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.
55 lines
1009 B
Python
55 lines
1009 B
Python
from pydantic import BaseModel
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from typing import Any
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class ApiError(BaseModel):
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code: str
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message: str
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class ApiResponse(BaseModel):
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success: bool
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data: Any | None = None
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error: ApiError | None = None
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def ok(data: Any) -> dict:
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return {"success": True, "data": data, "error": None}
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def fail(code: str, message: str) -> dict:
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return {"success": False, "data": None, "error": {"code": code, "message": message}}
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class DeviceInfo(BaseModel):
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index: int
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vid: str
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pid: str
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serial: str
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bus: int
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device: int
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class IntrinsicsInfo(BaseModel):
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fx: float
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fy: float
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cx: float
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cy: float
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class CameraIntrinsicsInfo(BaseModel):
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ir: IntrinsicsInfo
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rgb: IntrinsicsInfo
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class FrameInfo(BaseModel):
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frame_id: int
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timestamp: float
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rgb_shape: list[int]
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depth_shape: list[int]
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depth_min_mm: int
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depth_max_mm: int
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depth_valid_pixels: int
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rgb_jpeg_b64: str | None = None
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depth_png_b64: str | None = None
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