hex-driver-camera 0.0.1a1__tar.gz

hex_driver_camera-0.0.1a1/LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

hex_driver_camera-0.0.1a1/MANIFEST.in

@@ -0,0 +1,9 @@
+include LICENSE
+include README.md
+include requirements.txt
+
+recursive-include package_name *
+
+recursive-exclude * *.pyc
+recursive-exclude * .DS_Store
+recursive-exclude * __pycache__

hex_driver_camera-0.0.1a1/PKG-INFO

@@ -0,0 +1,37 @@
+Metadata-Version: 2.4
+Name: hex_driver_camera
+Version: 0.0.1a1
+Summary: HEXFELLOW Camera Driver
+Author-email: Dong Zhaorui <dzr159@gmail.com>
+Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <dzr159@gmail.com>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/hexfellow/hex_driver_camera
+Project-URL: Repository, https://github.com/hexfellow/hex_driver_camera.git
+Project-URL: Bug Tracker, https://github.com/hexfellow/hex_driver_camera/issues
+Project-URL: Documentation, https://github.com/hexfellow/hex_driver_camera/wiki
+Keywords: hex,driver,camera
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Operating System :: POSIX :: Linux
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: hex_util_runtime<0.1.0,>=0.0.0
+Requires-Dist: opencv-python>=4.10.0
+Provides-Extra: berxel
+Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "berxel"
+Provides-Extra: realsense
+Requires-Dist: pyrealsense2>=2.56.5.9235; extra == "realsense"
+Provides-Extra: all
+Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "all"
+Requires-Dist: pyrealsense2>=2.56.5.9235; extra == "all"
+Dynamic: license-file
+
+# hex_driver_camera
+Hex camera driver

hex_driver_camera-0.0.1a1/README.md

@@ -0,0 +1,2 @@
+# hex_driver_camera
+Hex camera driver

hex_driver_camera-0.0.1a1/hex_driver_camera/__init__.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+from .cam_dummy import HexCamDummy, HexCamDummyParams
+from .cam_rgb import HexCamRgb, HexCamRgbParams
+
+__all__ = [
+    # dummy camera
+    "HexCamDummy",
+    "HexCamDummyParams",
+
+    # rgb camera
+    "HexCamRgb",
+    "HexCamRgbParams",
+]
+
+try:
+    import pyrealsense2 as _pyrealsense2  # noqa: F401
+except ImportError:
+    _pyrealsense2 = None
+
+if _pyrealsense2 is not None:
+    from .cam_realsense import HexCamRealsense, HexCamRealsenseParams
+
+    __all__ += [
+        # realsense camera (requires pyrealsense2)
+        "HexCamRealsense",
+        "HexCamRealsenseParams",
+    ]
+
+try:
+    import berxel_py_wrapper as _berxel_py_wrapper  # noqa: F401
+except ImportError:
+    _berxel_py_wrapper = None
+
+if _berxel_py_wrapper is not None:
+    from .cam_berxel import HexCamBerxel, HexCamBerxelParams
+
+    __all__ += [
+        "HexCamBerxel",
+        "HexCamBerxelParams",
+    ]

