodes:
+  - id: camera
+    path: dora-webcam
+    build: pip install .
+    inputs:
+      tick: dora/timer/millis/33
+    outputs:
+      - image
+
+  # Nothing consumes the frames here; the point is that the node opens, encodes
+  # and publishes. dataflow_view.yml is the pair that shows them.

dataflow_view.yml

@@ -0,0 +1,23 @@
+# The camera into the viewer: the end-to-end check of the pair.
+#
+# Not run by CI. It fetches dora-image-view over the network, and it needs a
+# tag to exist in that repository; CI validates and runs dataflow.yml, which
+# needs neither.
+strict_types: true
+
+nodes:
+  - id: camera
+    path: dora-webcam
+    build: pip install .
+    inputs:
+      tick: dora/timer/millis/33
+    outputs:
+      - image
+
+  - id: view
+    git: ssh://git@gitea.liria.cl:5001/liria/dora-image-view.git
+    tag: v0.1.0
+    build: pip install .
+    path: dora-image-view
+    inputs:
+      image: camera/image

dora-node.yml

@@ -0,0 +1,84 @@
+# Node manifest: the typed contract a consumer wires against.
+#
+# No source package is shared between node repositories, so this file and its
+# type URNs are the only contract a consumer has. `dora validate` checks a
+# dataflow against it without running the node, so CI needs neither a camera nor
+# OpenCV.
+apiVersion: 1
+name: dora-webcam
+namespace: liria
+description: Captures frames from a webcam and publishes them as std/media/v1/Image
+categories: [sensor]
+keywords: [opencv, camera, webcam, video, capture, image, v4l2]
+
+runtime: python
+entrypoint: dora-webcam
+# `dora build --uv` / `dora run --uv` rewrites this to `uv pip install .` and
+# gives the node its own managed venv under `.dora/python-envs/`, so the
+# dependencies it sees at runtime are the ones installed here.
+build: pip install .
+dora: ">=1.0"
+
+inputs:
+  tick:
+    required: true
+    description: >-
+      Reads and publishes one frame. Wire to dora/timer/millis/N. The node stops
+      when this input closes.
+
+outputs:
+  image:
+    type: std/media/v1/Image
+    description: >-
+      Captured frame as an Arrow struct {width, height, encoding, data}. For a
+      compressed encoding, width and height are the image's dimensions rather
+      than the length of data, so a receiver can size a buffer without decoding
+      first.
+
+env:
+  CAMERA_ID:
+    description: >-
+      Substring of an entry in /dev/v4l/by-id/. Stable across reboots and across
+      which USB port the camera is in, unlike an index, so it takes precedence
+      over CAPTURE_PATH. Linux only.
+  CAPTURE_PATH:
+    default: "0"
+    description: Device path such as /dev/video1, or an index. A numeric string is read as an index.
+  IMAGE_WIDTH:
+    type: int
+    description: Requested capture width; frames are also resized to it. Defaults to the camera's native width.
+  IMAGE_HEIGHT:
+    type: int
+    description: Requested capture height; frames are also resized to it. Defaults to the camera's native height.
+  ENCODING:
+    default: bgr8
+    description: One of bgr8, rgb8, yuv420, jpeg/jpg/jpe, png, bmp, webp.
+  JPEG_QUALITY:
+    type: int
+    default: 95
+    description: Quality 0-100, used only by the JPEG encodings.
+  FLIP:
+    description: Flip the frame. One of VERTICAL, HORIZONTAL or BOTH. Unset means no flip.
+  CAPTURE_FRAMES:
+    type: int
+    default: 0
+    description: >-
+      Stop after this many frames. 0, the default, runs until the tick input
+      closes. A positive count is what lets a test run the dataflow to
+      completion rather than killing it on a timeout.
+  CI:
+    type: bool
+    description: >-
+      When true, a failed read publishes a labelled black frame instead of
+      raising, which is what lets the dataflow run on a machine with no camera.
+
+example: |
+  - id: camera
+    git: ssh://git@gitea.liria.cl:5001/liria/dora-webcam.git
+    tag: v0.1.0
+    build: pip install .
+    path: dora-webcam
+    inputs:
+      tick: dora/timer/millis/33
+    outputs:
+      - image

dora_webcam/__init__.py

@@ -0,0 +1 @@
+"""Dora node that captures webcam frames and publishes them as std/media/v1/Image."""

