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.
27 lines
586 B
Bash
27 lines
586 B
Bash
# Server
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API_HOST=0.0.0.0
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API_PORT=8878
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# NATS
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NATS_URL=nats://nats:4222
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NATS_TOKEN=
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# Service identity
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SERVICE_NAME=realsense-d435
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SERVICE_DOMAIN=vision
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# Security — set to a non-empty string to require X-Api-Key on every REST call
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API_KEY=
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# RealSense stream
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CAMERA_WIDTH=640
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CAMERA_HEIGHT=480
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CAMERA_FPS=30
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# Auto-open the first discovered camera at container startup (1=on, 0=off).
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# With auto-open, the service is fully self-service: no /api/open call needed.
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CAMERA_AUTO_OPEN=1
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# CORS — wildcard is OK for a LAN-only service. Tighten if exposed publicly.
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CORS_ORIGINS=*
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