hex_driver_camera-0.0.1a1/hex_driver_camera/base.py

@@ -0,0 +1,113 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+import cv2
+import numpy as np
+import multiprocessing as mp
+from dataclasses import dataclass
+from abc import ABC, abstractmethod
+from multiprocessing.synchronize import Event as MpEvent
+from typing import Optional, Callable
+
+
+def _hex_cam_worker_main(cam: "HexCamBase") -> None:
+    try:
+        cam.init_camera()
+        cam.work_loop()
+    finally:
+        cam.deinit_camera()
+
+
+@dataclass
+class HexCamBaseParams:
+    frame_rate: float = 30
+    height: int = 480
+    width: int = 640
+    queue_max: int = 10
+
+
+HexFrameCallback = Callable[[int, np.ndarray], None]
+
+
+class HexCamBase(ABC):
+
+    def __init__(self) -> None:
+        self._worker_process: Optional[mp.Process] = None
+        self._stop_event = mp.Event()
+        self._init_event = mp.Event()
+
+    def __del__(self):
+        self.deinit_camera()
+
+    def is_working(self) -> bool:
+        p = self._worker_process
+        return p is not None and p.is_alive()
+
+    @property
+    def stop_event(self) -> MpEvent:
+        """Set by `stop_background_worker`; subclasses should exit `work_loop` when this is set."""
+        return self._stop_event
+
+    def start(self, *, daemon: bool = True) -> None:
+        """Spawn a subprocess that runs `work_loop` until `stop_event` is set (or process ends)."""
+        if self._worker_process is not None and self._worker_process.is_alive(
+        ):
+            return
+        self._stop_event.clear()
+        self._worker_process = mp.Process(
+            target=_hex_cam_worker_main,
+            args=(self, ),
+            daemon=daemon,
+        )
+        self._worker_process.start()
+        self._init_event.wait()
+
+    def stop(self, timeout: Optional[float] = 5.0) -> None:
+        """Signal the worker to stop, then join. Uses `terminate` if join times out."""
+        self._stop_event.set()
+        proc = self._worker_process
+        if proc is None:
+            return
+        proc.join(timeout=timeout)
+        if proc.is_alive():
+            proc.terminate()
+            proc.join()
+        self._worker_process = None
+
+    @abstractmethod
+    def init_vars(self):
+        raise NotImplementedError(
+            "`get_info` should be implemented by the child class")
+
+    @abstractmethod
+    def init_camera(self):
+        raise NotImplementedError(
+            "`get_info` should be implemented by the child class")
+
+    @abstractmethod
+    def deinit_camera(self):
+        raise NotImplementedError(
+            "`deinit_camera` should be implemented by the child class")
+
+    @abstractmethod
+    def work_loop(self):
+        """Long-running camera read loop. Must return when `stop_event` is set (cooperative shutdown)."""
+        raise NotImplementedError(
+            "`work_loop` should be implemented by the child class")
+
+
+def depth_to_cmap(
+        depth: np.ndarray,
+        range: tuple[int, int] = (70, 1000),
+) -> np.ndarray:
+    depth_values = depth.astype(np.float32)
+    depth_norm = np.clip((depth_values - range[0]) / (range[1] - range[0]),
+                         0.0, 1.0)
+    depth_8u = (depth_norm * 255.0).astype(np.uint8)
+    depth_cmap = cv2.applyColorMap(depth_8u, cv2.COLORMAP_JET)
+    return depth_cmap

hex_driver_camera-0.0.1a1/hex_driver_camera/cam_berxel/__init__.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+try:
+    import berxel_py_wrapper as _berxel_py_wrapper  # noqa: F401
+except ImportError:
+    _berxel_py_wrapper = None
+
+if _berxel_py_wrapper is not None:
+    from .cam import HexCamBerxel, HexCamBerxelParams
+
+    __all__ = [
+        "HexCamBerxel",
+        "HexCamBerxelParams",
+    ]
+else:
+    __all__ = []

