solarian-picamera 0.1.0__tar.gz

solarian_picamera-0.1.0/LICENSE

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solarian_picamera-0.1.0/NOTICE

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+Solarian PiCamera plugin
+Copyright 2026 PrimaryKey Inc.
+
+This product includes software developed by PrimaryKey Inc.

solarian_picamera-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: solarian-picamera
+Version: 0.1.0
+Summary: Raspberry Pi CSI camera module, sensor and bus plugin for Solarian robotics framework
+Author-email: Raul Garreta <raul@solarian.dev>
+License: Apache-2.0
+Classifier: License :: OSI Approved :: Apache Software License
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+Requires-Dist: solarian>=0.2.0
+Requires-Dist: numpy
+Requires-Dist: opencv-python
+Requires-Dist: pydantic
+Dynamic: license-file
+
+# Solarian-PiCamera
+
+Raspberry Pi CSI camera (IMX477 HQ, Camera Module 3, ...) module, sensor and bus
+plugin for the Solarian robotics framework, via
+[picamera2](https://github.com/raspberrypi/picamera2).
+
+## Installation
+
+picamera2 is a system package on Raspberry Pi OS. Install it with apt, and
+create the project venv with `--system-site-packages` so it is importable:
+
+```bash
+sudo apt install python3-picamera2
+python3 -m venv --system-site-packages .venv
+pip install solarian-picamera
+```
+
+Or install from source:
+
+```bash
+cd solarian-picamera
+pip install -e .
+```
+
+The plugin imports on any machine (a laptop running the controller or the
+simulator only needs the classes); picamera2 is imported when the camera opens.
+
+## Usage
+
+```python
+from solarian.core.robot import Robot
+from solarian_picamera import PiCameraModule
+
+
+class MyRobot(Robot):
+    wrist_camera = PiCameraModule()
+```
+
+The module's yaml names the CSI index as `port` (`0` = cam0, `1` = cam1), not a
+`/dev/video*` path. Besides the usual camera fields, `PiCameraSensorConfig`
+accepts libcamera ISP controls: `exposure_value`, `brightness`, `contrast`,
+`shutter` and `gain`.
+
+`solarian list-cameras` lists and previews CSI cameras once this plugin is
+installed.
+
+## Repository
+
+https://github.com/solarian-dev/solarian-picamera

solarian_picamera-0.1.0/README.md

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+# Solarian-PiCamera
+
+Raspberry Pi CSI camera (IMX477 HQ, Camera Module 3, ...) module, sensor and bus
+plugin for the Solarian robotics framework, via
+[picamera2](https://github.com/raspberrypi/picamera2).
+
+## Installation
+
+picamera2 is a system package on Raspberry Pi OS. Install it with apt, and
+create the project venv with `--system-site-packages` so it is importable:
+
+```bash
+sudo apt install python3-picamera2
+python3 -m venv --system-site-packages .venv
+pip install solarian-picamera
+```
+
+Or install from source:
+
+```bash
+cd solarian-picamera
+pip install -e .
+```
+
+The plugin imports on any machine (a laptop running the controller or the
+simulator only needs the classes); picamera2 is imported when the camera opens.
+
+## Usage
+
+```python
+from solarian.core.robot import Robot
+from solarian_picamera import PiCameraModule
+
+
+class MyRobot(Robot):
+    wrist_camera = PiCameraModule()
+```
+
+The module's yaml names the CSI index as `port` (`0` = cam0, `1` = cam1), not a
+`/dev/video*` path. Besides the usual camera fields, `PiCameraSensorConfig`
+accepts libcamera ISP controls: `exposure_value`, `brightness`, `contrast`,
+`shutter` and `gain`.
+
+`solarian list-cameras` lists and previews CSI cameras once this plugin is
+installed.
+
+## Repository
+
+https://github.com/solarian-dev/solarian-picamera