dora_webcam/camera.py

@@ -0,0 +1,147 @@
+"""Opening a capture device and reading frames from it."""
+
+import os
+import platform
+
+import cv2
+import numpy as np
+
+BY_ID = "/dev/v4l/by-id/"
+
+# Size of the frame substituted when a read fails under CI.
+PLACEHOLDER = (480, 640)
+
+
+def resolve(camera_id: str | None, capture_path: str | int) -> str | int:
+    """Decide which device to open.
+
+    Parameters
+    ----------
+    camera_id : str or None
+        Substring of an entry in ``/dev/v4l/by-id/``. A by-id name is stable
+        across reboots and across which USB port a camera is in, unlike an
+        index, so it takes precedence when set.
+    capture_path : str or int
+        Device path such as ``/dev/video1``, or an index. A numeric string is
+        read as an index.
+
+    Returns
+    -------
+    str or int
+        The argument to hand to ``cv2.VideoCapture``.
+
+    Raises
+    ------
+    RuntimeError
+        If ``camera_id`` is set and matches no device.
+
+    """
+    if camera_id:
+        index = _by_id(camera_id)
+
+        if index is None:
+            raise RuntimeError(
+                f"no camera matching id `{camera_id}`. "
+                f"{_hint()}",
+            )
+
+        return index
+
+    if isinstance(capture_path, str) and capture_path.isnumeric():
+        return int(capture_path)
+
+    return capture_path
+
+
+def read(capture: cv2.VideoCapture, device: str | int, ci: bool) -> np.ndarray:
+    """Read one frame, or a placeholder when running without a camera.
+
+    Parameters
+    ----------
+    capture : cv2.VideoCapture
+        An opened capture device.
+    device : str or int
+        What was opened, used only in messages.
+    ci : bool
+        When true, a failed read yields a labelled black frame instead of
+        raising. This is what lets the dataflow run on a machine with no
+        camera, which is every CI runner.
+
+    Returns
+    -------
+    np.ndarray
+        A BGR frame.
+
+    Raises
+    ------
+    RuntimeError
+        If the read fails and ``ci`` is false.
+
+    """
+    ok, frame = capture.read()
+
+    if ok:
+        return frame
+
+    if not ci:
+        raise RuntimeError(
+            f"could not read a frame from `{device}`. To keep a dataflow "
+            f"running across a camera disconnect, set `restart_policy: "
+            f"on-failure` on this node.",
+        )
+
+    return placeholder(f"no frame from {device}")
+
+
+def placeholder(message: str) -> np.ndarray:
+    """Build the black frame that stands in for a camera that did not read.
+
+    Parameters
+    ----------
+    message : str
+        Text drawn on the frame, so a recording shows why it is black.
+
+    Returns
+    -------
+    np.ndarray
+        A BGR frame of size ``PLACEHOLDER``.
+
+    """
+    frame = np.zeros((*PLACEHOLDER, 3), dtype=np.uint8)
+    cv2.putText(
+        frame,
+        message,
+        (30, 30),
+        cv2.FONT_HERSHEY_SIMPLEX,
+        0.5,
+        (255, 255, 255),
+        1,
+    )
+    return frame
+
+
+def _by_id(camera_id: str) -> int | None:
+    """Find the /dev/videoN index whose by-id name contains `camera_id`."""
+    if not os.path.isdir(BY_ID):
+        return None
+
+    for entry in sorted(os.listdir(BY_ID)):
+        if camera_id.lower() not in entry.lower():
+            continue
+
+        target = os.path.realpath(os.path.join(BY_ID, entry))
+
+        if target.startswith("/dev/video"):
+            return int(target.removeprefix("/dev/video"))
+
+    return None
+
+
+def _hint() -> str:
+    if platform.system() != "Linux":
+        return (
+            "Selecting a camera by id is implemented for Linux only; "
+            "use CAPTURE_PATH with an index or device path instead."
+        )
+
+    return f"Check {BY_ID} for the ids this machine offers."