hex_driver_camera-0.0.1a1/hex_driver_camera/cam_berxel/cam.py

@@ -0,0 +1,284 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+import multiprocessing as mp
+import time
+from dataclasses import dataclass, field
+from typing import Any, Optional
+
+import numpy as np
+from berxel_py_wrapper import *
+from hex_util_runtime import ns_now
+
+from ..base import HexCamBase, HexCamBaseParams, HexFrameCallback
+
+
+@dataclass
+class HexCamBerxelParams(HexCamBaseParams):
+    serial_number: Optional[str] = None
+    exposure: int = 10000
+    gain: int = 100
+    sens_ts: bool = True
+    on_rgb: Optional[HexFrameCallback] = field(default=None)
+    on_depth: Optional[HexFrameCallback] = field(default=None)
+
+
+class HexCamBerxel(HexCamBase):
+
+    def __init__(
+            self,
+            params: HexCamBerxelParams = HexCamBerxelParams(),
+    ) -> None:
+        super().__init__()
+        self._params = params
+        self._intri_shared = mp.Array("d", 4)
+        self.__context: Any = None
+        self.__device: Any = None
+        self.init_vars()
+
+    def init_vars(self) -> None:
+        pass
+
+    def init_camera(self) -> None:
+        """Open device, start streams, fill intrinsics. Runs in the worker process."""
+        if not self.__open_device():
+            raise RuntimeError("failed to open Berxel device")
+        if not self.__start_stream():
+            raise RuntimeError("failed to start Berxel streams")
+        self._init_event.set()
+
+    def get_intri(self) -> np.ndarray:
+        return np.array(self._intri_shared[:], dtype=np.float64)
+
+    def deinit_camera(self) -> None:
+        main = mp.current_process().name == "MainProcess"
+        if main and self.is_working():
+            self.stop()
+        self.__stop_stream()
+        self.__close_device()
+
+    def work_loop(self) -> None:
+        p = self._params
+        on_rgb = p.on_rgb
+        on_depth = p.on_depth
+
+        clean_cnt = 0
+        while clean_cnt < 5:
+            hawk_rgb_frame = self.__device.readColorFrame(40)
+            hawk_depth_frame = self.__device.readDepthFrame(40)
+            if hawk_rgb_frame is not None:
+                self.__device.releaseFrame(hawk_rgb_frame)
+            if hawk_depth_frame is not None:
+                self.__device.releaseFrame(hawk_depth_frame)
+            clean_cnt += 1
+            time.sleep(0.01)
+
+        bias_ns = np.int64(0)
+        for _ in range(30):
+            f = self.__device.readColorFrame(40)
+            if f is None:
+                time.sleep(0.001)
+                continue
+            sensor_ns = np.int64(int(f.getTimeStamp() * 1_000))
+            bias_ns = np.int64(ns_now()) - sensor_ns
+            self.__device.releaseFrame(f)
+            break
+
+        while not self.stop_event.is_set():
+            hawk_rgb_frame = self.__device.readColorFrame(40)
+            hawk_depth_frame = self.__device.readDepthFrame(40)
+            cur_ns = ns_now()
+
+            if hawk_rgb_frame is not None:
+                ts_ns, frame = self.__unpack_frame(
+                    hawk_rgb_frame,
+                    False,
+                    bias_ns,
+                    cur_ns,
+                )
+                if on_rgb is not None:
+                    on_rgb(ts_ns, frame)
+                self.__device.releaseFrame(hawk_rgb_frame)
+
+            if hawk_depth_frame is not None:
+                ts_ns, frame = self.__unpack_frame(
+                    hawk_depth_frame,
+                    True,
+                    bias_ns,
+                    cur_ns,
+                )
+                if on_depth is not None:
+                    on_depth(ts_ns, frame)
+                self.__device.releaseFrame(hawk_depth_frame)
+
+    def __unpack_frame(
+        self,
+        hawk_frame: BerxelHawkFrame,
+        depth: bool,
+        bias_ns: np.int64,
+        cur_ns: int,
+    ) -> tuple[int, np.ndarray]:
+        berxel_ts_ns = int(bias_ns) + int(hawk_frame.getTimeStamp() * 1_000)
+        if self._params.sens_ts:
+            ts_ns = berxel_ts_ns
+            if cur_ns < ts_ns:
+                ts_ns = cur_ns
+        else:
+            ts_ns = cur_ns
+
+        width = hawk_frame.getWidth()
+        height = hawk_frame.getHeight()
+
+        if depth:
+            frame_buffer = hawk_frame.getDataAsUint16()
+            frame = np.ndarray(
+                shape=(height, width),
+                dtype=np.uint16,
+                buffer=frame_buffer,
+            )
+            pixel_type = hawk_frame.getPixelType()
+            if pixel_type == BerxelHawkPixelType.forward_dict[
+                    'BERXEL_HAWK_PIXEL_TYPE_DEP_16BIT_12I_4D']:
+                frame = frame // 16
+            elif pixel_type == BerxelHawkPixelType.forward_dict[
+                    'BERXEL_HAWK_PIXEL_TYPE_DEP_16BIT_13I_3D']:
+                frame = frame // 8
+            else:
+                raise ValueError(f"pixel_type: {pixel_type} not supported")
+        else:
+            frame_buffer = hawk_frame.getDataAsUint8()
+            frame = np.ndarray(
+                shape=(height, width, 3),
+                dtype=np.uint8,