solarian_picamera-0.1.0/pyproject.toml

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+[project]
+name = "solarian-picamera"
+version = "0.1.0"
+description = "Raspberry Pi CSI camera module, sensor and bus plugin for Solarian robotics framework"
+authors = [
+    {name = "Raul Garreta", email = "raul@solarian.dev"}
+]
+readme = "README.md"
+license = {text = "Apache-2.0"}
+classifiers = ["License :: OSI Approved :: Apache Software License"]
+requires-python = ">=3.10"
+# picamera2 is not listed: it is a system package (`sudo apt install
+# python3-picamera2`) reached through a venv made with --system-site-packages,
+# and is imported only where the camera is opened, so the module classes (and
+# the robot schema built from them) import on any machine.
+dependencies = [
+    "solarian>=0.2.0",
+    "numpy",
+    "opencv-python",
+    "pydantic",
+]
+
+[project.entry-points."solarian.modules"]
+picamera = "solarian_picamera.module:PiCameraModule"
+
+# `solarian list-cameras` / `calibrate-umi-camera`: list and preview CSI cameras.
+[project.entry-points."solarian.camera_backends"]
+picamera2 = "solarian_picamera.backend"
+
+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools.packages.find]
+include = ["solarian_picamera*"]

solarian_picamera-0.1.0/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

solarian_picamera-0.1.0/solarian_picamera/__init__.py

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+"""
+Solarian-PiCamera Plugin
+
+Raspberry Pi CSI camera module, sensor and bus for the Solarian robotics
+framework, via picamera2.
+"""
+
+from solarian_picamera.camera import PiCamera
+from solarian_picamera.config import PiCameraSensorConfig
+from solarian_picamera.module import PiCameraConfig, PiCameraModule
+
+__version__ = "0.1.0"
+
+__all__ = ["PiCamera", "PiCameraConfig", "PiCameraModule", "PiCameraSensorConfig"]

solarian_picamera-0.1.0/solarian_picamera/backend.py

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+"""
+``solarian list-cameras`` backend for CSI cameras.
+
+Registered under the ``solarian.camera_backends`` entry point as ``picamera2``,
+which is the ``backend`` value every entry from :func:`find` carries.
+"""
+
+import os
+
+
+def _quiet_libcamera() -> None:
+    # Read once, when libcamera first loads inside the picamera2 import.
+    os.environ.setdefault("LIBCAMERA_LOG_LEVELS", "*:ERROR")
+
+
+def find() -> list[dict]:
+    """CSI / libcamera cameras via picamera2. USB cameras are listed via V4L2 instead."""
+    _quiet_libcamera()
+    try:
+        from picamera2 import Picamera2
+    except ImportError:
+        return []
+
+    try:
+        infos = Picamera2.global_camera_info()
+    except Exception as e:  # noqa: BLE001
+        print(f"Warning: picamera2 available but global_camera_info() failed: {e}")
+        return []
+
+    cameras = []
+    for i, info in enumerate(infos):
+        cam_id = str(info.get("Id", ""))
+        if "usb@" in cam_id:
+            continue
+        model = info.get("Model", "unknown")
+        camera_num = info.get("Num", i)
+        cameras.append({
+            "port": str(camera_num),
+            "backend": "picamera2",
+            "model": model,
+        })
+    return cameras
+
+
+def iter_frames(port: str, width: int | None = None, height: int | None = None):
+    """Yield BGR frames from CSI camera ``port`` until the caller closes the generator."""
+    _quiet_libcamera()
+    from picamera2 import Picamera2
+
+    camera_num = int(port)
+    picam2 = Picamera2(camera_num=camera_num)
+    try:
+        if width and height:
+            size = (int(width), int(height))
+        else:
+            modes = getattr(picam2, "sensor_modes", None) or []
+            if modes:
+                best = max(modes, key=lambda m: m["size"][0] * m["size"][1])
+                size = tuple(best["size"])
+            else:
+                size = tuple(picam2.sensor_resolution)
+
+        try:
+            config = picam2.create_video_configuration(main={"size": size, "format": "RGB888"})
+            picam2.configure(config)
+        except Exception:
+            config = picam2.create_still_configuration(main={"size": size, "format": "RGB888"})
+            picam2.configure(config)
+
+        picam2.start()
+        cfg_size = picam2.camera_configuration()["main"]["size"]
+        print(f"Opening picamera2:{port} at {cfg_size[0]}x{cfg_size[1]}.")
+
+        while True:
+            frame = picam2.capture_array("main")
+            if frame is None:
+                raise RuntimeError(f"Could not read a frame from picamera2 camera {port}")
+            if frame.ndim == 3 and frame.shape[2] == 4:
+                frame = frame[..., :3]
+            # picamera2 RGB888 is already B,G,R in memory (OpenCV BGR). Do not swap.
+            yield frame
+    finally:
+        try:
+            picam2.stop()
+            picam2.close()
+        except Exception:  # noqa: BLE001
+            pass