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.
39 lines
359 B
Plaintext
39 lines
359 B
Plaintext
# Python
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__pycache__/
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*.py[cod]
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*.egg-info/
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dist/
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build/
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# uv
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.venv/
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# Environment
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.env
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!.env.example
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# IDE
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.vscode/
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.idea/
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# OS
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.DS_Store
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Thumbs.db
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# Node
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node_modules/
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src/frontend/react/dist/
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# Docker
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*.log
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# Compiled bridge (rebuilt from source)
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src/backend/bridge/libascam_bridge.so
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# Claude / OMC
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.claude/
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.omc/
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.pytest_cache/
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images/*
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models/*
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