+                buffer=frame_buffer,
+            )
+
+        return ts_ns, frame
+
+    def __open_device(self) -> bool:
+        self.__context = BerxelHawkContext()
+        if self.__context is None:
+            print("init failed")
+            return False
+        self.__context.initCamera()
+
+        device_list = self.__context.getDeviceList()
+        if len(device_list) < 1:
+            print("can not find device")
+            return False
+        if self._params.serial_number is not None:
+
+            def same_serial(tar_serial, device_serial):
+
+                def norm_serial(x):
+                    if x is None:
+                        return None
+                    if isinstance(x, (bytes, bytearray)):
+                        x = x.decode('utf-8', 'ignore')
+                    x = x.replace('\x00', '').strip()
+                    return x.upper()
+
+                return norm_serial(tar_serial) == norm_serial(device_serial)
+
+            device_idx = -1
+            for idx, device in enumerate(device_list):
+                if same_serial(self._params.serial_number,
+                               device.serialNumber):
+                    print(
+                        f"find device with serial number: {self._params.serial_number}"
+                    )
+                    device_idx = idx
+                    break
+            if device_idx == -1:
+                print(
+                    f"can not find device with serial number: {self._params.serial_number}"
+                )
+                print("available device serial numbers:")
+                for device in device_list:
+                    print(f"{device.serialNumber}")
+                return False
+            self.__device = self.__context.openDevice(device_list[device_idx])
+            self._serial_number = str(self._params.serial_number)
+        else:
+            print("No serial number, use first device")
+            self.__device = self.__context.openDevice(device_list[0])
+            sn = device_list[0].serialNumber
+            if isinstance(sn, (bytes, bytearray)):
+                sn = sn.decode('utf-8', 'ignore')
+            self._serial_number = str(sn).replace('\x00', '').strip()
+
+        if self.__device is None:
+            print("open device failed")
+            return False
+
+        return True
+
+    def __start_stream(self) -> bool:
+        p = self._params
+        if self._serial_number.startswith('P008'):
+            self.__device.setSonixAEStatus(False)
+            self.__device.setSonixExposureTime(int(p.exposure // 100))
+        else:
+            self.__device.setColorExposureGain(p.exposure, p.gain)
+        self.__device.setDepthElectricCurrent(700)
+        self.__device.setDepthAE(False)
+        self.__device.setDepthExposure(43)
+        self.__device.setDepthGain(1)
+        self.__device.setRegistrationEnable(True)
+        self.__device.setFrameSync(True)
+        while self.__device.setSystemClock() != 0:
+            print("set system clock failed")
+            time.sleep(0.1)
+
+        intrinsic_params = self.__device.getDeviceIntriscParams()
+        self._intri_shared[0] = intrinsic_params.colorIntrinsicParams.fx / 2
+        self._intri_shared[1] = intrinsic_params.colorIntrinsicParams.fy / 2
+        self._intri_shared[2] = intrinsic_params.colorIntrinsicParams.cx / 2
+        self._intri_shared[3] = intrinsic_params.colorIntrinsicParams.cy / 2
+
+        color_frame_mode = self.__device.getCurrentFrameMode(
+            BerxelHawkStreamType.forward_dict['BERXEL_HAWK_COLOR_STREAM'])
+        depth_frame_mode = self.__device.getCurrentFrameMode(
+            BerxelHawkStreamType.forward_dict['BERXEL_HAWK_DEPTH_STREAM'])
+        color_frame_mode.framerate = int(p.frame_rate)
+        depth_frame_mode.framerate = int(p.frame_rate)
+        self.__device.setFrameMode(
+            BerxelHawkStreamType.forward_dict['BERXEL_HAWK_COLOR_STREAM'],
+            color_frame_mode)
+        self.__device.setFrameMode(
+            BerxelHawkStreamType.forward_dict['BERXEL_HAWK_DEPTH_STREAM'],
+            depth_frame_mode)
+        ret = self.__device.startStreams(
+            BerxelHawkStreamType.forward_dict['BERXEL_HAWK_DEPTH_STREAM']
+            | BerxelHawkStreamType.forward_dict['BERXEL_HAWK_COLOR_STREAM'])
+        if ret == 0:
+            print("start stream succeed")
+            return True
+        print("start stream failed")
+        return False
+
+    def __stop_stream(self) -> bool:
+        if self.__device is None:
+            return False
+        ret = self.__device.stopStream(
+            BerxelHawkStreamType.forward_dict['BERXEL_HAWK_DEPTH_STREAM']
+            | BerxelHawkStreamType.forward_dict['BERXEL_HAWK_COLOR_STREAM'])
+        return ret == 0
+
+    def __close_device(self) -> None:
+        if self.__context is None:
+            return
+        if self.__device is None:
+            return
+
+        ret = self.__context.closeDevice(self.__device)
+        if ret == 0:
+            print("close device succeed")
+        else:
+            print("close device Failed")
+        self.__context.destroyCamera()

