The fake frames now hand out a buffer (memoryview) like pyrealsense2's
BufData, so np.asanyarray() of it is a view, as on the robot; a control test
proves it. Then: the captured rgb/depth share no memory with the fake SDK
frame and own their data (without the fix both shared it), and _owned()
copies views only.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
tests/fake_realsense.py: a pipeline whose wait_for_frames renders a textured
640x480 frameset after 100 ms (no RealSense on the development PC).
tests/test_parallel_capture.py:
- 3 parallel /api/capture take < 2x one alone (medians of 5): the criterion
declared for optimize-streams R01. On the previous code: 391 vs 128 ms.
- /api/capture keeps its fields; parallel requests share one frame and its
bytes, frame_id still differs per response; one thread calls the pipeline.
- /api/rgb, /api/depth, /api/depth/color decode; /ws streams; close() stops
the acquisition thread.
Skipped when pyrealsense2 is not importable, like the existing driver tests.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
FrameAcquisition: a single thread calls wait_for_frames + align (the old
capture() body, now _grab_once) and keeps the latest frame, numbered.
capture() no longer touches the pipeline: it waits for the next frame of
that thread; requests waiting at the same moment get the same frame, so N
callers cost one grab. get_rgb()/get_depth() keep their 100 ms cache,
now on the thread's latest frame (_last_frame is gone).
The thread grabs on demand, only while someone waits for a newer frame:
grabbing continuously at 30 fps would align frames nobody reads, and align
on the Jetson CPU is the main suspect of the capture cost. A grab error is
logged and retried, the thread never dies. close() stops it before the
pipeline and joins it after (pipeline.stop() ends a wait in progress).
open/close and camera_open are unchanged, so the healthcheck + autoheal
recovery of ede70a2 sees the same state as before.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
One log line per phase every PHASE_LOG_EVERY samples (default 100, 0 = off):
mean and max of wait_frames, align, convert, each JPEG/PNG encoding,
colormap, depth_stats, base64, json and ws_send. Meant for the measurement
on PC2 via `docker logs` (optimize-streams R01): where a capture spends its
~130 ms of CPU is not known yet.
capture() moves its numpy conversion into _frame_from() unchanged, only so
the block can be timed; _depth_colormap() likewise wraps _jet_colormap().
Co-Authored-By: Claude Opus 5.5 <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.
OliviaCandClaude Opus 5.5