dora_webcam/encode.py

@@ -0,0 +1,70 @@
+"""Turning a captured BGR frame into the bytes of a chosen encoding."""
+
+import cv2
+import numpy as np
+
+# Compressed encodings, and the OpenCV file suffix each is written through.
+COMPRESSED = {
+    "jpeg": ".jpeg",
+    "jpg": ".jpg",
+    "jpe": ".jpe",
+    "png": ".png",
+    "bmp": ".bmp",
+    "webp": ".webp",
+}
+
+RAW = ("bgr8", "rgb8", "yuv420")
+
+SUPPORTED = (*RAW, *COMPRESSED)
+
+
+def encode(frame: np.ndarray, encoding: str, jpeg_quality: int) -> np.ndarray:
+    """Convert a BGR frame into the bytes of ``encoding``.
+
+    Parameters
+    ----------
+    frame : np.ndarray
+        Captured frame, BGR, as OpenCV reads it.
+    encoding : str
+        One of ``SUPPORTED``.
+    jpeg_quality : int
+        Quality 0-100, consulted only for the JPEG encodings.
+
+    Returns
+    -------
+    np.ndarray
+        The bytes to publish. Its shape is not the image shape for a
+        compressed encoding, which is why the dimensions are recorded
+        separately.
+
+    Raises
+    ------
+    RuntimeError
+        If ``encoding`` is unsupported, or the encoder fails.
+
+    """
+    if encoding == "bgr8":
+        return frame
+
+    if encoding == "rgb8":
+        return cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+
+    if encoding == "yuv420":
+        return cv2.cvtColor(frame, cv2.COLOR_BGR2YUV_I420)
+
+    if encoding in COMPRESSED:
+        params = (
+            [cv2.IMWRITE_JPEG_QUALITY, jpeg_quality]
+            if encoding in ("jpeg", "jpg", "jpe")
+            else []
+        )
+        ok, encoded = cv2.imencode(COMPRESSED[encoding], frame, params)
+
+        if not ok:
+            raise RuntimeError(f"could not encode the frame as {encoding}")
+
+        return encoded
+
+    raise RuntimeError(
+        f"unsupported encoding: {encoding}; expected one of {', '.join(SUPPORTED)}",
+    )

dora_webcam/image.py

@@ -0,0 +1,48 @@
+"""Packing a frame as std/media/v1/Image.
+
+The struct is respelled here rather than imported from the viewer: node
+repositories share no source package, so the manifest and this schema are the
+whole contract between them.
+"""
+
+import numpy as np
+import pyarrow as pa
+
+IMAGE_TYPE = pa.struct([
+    ("width", pa.uint32()),
+    ("height", pa.uint32()),
+    ("encoding", pa.utf8()),
+    ("data", pa.large_binary()),
+])
+
+
+def pack(frame: np.ndarray, encoding: str, width: int, height: int) -> pa.Array:
+    """Pack encoded frame bytes as a single-row std/media/v1/Image array.
+
+    Parameters
+    ----------
+    frame : np.ndarray
+        The bytes to send. Either a raw pixel buffer or the output of an
+        encoder; either way only its bytes are read.
+    encoding : str
+        Name of the encoding the bytes are in, e.g. ``bgr8`` or ``jpeg``.
+    width, height : int
+        Dimensions of the *image*, which for a compressed encoding are not the
+        shape of ``frame``. They are recorded so a receiver can size a buffer
+        without decoding first.
+
+    Returns
+    -------
+    pa.Array
+        One-row struct array matching ``IMAGE_TYPE``.
+
+    """
+    return pa.array(
+        [{
+            "width": width,
+            "height": height,
+            "encoding": encoding,
+            "data": frame.tobytes(),
+        }],
+        type=IMAGE_TYPE,
+    )