hex_driver_camera-0.0.1a1/hex_driver_camera/cam_dummy/__init__.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+from .cam import HexCamDummy, HexCamDummyParams
+
+__all__ = [
+    "HexCamDummy",
+    "HexCamDummyParams",
+]
+
+try:
+    import pyrealsense2 as _pyrealsense2  # noqa: F401
+except ImportError:
+    _pyrealsense2 = None
+
+if _pyrealsense2 is not None:
+    from ..cam_realsense import HexCamRealsense, HexCamRealsenseParams
+
+    __all__ += [
+        "HexCamRealsense",
+        "HexCamRealsenseParams",
+    ]

hex_driver_camera-0.0.1a1/hex_driver_camera/cam_dummy/cam.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+import multiprocessing as mp
+from dataclasses import dataclass, field
+from typing import Optional
+
+import numpy as np
+from hex_util_runtime import HexRate, ns_now
+
+from ..base import HexCamBase, HexCamBaseParams, HexFrameCallback
+
+# (sequence, ts_ns, rgb_uint8_hwc) — called from the worker after each frame; keep it fast.
+# Set on params before ``start()`` so the child sees it (fork / spawn).
+
+
+@dataclass
+class HexCamDummyParams(HexCamBaseParams):
+    on_rgb: Optional[HexFrameCallback] = field(default=None)
+
+
+class HexCamDummy(HexCamBase):
+
+    def __init__(
+            self,
+            params: HexCamDummyParams = HexCamDummyParams(),
+    ) -> None:
+        super().__init__()
+        self._params = params
+        self.init_vars()
+
+    def init_vars(self):
+        pass
+
+    def init_camera(self) -> None:
+        self._init_event.set()
+
+    def deinit_camera(self) -> None:
+        main = mp.current_process().name == "MainProcess"
+        if main and self.is_working():
+            self.stop()
+
+    def work_loop(self) -> None:
+        h = int(self._params.height)
+        w = int(self._params.width)
+        fps = float(self._params.frame_rate)
+        cb = self._params.on_rgb
+
+        rate = HexRate(fps)
+        while not self.stop_event.is_set():
+            rate.sleep()
+            rgb_img = np.random.randint(0, 255, (h, w, 3), dtype=np.uint8)
+            ts = ns_now()
+            if cb is not None:
+                cb(ts, rgb_img)

hex_driver_camera-0.0.1a1/hex_driver_camera/cam_realsense/__init__.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+try:
+    import pyrealsense2 as _pyrealsense2  # noqa: F401
+except ImportError:
+    _pyrealsense2 = None
+
+if _pyrealsense2 is not None:
+    from .cam import HexCamRealsense, HexCamRealsenseParams
+
+    __all__ = [
+        "HexCamRealsense",
+        "HexCamRealsenseParams",
+    ]
+else:
+    __all__ = []

