Add pyorbeck into dora node hub

node-hub/dora-pyorbbecksdk/README.md

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+# Dora Node to communicate with Pyorbbecksdk
+
+Please follow the installation instruction in: https://github.com/orbbec/pyorbbecsdk

node-hub/dora-pyorbbecksdk/dora_pyorbbecksdk/__init__.py

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+import os
+
+# Define the path to the README file relative to the package directory
+readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
+
+# Read the content of the README file
+try:
+    with open(readme_path, "r", encoding="utf-8") as f:
+        __doc__ = f.read()
+except FileNotFoundError:
+    __doc__ = "README file not found."

node-hub/dora-pyorbbecksdk/dora_pyorbbecksdk/main.py

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+# ******************************************************************************
+#  Copyright (c) 2023 Orbbec 3D Technology, Inc
+#
+#  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.
+# ******************************************************************************
+import cv2
+import os
+from pyorbbecsdk import Context
+from pyorbbecsdk import Config
+from pyorbbecsdk import OBError
+from pyorbbecsdk import OBSensorType, OBFormat
+from pyorbbecsdk import Pipeline, FrameSet
+from pyorbbecsdk import VideoStreamProfile
+from utils import frame_to_bgr_image
+from dora import Node
+import pyarrow as pa
+
+ESC_KEY = 27
+
+DEVICE_INDEX = os.getenv("DEVICE_INDEX", 0)
+
+
+def main():
+    node = Node()
+    config = Config()
+    ctx = Context()
+    device_list = ctx.query_devices()
+    device = device_list.get_device_by_index(int(DEVICE_INDEX))
+    pipeline = Pipeline(device)
+    try:
+        profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
+        try:
+            color_profile: VideoStreamProfile = profile_list.get_video_stream_profile(
+                640, 0, OBFormat.RGB, 30
+            )
+        except OBError as e:
+            print(e)
+            color_profile = profile_list.get_default_video_stream_profile()
+            print("color profile: ", color_profile)
+        config.enable_stream(color_profile)
+    except Exception as e:
+        print(e)
+        return
+    pipeline.start(config)
+    for event in node:
+        try:
+            frames: FrameSet = pipeline.wait_for_frames(100)
+            if frames is None:
+                continue
+            color_frame = frames.get_color_frame()
+            if color_frame is None:
+                continue
+            # covert to RGB format
+            color_image = frame_to_bgr_image(color_frame)
+            if color_image is None:
+                print("failed to convert frame to image")
+                continue
+            ret, frame = cv2.imencode("." + "jpeg", color_image)
+            if ret:
+                node.send_output("image", pa.array(frame), {"encoding": "jpeg"})
+        except KeyboardInterrupt:
+            break
+    pipeline.stop()
+
+
+if __name__ == "__main__":
+    main()

node-hub/dora-pyorbbecksdk/pyproject.toml

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+[tool.poetry]
+name = "dora-pyorbbecksdk"
+version = "0.3.6"
+authors = ["Haixuan Xavier Tao <tao.xavier@outlook.com>"]
+description = "Dora Node for capturing video with PyOrbbeck SDK"
+readme = "README.md"
+
+packages = [{ include = "dora_pyorbbecksdk" }]
+
+[tool.poetry.dependencies]
+dora-rs = "^0.3.6"
+python = "^3.7"
+
+
+[tool.poetry.scripts]
+dora-pyorbbecksdk = "dora_pyorbbecksdk"
+
+[build-system]
+requires = ["poetry-core>=1.8.0"]
+build-backend = "poetry.core.masonry.api"

node-hub/dora-pyorbbecksdk/tests/test_pyorbbecksdk.py

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+import pytest
+
+
+def test_import_main():
+    # from opencv_video_capture.main import main
+    pass
+    # skip test as pyorbbecksdk installation is a bit complicated
+
+    # Check that everything is working, and catch dora Runtime Exception as we're not running in a dora dataflow.
+    # with pytest.raises(RuntimeError):
+    #    main()