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Camera parts capture image data from various camera hardware including Raspberry Pi cameras, webcams, CSI cameras, and mock cameras for testing.

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Base Classes

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BaseCamera

Base class for all camera implementations. Methods:
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run_threaded
() -> np.ndarray
Returns the most recently captured frame

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Camera Implementations

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PiCamera

Raspberry Pi camera using the Picamera2 library (Bullseye and later). Constructor: 
PiCamera(image_w=160, image_h=120, image_d=3, vflip=False, hflip=False)
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image_w
int
default:"160"
Image width in pixels
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image_h
int
default:"120"
Image height in pixels
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image_d
int
default:"3"
Image depth/channels (3 for RGB, 1 for grayscale)
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vflip
bool
default:"false"
Flip image vertically
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hflip
bool
default:"false"
Flip image horizontally
Methods:
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run
() -> np.ndarray
Captures and returns a new frame from the camera buffer
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update
() -> None
Continuously captures frames in a threaded loop
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shutdown
() -> None
Stops the camera and releases resources
Usage Example: 
from donkeycar.parts.camera import PiCamera

# Create camera with custom resolution
cam = PiCamera(image_w=160, image_h=120, vflip=True)

# Get a frame
frame = cam.run()

# For threaded mode
import threading
thread = threading.Thread(target=cam.update)
thread.start()
frame = cam.run_threaded()

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Webcam

USB webcam using pygame camera interface. Constructor: 
Webcam(image_w=160, image_h=120, image_d=3, framerate=20, camera_index=0)
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image_w
int
default:"160"
Image width in pixels
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image_h
int
default:"120"
Image height in pixels
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image_d
int
default:"3"
Image depth/channels (3 for RGB, 1 for grayscale)
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framerate
int
default:"20"
Target framerate in Hz
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camera_index
int
default:"0"
Index of the camera device to use
Installation: 
sudo apt-get install libsdl2-mixer-2.0-0 libsdl2-image-2.0-0 libsdl2-2.0-0
pip install pygame
Methods:
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run
() -> np.ndarray
Captures and returns a new frame
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update
() -> None
Continuously captures frames at the specified framerate
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shutdown
() -> None
Stops the camera and releases resources

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CSICamera

Jetson Nano CSI camera using GStreamer. Constructor: 
CSICamera(image_w=160, image_h=120, image_d=3, capture_width=3280, 
          capture_height=2464, framerate=60, gstreamer_flip=0)
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image_w
int
default:"160"
Output image width in pixels
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image_h
int
default:"120"
Output image height in pixels
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image_d
int
default:"3"
Image depth/channels
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capture_width
int
default:"3280"
Sensor capture width
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capture_height
int
default:"2464"
Sensor capture height
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framerate
int
default:"60"
Camera framerate
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gstreamer_flip
int
default:"0"
Flip method: 0=none, 1=rotate CCW 90°, 2=flip vertical, 3=rotate CW 90°
Methods:
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run
() -> np.ndarray
Captures and returns a new frame
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update
() -> None
Continuously captures frames in a threaded loop
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shutdown
() -> None
Stops the camera and releases resources

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V4LCamera

Video4Linux camera using v4l2capture library. Constructor: 
V4LCamera(image_w=160, image_h=120, image_d=3, framerate=20,
          dev_fn="/dev/video0", fourcc='MJPG')
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image_w
int
default:"160"
Image width in pixels
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image_h
int
default:"120"
Image height in pixels
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dev_fn
str
default:"/dev/video0"
Video device path
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fourcc
str
default:"MJPG"
Video format FourCC code
Installation: 
sudo apt-get install libv4l-dev
pip install python3-v4l2capture

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Mock/Testing Cameras

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MockCamera

Returns a static image for testing. Constructor: 
MockCamera(image_w=160, image_h=120, image_d=3, image=None)
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image
np.ndarray
default:"None"
Optional image array to use. If None, creates a blank image.

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ImageListCamera

Returns images from a directory in sequence. Constructor: 
ImageListCamera(path_mask='~/mycar/data/**/images/*.jpg')
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path_mask
str
Glob pattern for image files
Methods:
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run_threaded
() -> np.ndarray
Returns the next image in the sequence

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Configuration

Cameras are typically configured in myconfig.py: 
# Camera settings
CAMERA_TYPE = "PICAM"  # PICAM, WEBCAM, CVCAM, CSIC, etc.
IMAGE_W = 160
IMAGE_H = 120
IMAGE_DEPTH = 3
CAMERA_FRAMERATE = 20
CAMERA_VFLIP = False
CAMERA_HFLIP = False

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Integration Example

From templates like complete.py: 
if cfg.CAMERA_TYPE == "PICAM":
    from donkeycar.parts.camera import PiCamera
    cam = PiCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H,
                   image_d=cfg.IMAGE_DEPTH, vflip=cfg.CAMERA_VFLIP)
elif cfg.CAMERA_TYPE == "WEBCAM":
    from donkeycar.parts.camera import Webcam
    cam = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H,
                 image_d=cfg.IMAGE_DEPTH)

V.add(cam, outputs=['cam/image_array'], threaded=True)

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