Tried on pyrealsense2 2.50 (PC2's version): software_video_frame has no
depth_units there, the software depth frames get scale 0 and rs.align
returns an almost empty depth (1 valid pixel instead of 306565) with NO
error. The read-only depth_units option on the sensor is not enough.
The script now checks for the attribute and stops with an explicit
message; 2.58 (this PC) works. rs.__version__ does not exist in 2.50
either: read with getattr.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Read-only (GET only). For each frameset: /api/raw/latest and /api/capture
of the same frameset_seq (retried until they match), the raw depth aligned
on the host with pyrealsense2 (software_device built from /api/intrinsics:
both streams' intrinsics, distortion model and coefficients, extrinsics
depth->color; then syncer + rs.align), and a pixel-by-pixel comparison of
the two aligned depths: pixels valid in both, only in one, exact-equal
fraction, |diff| mean/median/p99/max in mm. One JSON line per frameset.
The syncer may emit the first pair split, so a pair is pushed again (up
to 5 times) until a complete frameset of that frame number comes out.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
OliviaCandClaude Opus 5.5