dora_webcam/main.py

@@ -0,0 +1,113 @@
+"""A dora webcam source: captures frames and publishes them as std/media/v1/Image.
+
+Each `tick` reads one frame, optionally flips and resizes it, encodes it, and
+sends it. The node stops when the tick input closes, or after CAPTURE_FRAMES
+frames if that is set.
+"""
+
+import argparse
+import os
+
+import cv2
+from dora import Node
+
+from dora_webcam import camera, encode, image
+
+FLIPS = {
+    "VERTICAL": 0,
+    "HORIZONTAL": 1,
+    "BOTH": -1,
+}
+
+
+def main() -> None:
+    """Open the camera and publish one frame per tick."""
+    args = _parse_args()
+
+    device = camera.resolve(os.getenv("CAMERA_ID"), os.getenv("CAPTURE_PATH", "0"))
+    capture = cv2.VideoCapture(device)
+
+    width = _int("IMAGE_WIDTH")
+    height = _int("IMAGE_HEIGHT")
+
+    # Ask the camera for the size rather than only resizing after the fact: a
+    # camera that can deliver it natively avoids a scale per frame.
+    if width and height:
+        capture.set(cv2.CAP_PROP_FRAME_WIDTH, width)
+        capture.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
+
+    encoding = os.getenv("ENCODING", "bgr8").lower()
+    quality = _int("JPEG_QUALITY") or 95
+    flip = FLIPS.get(os.getenv("FLIP", "").upper())
+    ci = os.getenv("CI") == "true"
+    # 0 runs until the tick closes; a positive count is what lets CI run the
+    # dataflow to completion instead of killing it on a timeout.
+    limit = _int("CAPTURE_FRAMES") or 0
+
+    node = Node(args.name)
+    sent = 0
+
+    try:
+        for event in node:
+            if event["type"] == "ERROR":
+                raise RuntimeError(event["error"])
+
+            if event["type"] == "INPUT_CLOSED" and event.get("id") == "tick":
+                break
+
+            if event["type"] != "INPUT" or event["id"] != "tick":
+                continue
+
+            frame = camera.read(capture, device, ci)
+
+            if flip is not None:
+                frame = cv2.flip(frame, flip)
+
+            if width and height and (frame.shape[1], frame.shape[0]) != (width, height):
+                frame = cv2.resize(frame, (width, height))
+
+            # Taken before encoding: a compressed payload's byte count is not
+            # its pixel dimensions.
+            frame_height, frame_width = frame.shape[:2]
+
+            node.send_output(
+                "image",
+                image.pack(
+                    encode.encode(frame, encoding, quality),
+                    encoding,
+                    frame_width,
+                    frame_height,
+                ),
+                {},
+            )
+
+            sent += 1
+            if limit and sent >= limit:
+                break
+    finally:
+        capture.release()
+
+
+def _parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Dora webcam source: publishes captured frames as std/media/v1/Image.",
+    )
+    parser.add_argument(
+        "--name",
+        type=str,
+        default="dora-webcam",
+        # Passing the name lets the node also run standalone as a dynamic node;
+        # when dora spawns it, the id from the dataflow wins.
+        help="The name of the node in the dataflow.",
+    )
+    return parser.parse_args()
+
+
+def _int(name: str) -> int | None:
+    """Read an integer environment variable, treating unset and empty as absent."""
+    value = os.getenv(name)
+    return int(value) if value else None
+
+
+if __name__ == "__main__":
+    main()

pyproject.toml

@@ -0,0 +1,44 @@
+[project]
+name = "dora-webcam"
+version = "0.1.0"
+description = "Dora node that captures frames from a webcam and publishes them as std/media/v1/Image"
+readme = "README.md"
+license = { text = "MIT" }
+requires-python = ">=3.11"
+
+# Every dependency ships prebuilt wheels for linux-x86_64, linux-aarch64 and
+# macos-arm64, so the node installs with no system packages and no compiler.
+dependencies = [
+  "dora-rs >= 1.0.1",
+  "numpy >= 2.0",
+  "opencv-python >= 4.9",
+  "pyarrow >= 17.0",
+]
+
+[project.scripts]
+dora-webcam = "dora_webcam.main:main"
+
+[dependency-groups]
+dev = ["pymarkdownlnt >= 0.9.30", "pytest >= 8.1", "ruff >= 0.9"]
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = ["dora_webcam"]
+
+[tool.ruff.lint]
+extend-select = ["D", "I", "N", "RET", "UP"]
+
+[tool.ruff.lint.pydocstyle]
+convention = "numpy"
+
+[tool.ruff.lint.per-file-ignores]
+# Test names are the documentation here; a docstring would only repeat them.
+"tests/*" = ["D1"]
+
+[tool.pymarkdown]
+# The prose here wraps near ruff's 88; 100 leaves room for a long link or table
+# row without inviting unwrapped paragraphs.
+plugins.md013.line_length = 100

