robot
07d95792e3
Drop-in replacement for the Nuwa-HP60C camera container, exposing RGB +
aligned depth + intrinsics via REST/WebSocket so the existing
pestello-pose-detector pipeline can consume frames without changes.
Key adaptations for D4xx on USB 2.0 (this robot has no USB 3 port exposed
externally — see STATUS.md):
- pyrealsense2 built from source; the librealsense v2.55.1 install rule
doesn't ship the main .so, so we copy it from the build dir and add an
__init__.py that re-exports the submodule.
- Color stream uses YUYV format on USB 2.x (BGR8/RGB8 time out on this
bus); converted to BGR via cv2.cvtColor in capture().
- rs.align is skipped on USB 2 (incompatible with YUYV); color is
cv2-resized to depth shape for approximate per-pixel alignment.
- Driver auto-detects usb_type_descriptor and falls back to the
full-resolution BGR8 + rs.align pipeline when on USB 3.
Tested: /api/{health,status,discover,rgb,depth,depth/color,capture,
intrinsics} all return 200 with valid payloads at 640x480.
74 lines
2.2 KiB
Python
74 lines
2.2 KiB
Python
"""Smoke tests for the RealSense D435 service layer.
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These tests exercise the dataclasses + the driver in its un-initialized
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state. Tests that need real hardware are skipped at runtime.
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"""
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import pytest
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import numpy as np
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def _camera_module():
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try:
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return __import__("src.backend.services.camera", fromlist=["*"])
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except ImportError as exc:
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pytest.skip(f"pyrealsense2 not importable: {exc}")
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class TestCameraIntrinsics:
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def test_creation(self):
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mod = _camera_module()
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i = mod.CameraIntrinsics(
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fx_ir=383.0, fy_ir=383.0, cx_ir=320.0, cy_ir=240.0,
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fx_rgb=610.0, fy_rgb=610.0, cx_rgb=320.0, cy_rgb=240.0,
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)
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assert i.fx_ir == 383.0
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assert i.fx_rgb == 610.0
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class TestCameraFrame:
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def test_creation(self):
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mod = _camera_module()
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rgb = np.zeros((480, 640, 3), dtype=np.uint8)
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depth = np.zeros((480, 640), dtype=np.uint16)
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f = mod.CameraFrame(rgb=rgb, depth=depth, timestamp=1234.5)
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assert f.rgb.shape == (480, 640, 3)
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assert f.depth.shape == (480, 640)
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assert f.timestamp == 1234.5
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class TestDiscoveredDevice:
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def test_creation(self):
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mod = _camera_module()
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d = mod.DiscoveredDevice(index=0, vid=0x8086, pid=0x0B07, serial="ABC123", bus=1, device=5)
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assert d.vid == 0x8086
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assert d.serial == "ABC123"
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assert d.index == 0
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class TestRealSenseD435:
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def test_defaults(self):
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mod = _camera_module()
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cam = mod.RealSenseD435()
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assert not cam.is_open()
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assert not cam.is_initialized()
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assert cam.intrinsics is None
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def test_capture_when_closed(self):
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mod = _camera_module()
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cam = mod.RealSenseD435()
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assert cam.capture() is None
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assert cam.get_rgb() is None
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assert cam.get_depth() is None
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def test_discover_requires_init(self):
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mod = _camera_module()
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cam = mod.RealSenseD435()
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with pytest.raises(RuntimeError, match="not initialized"):
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cam.discover()
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def test_open_requires_init(self):
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mod = _camera_module()
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cam = mod.RealSenseD435()
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# open() returns False rather than raising when not initialized.
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assert cam.open(0) is False
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