hex_driver_camera-0.0.1a1/hex_driver_camera/cam_realsense/cam.py

@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+import multiprocessing as mp
+from dataclasses import dataclass, field
+from typing import Any, Optional
+
+import cv2
+import numpy as np
+import pyrealsense2 as rs
+from hex_util_runtime import ns_now
+
+from ..base import HexCamBase, HexCamBaseParams, HexFrameCallback
+
+
+@dataclass
+class HexCamRealsenseParams(HexCamBaseParams):
+    serial_number: str = "243422073194"
+    sens_ts: bool = True
+    on_rgb: Optional[HexFrameCallback] = field(default=None)
+    on_depth: Optional[HexFrameCallback] = field(default=None)
+
+
+class HexCamRealsense(HexCamBase):
+
+    def __init__(
+            self,
+            params: HexCamRealsenseParams = HexCamRealsenseParams(),
+    ) -> None:
+        super().__init__()
+        self._params = params
+        # Shared with the worker so get_intri() is valid after streaming starts.
+        self._intri_shared = mp.Array("d", 4)
+        self._pipeline: Any = None
+        self._align: Any = None
+        self.init_vars()
+
+    def get_intri(self) -> np.ndarray:
+        return np.array(self._intri_shared[:], dtype=np.float64)
+
+    def init_vars(self) -> None:
+        pass
+
+    def init_camera(self) -> None:
+        """Enumerate device, start color+depth streams, fill intrinsics. Must run in the worker process."""
+        p = self._params
+        ctx = rs.context()
+        serial_numbers = []
+        for dev in ctx.query_devices():
+            serial = dev.get_info(rs.camera_info.serial_number)
+            name = dev.get_info(rs.camera_info.name)
+            print(f"  - Device: {name}, Serial: {serial}")
+            serial_numbers.append(serial)
+        if p.serial_number not in serial_numbers:
+            raise RuntimeError(
+                f"cannot find device with serial number: {p.serial_number}")
+
+        self._pipeline = rs.pipeline()
+        config = rs.config()
+        config.enable_device(self._params.serial_number)
+        config.enable_stream(
+            rs.stream.color,
+            p.width,
+            p.height,
+            rs.format.bgr8,
+            int(p.frame_rate),
+        )
+        config.enable_stream(
+            rs.stream.depth,
+            p.width,
+            p.height,
+            rs.format.z16,
+            int(p.frame_rate),
+        )
+        profile = self._pipeline.start(config)
+        color_profile = profile.get_stream(rs.stream.color)
+        color_intrinsics = color_profile.as_video_stream_profile(
+        ).get_intrinsics()
+        self._intri_shared[0] = float(color_intrinsics.fx)
+        self._intri_shared[1] = float(color_intrinsics.fy)
+        self._intri_shared[2] = float(color_intrinsics.ppx)
+        self._intri_shared[3] = float(color_intrinsics.ppy)
+        self._align = rs.align(rs.stream.color)
+        self._init_event.set()
+
+    def deinit_camera(self) -> None:
+        main = mp.current_process().name == "MainProcess"
+        if main and self.is_working():
+            self.stop()
+        if self._pipeline is not None:
+            try:
+                self._pipeline.stop()
+            except RuntimeError:
+                pass
+            self._pipeline = None
+        self._align = None
+
+    def work_loop(self) -> None:
+        p = self._params
+        on_rgb = p.on_rgb
+        on_depth = p.on_depth
+
+        aligned_frames = self._align.process(self._pipeline.wait_for_frames())
+        bias_ns = np.int64(ns_now()) - np.int64(
+            aligned_frames.get_frame_metadata(
+                rs.frame_metadata_value.sensor_timestamp) * 1_000)
+
+        while not self.stop_event.is_set():
+            aligned_frames = self._align.process(
+                self._pipeline.wait_for_frames())
+            cur_ns = ns_now()
+            if p.sens_ts:
+                sen_ts = bias_ns + np.int64(
+                    aligned_frames.get_frame_metadata(
+                        rs.frame_metadata_value.sensor_timestamp) * 1_000)
+                if cur_ns < sen_ts:
+                    sen_ts = cur_ns
+                ts_ns = sen_ts
+            else:
+                ts_ns = cur_ns
+
+            color_frame = aligned_frames.get_color_frame()
+            if color_frame is not None and on_rgb is not None:
+                bgr = np.asanyarray(color_frame.get_data())
+                rgb_img = cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB)
+                on_rgb(ts_ns, rgb_img)
+
+            depth_frame = aligned_frames.get_depth_frame()
+            if depth_frame is not None and on_depth is not None:
+                depth = np.asanyarray(depth_frame.get_data())
+                on_depth(ts_ns, depth)

hex_driver_camera-0.0.1a1/hex_driver_camera/cam_rgb/__init__.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+from .cam import HexCamRgb, HexCamRgbParams
+
+__all__ = [
+    "HexCamRgb",
+    "HexCamRgbParams",
+]

