dora-webcam/README.md

# 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: uv pip install .
    path: dora-webcam
    inputs:
      tick: dora/timer/millis/33
    outputs:
      - image
```

Run the dataflow with `--uv` (`dora run dataflow.yml --uv`): the build command is
`uv pip install .`, so the node gets its own managed environment and never installs into
an ambient one.

### Runnable dataflow

[`dataflow.yml`](dataflow.yml) is the camera on its own, and is what CI runs:

```bash
dora run dataflow.yml --uv
```

Nothing consumes the frames, so to actually see them set `PREVIEW`:

```bash
PREVIEW=true dora run dataflow.yml --uv
```

A window opens showing the frames as they are published. Press `q` to stop. That is
enough to check a camera, an encoding or a flip without wiring a second node — which is
why there is one dataflow here rather than one per consumer.

For a real pipeline, wire `image` into any node that takes `std/media/v1/Image`, from
your own dataflow. This repository names no consumer: it is a source, and depending on
something downstream of it only to demonstrate it would be a cycle.

## 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. |

## Configuring it

Every setting below is an environment variable, which is convenient for one and
awkward for several. A dataflow can carry them instead, per node, which keeps the
configuration with the wiring it belongs to and out of whatever shell happens to start
it:

```yaml
nodes:
  - id: camera
    git: ssh://git@gitea.liria.cl:5001/liria/dora-webcam.git
    tag: v0.1.0
    build: uv pip install .
    path: dora-webcam
    env:
      CAMERA_ID: usb-Acme_Webcam
      IMAGE_WIDTH: 1280
      IMAGE_HEIGHT: 720
      ENCODING: jpeg
      JPEG_QUALITY: 85
      FLIP: HORIZONTAL
    inputs:
      tick: dora/timer/millis/33
    outputs:
      - image
```

Values may be strings, numbers or booleans, and dora applies them to both the build and
the run.

**A node's `env:` wins over the environment the dataflow was started in.** A variable
the node does not set still passes through, so `PREVIEW=true dora run ...` works
alongside the block above — but a variable pinned there cannot be overridden from the
shell, which is worth remembering before pinning something a test needs to vary.

## Environment variables

| Variable | Default | Meaning |
|---|---|---|
| `CAMERA_ID` | unset | Substring of a `/dev/v4l/by-id/` entry. Wins over `CAPTURE_PATH`. |
| `CAPTURE_PATH` | auto | 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`. |
| `PREVIEW` | unset | `true` opens a window of the published frames; `q` stops the node. |
| `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.

With neither `CAMERA_ID` nor `CAPTURE_PATH` set, the node opens the first `/dev/video*`
that actually delivers a frame. Merely opening is not enough to go on: a UVC camera
exposes a second node for its metadata stream — `/dev/video1` beside `/dev/video0` on a
one-camera machine — which opens happily and never yields an image, so the lowest device
number is wrong about as often as it is right.

`CAMERA_ID` is worth preferring on a robot anyway: a by-id name is stable across reboots
and across which USB port the camera is in, and neither an index nor discovery order is.

`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. `PREVIEW` also needs a display. On a bare Linux image `opencv-python` 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.