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>
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.
