8000 Add Luxonis OAK DepthAI v3 camera support by arpitjain2811 · Pull Request #1363 · huggingface/lerobot · GitHub
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Add Luxonis OAK DepthAI v3 camera support #1363

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Add Luxonis OAK DepthAI v3 camera support #1363

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What this does

  • Add support for Luxonis OAK DepthAI cameras
  • Add class with RGB and depth stream capture capabilities
  • Support for DepthAI V3
  • Add automatic camera discovery and enumeration functionality
  • Include configuration options (fps, resolution, color modes)
  • Integrate DepthAI support into find_cameras utility script
  • Add depthai>=3.0.0rc2 dependency to pyproject.toml
  • Include test suite for DepthAI functionality

This enables robotic applications to leverage Luxonis OAK cameras for high-quality RGB-D sensing with hardware-accelerated depth computation.

How it was tested

  • Added test in lerobot/tests/cameras/test_depthai.py
  • Ran lerobot/find_cameras.py locally and verified the image is captured in the output directory

How to checkout & try? (for the reviewer)

  • Any reviewer with OAK camera supporting depthAI v3 can run lerobot/find_cameras.py snd verify the output image.

@arpitjain2811
feat: Add DepthAI OAK camera support
d17577c 
- Add DepthAICamera class with RGB and depth stream capture capabilities
- Support both MxID and device name identification for camera targeting
- Support for DepthAI V3
- Implement async read methods for RGB and depth data with configurable timeouts
- Add automatic camera discovery and enumeration functionality
- Include configuration options (fps, resolution, color modes)
- Add stereo depth processing from CAM_B and CAM_C cameras
- Integrate DepthAI support into find_cameras utility script
- Add depthai>=3.0.0rc2 dependency to pyproject.toml
- Include test suite for DepthAI functionality
- Support warmup periods and proper connection lifecycle management

This enables robotic applications to leverage Luxonis OAK cameras for
high-quality RGB-D sensing with hardware-accelerated depth computation.
@arpitjain2811
Remove DepthAI from core dependencies
7e20988
@CarolinePascal CarolinePascal added enhancement Suggestions for new features or improvements robots Issues concerning robots HW interfaces labels Jun 23, 2025
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@arpitjain2811 @CarolinePascal
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