hex_driver_camera-0.0.1a1/hex_driver_camera/cam_rgb/cam.py

@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2026 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2026-03-23
+################################################################
+
+import multiprocessing as mp
+import platform
+import cv2
+from dataclasses import dataclass, field
+from typing import Optional
+
+from hex_util_runtime import HexRate, ns_now
+
+from ..base import HexCamBase, HexCamBaseParams, HexFrameCallback
+
+
+@dataclass
+class HexCamRgbParams(HexCamBaseParams):
+    cam_path: str = "/dev/video0"
+    width_crop: tuple[int, int] = (0, 640)
+    height_crop: tuple[int, int] = (0, 480)
+    exposure: int = 100
+    temperature: int = 4000
+    sens_ts: bool = True
+    on_rgb: Optional[HexFrameCallback] = field(default=None)
+
+
+class HexCamRgb(HexCamBase):
+
+    def __init__(
+            self,
+            params: HexCamRgbParams = HexCamRgbParams(),
+    ) -> None:
+        super().__init__()
+        self._params = params
+        self.init_vars()
+
+    def init_vars(self):
+        pass
+
+    def init_camera(self) -> None:
+        self._cap = self._open_capture()
+        if not self._cap.isOpened():
+            raise RuntimeError(
+                f"Failed to open camera: {self._params.cam_path}")
+        self._init_event.set()
+
+    def deinit_camera(self) -> None:
+        main = mp.current_process().name == "MainProcess"
+        if main and self.is_working():
+            self.stop()
+        if self._cap is not None:
+            self._cap.release()
+            self._cap = None
+
+    def _open_capture(self) -> cv2.VideoCapture:
+        p = self._params
+        if platform.system() == "Linux":
+            cap = cv2.VideoCapture(p.cam_path, cv2.CAP_V4L2)
+        else:
+            cap = cv2.VideoCapture(p.cam_path)
+        if not cap.isOpened():
+            return cap
+        cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"MJPG"))
+        cap.set(cv2.CAP_PROP_FRAME_WIDTH, float(p.width))
+        cap.set(cv2.CAP_PROP_FRAME_HEIGHT, float(p.height))
+        cap.set(cv2.CAP_PROP_FPS, float(p.frame_rate))
+        ae_open = 1.0 if platform.system() == "Windows" else 3.0
+        ae_close = 0.0 if platform.system() == "Windows" else 1.0
+        ae_value = 10000 * (2**p.exposure) if platform.system(
+        ) == "Windows" else float(p.exposure)
+        cap.set(cv2.CAP_PROP_AUTO_EXPOSURE, ae_open)
+        if p.exposure != 0:
+            cap.set(cv2.CAP_PROP_AUTO_EXPOSURE, ae_close)
+            cap.set(cv2.CAP_PROP_EXPOSURE, ae_value)
+        cap.set(cv2.CAP_PROP_AUTO_WB, 1)
+        if p.temperature != 0:
+            cap.set(cv2.CAP_PROP_AUTO_WB, 0)
+            cap.set(cv2.CAP_PROP_WB_TEMPERATURE, float(p.temperature))
+
+        # print camera info
+        print(
+            f"Camera info: {cap.get(cv2.CAP_PROP_FRAME_WIDTH)}x{cap.get(cv2.CAP_PROP_FRAME_HEIGHT)}@{cap.get(cv2.CAP_PROP_FPS)}"
+        )
+        return cap
+
+    def work_loop(self) -> None:
+        fps = float(self._params.frame_rate)
+        w_crop = self._params.width_crop
+        h_crop = self._params.height_crop
+        cb = self._params.on_rgb
+
+        rate = HexRate(fps)
+        while not self.stop_event.is_set():
+            rate.sleep()
+            ret, frame = self._cap.read()
+            if not ret or frame is None:
+                continue
+            frame = frame[h_crop[0]:h_crop[1], w_crop[0]:w_crop[1]]
+            rgb_img = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+            ts = ns_now()
+            if cb is not None:
+                cb(ts, rgb_img)

hex_driver_camera-0.0.1a1/hex_driver_camera.egg-info/PKG-INFO

@@ -0,0 +1,37 @@
+Metadata-Version: 2.4
+Name: hex_driver_camera
+Version: 0.0.1a1
+Summary: HEXFELLOW Camera Driver
+Author-email: Dong Zhaorui <dzr159@gmail.com>
+Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <dzr159@gmail.com>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/hexfellow/hex_driver_camera
+Project-URL: Repository, https://github.com/hexfellow/hex_driver_camera.git
+Project-URL: Bug Tracker, https://github.com/hexfellow/hex_driver_camera/issues
+Project-URL: Documentation, https://github.com/hexfellow/hex_driver_camera/wiki
+Keywords: hex,driver,camera
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Operating System :: POSIX :: Linux
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: hex_util_runtime<0.1.0,>=0.0.0
+Requires-Dist: opencv-python>=4.10.0
+Provides-Extra: berxel
+Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "berxel"
+Provides-Extra: realsense
+Requires-Dist: pyrealsense2>=2.56.5.9235; extra == "realsense"
+Provides-Extra: all
+Requires-Dist: berxel_py_wrapper>=2.0.182; extra == "all"
+Requires-Dist: pyrealsense2>=2.56.5.9235; extra == "all"
+Dynamic: license-file
+
+# hex_driver_camera
+Hex camera driver

