master_service unlinks and recreates master_service.sock on every host boot
or restart, and a bind mount of the file pins the old (dead) inode, so every
mscli call inside the container failed with "Connect to server error".
Mount the directory instead. The entrypoint wraps "mscli stopservice
video_hub_pc4" in stop_videohub(), which prints a WARN when mscli cannot
reach master_service (then /dev/video4 stays busy and the camera will not
open), at start and in the 10 s loop.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
The depth stream is aligned to the color frame via rs.align(rs.stream.color),
so the depth map lives on the color pixel grid. /api/measure, /api/pointcloud
and /api/pointcloud/roi were de-projecting those pixels with the *depth* (ir)
intrinsics, inflating X/Y by fx_rgb/fx_ir (~1.54x on the D435i). Z was correct
since it only depends on the depth value, not the intrinsics.
A 103mm ArUco marker at ~0.73m measured ~157mm; back-projected point clouds did
not overlap other calibrated cameras.
Fix: centralize intrinsics selection in _backprojection_intrinsics(), keyed on
the new RealSenseD435.is_depth_aligned_to_color(). Aligned (USB 3 default) ->
rgb intrinsics; no alignment (USB 2 fallback, where color is resized onto the
depth grid) -> ir intrinsics. An unconditional ir->rgb swap would have broken
the USB 2 path symmetrically.
Verified live: /api/measure?u=377&v=68 now returns x=+0.0686 (rgb) instead of
+0.1092 (ir). Documented root cause + non-regression check in README and
bug_d435i_intrinsics_mismatch.md.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Read width/height/fps from the live pipeline profile instead of
hardcoding 640x480, so /status reflects the firmware-accepted
resolution (e.g. the USB 2.x 640x480@15 fallback) rather than the
requested config.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Mount mscli + master_service.sock into the container and stop
video_hub_pc4 at startup (and every 10s) so the RealSense pipeline
can open the D435i V4L2 node without EBUSY.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This repo is now an independent project tracking the G1 deploy. The
upstream remote points to RealSense-D435i-G1 on git.humion.it and the
default branch is `main`. The H1 repo (RealSense-D435-H1) is now a
separate sibling project, linked from the README under "Repo correlati".
Sweeps the README for stale references to `branch camera-g1`, updates
the architecture diagram and repo-tree header to the new project name,
and updates rsync/cd paths to the canonical RealSense-D435i-G1 folder.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Updates the README from the H1 description to the current G1 state:
D435i over USB 3.2, librealsense pinned to v2.50.0 for FW 05.15.x
compatibility, host-side React build, and the video_hub_pc4 stop
prerequisite. Adds a G1-vs-H1 hardware comparison table and three
new troubleshooting entries (wait_for_frames timeout, resolve
request failure, npm DNS).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The G1's head camera is a D435i (USB 3.2, FW 05.15.01.55) — same family
as the H1's D435 but on a different bus and with older firmware. The
existing image opened the device but wait_for_frames timed out
indefinitely; this turned out to be a librealsense v2.55.x regression
against the D4xx firmware on this robot. Pinning the SDK back to v2.50.0
(the version known to work on the host install at /home/unitree/librealsense)
restores frame delivery.
While in there, refactor the runtime stage to copy librealsense2.so.*
straight from the builder instead of apt-installing it, so the binding
ABI always matches the .so version. Also drop the now-unused Intel apt
repo + GPG key dance.
Frontend stage removed: npm-in-docker can't resolve registry.npmjs.org
on this Jetson (docker's default DNS 127.0.0.53 doesn't work from inside
containers). Build the React app on the host one-shot via:
docker run --rm --dns 8.8.8.8 -v $(pwd)/src/frontend/react:/app \\
-w /app node:22-alpine sh -c 'npm install && npm run build'
then `docker compose build` just copies the prebuilt dist/.
Tested on the G1: all REST endpoints (rgb, depth, depth/color, capture,
intrinsics, pointcloud, measure, snapshot) return 200 with valid
payloads at 640x480@30 via USB 3.2.
Note: requires videohub_pc4 stopped (it holds /dev/video4):
/unitree/sbin/mscli stopservice video_hub_pc4
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.