tests/test_dora_webcam.py

@@ -0,0 +1,148 @@
+"""Tests that need neither a camera nor a dataflow."""
+
+import os
+
+import cv2
+import numpy as np
+import pyarrow as pa
+import pytest
+
+from dora_webcam import camera, encode, image
+
+WIDTH, HEIGHT = 12, 8
+
+
+@pytest.fixture
+def frame() -> np.ndarray:
+    rng = np.random.default_rng(seed=0)
+    return rng.integers(0, 255, (HEIGHT, WIDTH, 3), dtype=np.uint8)
+
+
+def test_a_numeric_capture_path_is_read_as_an_index():
+    assert camera.resolve(None, "1") == 1
+
+
+def test_a_device_path_is_passed_through():
+    assert camera.resolve(None, "/dev/video2") == "/dev/video2"
+
+
+def test_an_unmatched_camera_id_is_an_error():
+    with pytest.raises(RuntimeError, match="no camera matching id"):
+        camera.resolve("nothing-matches-this", "0")
+
+
+def test_camera_id_resolves_through_by_id(tmp_path, monkeypatch):
+    # A by-id directory of one symlink, standing in for /dev/v4l/by-id.
+    by_id = tmp_path / "by-id"
+    by_id.mkdir()
+    (by_id / "usb-Acme_Webcam_1234-video-index0").symlink_to("/dev/video3")
+    monkeypatch.setattr(camera, "BY_ID", str(by_id) + os.sep)
+
+    assert camera.resolve("acme_webcam", "0") == 3
+
+
+def test_camera_id_wins_over_capture_path(tmp_path, monkeypatch):
+    by_id = tmp_path / "by-id"
+    by_id.mkdir()
+    (by_id / "usb-Acme_Webcam-video-index0").symlink_to("/dev/video5")
+    monkeypatch.setattr(camera, "BY_ID", str(by_id) + os.sep)
+
+    assert camera.resolve("acme", "/dev/video9") == 5
+
+
+def test_bgr8_is_passed_through_unchanged(frame):
+    np.testing.assert_array_equal(encode.encode(frame, "bgr8", 95), frame)
+
+
+def test_rgb8_swaps_the_channels(frame):
+    encoded = encode.encode(frame, "rgb8", 95)
+
+    np.testing.assert_array_equal(cv2.cvtColor(encoded, cv2.COLOR_RGB2BGR), frame)
+
+
+@pytest.mark.parametrize("encoding", ["jpeg", "png", "bmp", "webp"])
+def test_compressed_encodings_round_trip(frame, encoding):
+    encoded = encode.encode(frame, encoding, 100)
+
+    decoded = cv2.imdecode(np.frombuffer(encoded.tobytes(), np.uint8), cv2.IMREAD_COLOR)
+
+    assert decoded.shape == frame.shape
+
+
+def test_yuv420_is_one_and_a_half_bytes_per_pixel(frame):
+    encoded = encode.encode(frame, "yuv420", 95)
+
+    assert encoded.size == WIDTH * HEIGHT * 3 // 2
+
+
+def test_an_unsupported_encoding_is_rejected(frame):
+    with pytest.raises(RuntimeError, match="unsupported encoding"):
+        encode.encode(frame, "tiff", 95)
+
+
+def test_packing_produces_the_image_struct(frame):
+    packed = image.pack(frame, "bgr8", WIDTH, HEIGHT)
+
+    assert packed.type == image.IMAGE_TYPE
+    row = packed[0].as_py()
+    assert (row["width"], row["height"], row["encoding"]) == (WIDTH, HEIGHT, "bgr8")
+    np.testing.assert_array_equal(
+        np.frombuffer(row["data"], np.uint8).reshape(HEIGHT, WIDTH, 3),
+        frame,
+    )
+
+
+def test_packing_records_image_size_not_payload_size(frame):
+    # A compressed payload is a 1-D byte run; the receiver still needs the
+    # image's dimensions, so they are recorded rather than inferred.
+    encoded = encode.encode(frame, "jpeg", 95)
+
+    row = image.pack(encoded, "jpeg", WIDTH, HEIGHT)[0].as_py()
+
+    assert (row["width"], row["height"]) == (WIDTH, HEIGHT)
+    assert len(row["data"]) != WIDTH * HEIGHT * 3
+
+
+def test_the_placeholder_frame_is_labelled():
+    frame = camera.placeholder("no frame from 0")
+
+    assert frame.shape == (*camera.PLACEHOLDER, 3)
+    assert frame.any(), "the message should have been drawn"
+
+
+class FakeCapture:
+    """Stands in for cv2.VideoCapture."""
+
+    def __init__(self, ok: bool) -> None:
+        self._ok = ok
+
+    def read(self):
+        return self._ok, np.zeros((4, 4, 3), dtype=np.uint8)
+
+
+def test_a_failed_read_raises_outside_ci():
+    with pytest.raises(RuntimeError, match="could not read a frame"):
+        camera.read(FakeCapture(ok=False), 0, ci=False)
+
+
+def test_a_failed_read_yields_a_placeholder_under_ci():
+    frame = camera.read(FakeCapture(ok=False), 0, ci=True)
+
+    assert frame.shape == (*camera.PLACEHOLDER, 3)
+
+
+def test_a_good_read_is_returned_as_is():
+    frame = camera.read(FakeCapture(ok=True), 0, ci=False)
+
+    assert frame.shape == (4, 4, 3)
+
+
+def test_the_struct_matches_what_the_viewer_expects():
+    # The viewer respells this schema in its own repository; they share no
+    # package, so the field names and types are the entire contract.
+    assert image.IMAGE_TYPE == pa.struct([
+        ("width", pa.uint32()),
+        ("height", pa.uint32()),
+        ("encoding", pa.utf8()),
+        ("data", pa.large_binary()),
+    ])

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