hex_driver_camera-0.0.1a1/hex_driver_camera.egg-info/SOURCES.txt

@@ -0,0 +1,19 @@
+LICENSE
+MANIFEST.in
+README.md
+pyproject.toml
+hex_driver_camera/__init__.py
+hex_driver_camera/base.py
+hex_driver_camera.egg-info/PKG-INFO
+hex_driver_camera.egg-info/SOURCES.txt
+hex_driver_camera.egg-info/dependency_links.txt
+hex_driver_camera.egg-info/requires.txt
+hex_driver_camera.egg-info/top_level.txt
+hex_driver_camera/cam_berxel/__init__.py
+hex_driver_camera/cam_berxel/cam.py
+hex_driver_camera/cam_dummy/__init__.py
+hex_driver_camera/cam_dummy/cam.py
+hex_driver_camera/cam_realsense/__init__.py
+hex_driver_camera/cam_realsense/cam.py
+hex_driver_camera/cam_rgb/__init__.py
+hex_driver_camera/cam_rgb/cam.py

hex_driver_camera-0.0.1a1/hex_driver_camera.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

hex_driver_camera-0.0.1a1/hex_driver_camera.egg-info/requires.txt

@@ -0,0 +1,12 @@
+hex_util_runtime<0.1.0,>=0.0.0
+opencv-python>=4.10.0
+
+[all]
+berxel_py_wrapper>=2.0.182
+pyrealsense2>=2.56.5.9235
+
+[berxel]
+berxel_py_wrapper>=2.0.182
+
+[realsense]
+pyrealsense2>=2.56.5.9235

hex_driver_camera-0.0.1a1/hex_driver_camera.egg-info/top_level.txt

@@ -0,0 +1 @@
+hex_driver_camera

hex_driver_camera-0.0.1a1/pyproject.toml

@@ -0,0 +1,40 @@
+[build-system]
+requires = ["setuptools >= 61.0", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "hex_driver_camera"
+version = "0.0.1-alpha.1"
+description = "HEXFELLOW Camera Driver"
+readme = "README.md"
+license = "Apache-2.0"
+authors = [{ name = "Dong Zhaorui", email = "dzr159@gmail.com" }]
+maintainers = [
+  { name = "jecjune", email = "zejun.chen@hexfellow.com" },
+  { name = "Dong Zhaorui", email = "dzr159@gmail.com" },
+]
+keywords = ["hex", "driver", "camera"]
+requires-python = ">=3.10"
+dependencies = ["hex_util_runtime>=0.0.0,<0.1.0", "opencv-python>=4.10.0"]
+classifiers = [
+  "Development Status :: 4 - Beta",
+  "Intended Audience :: Developers",
+  "Intended Audience :: Science/Research",
+  "Topic :: Software Development :: Libraries :: Python Modules",
+  "Programming Language :: Python :: 3",
+  "Programming Language :: Python :: 3.10",
+  "Programming Language :: Python :: 3.11",
+  "Programming Language :: Python :: 3.12",
+  "Operating System :: POSIX :: Linux",
+]
+
+[project.optional-dependencies]
+berxel = ["berxel_py_wrapper>=2.0.182"]
+realsense = ["pyrealsense2>=2.56.5.9235"]
+all = ["berxel_py_wrapper>=2.0.182", "pyrealsense2>=2.56.5.9235"]
+
+[project.urls]
+Homepage = "https://github.com/hexfellow/hex_driver_camera"
+Repository = "https://github.com/hexfellow/hex_driver_camera.git"
+"Bug Tracker" = "https://github.com/hexfellow/hex_driver_camera/issues"
+Documentation = "https://github.com/hexfellow/hex_driver_camera/wiki"

hex_driver_camera-0.0.1a1/setup.cfg

@@ -0,0 +1,4 @@
+[egg_info]
+tag_build = 
+tag_date = 0
+