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.
67 lines
2.1 KiB
Python
67 lines
2.1 KiB
Python
import base64
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import json
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import logging
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from nats.aio.client import Client
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from src.backend.nats_client.subjects import Subjects
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logger = logging.getLogger(__name__)
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_camera = None
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def set_camera(camera):
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global _camera
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_camera = camera
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def _nats_response(success: bool, data=None, error=None) -> bytes:
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return json.dumps({
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"success": success,
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"data": data,
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"error": error,
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}).encode()
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async def register_all(nc: Client):
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async def handle_snapshot(msg):
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try:
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if not _camera or not _camera.is_open():
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await msg.respond(_nats_response(
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False, error={"code": "NO_CAMERA", "message": "Camera not open"}
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))
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return
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import cv2
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frame = _camera.capture()
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if frame is None:
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await msg.respond(_nats_response(
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False, error={"code": "TIMEOUT", "message": "Frame capture timeout"}
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))
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return
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_, rgb_buf = cv2.imencode(".jpg", frame.rgb, [cv2.IMWRITE_JPEG_QUALITY, 85])
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_, depth_buf = cv2.imencode(".png", frame.depth)
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await msg.respond(_nats_response(True, data={
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"rgb_jpeg_b64": base64.b64encode(rgb_buf.tobytes()).decode(),
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"depth_png_b64": base64.b64encode(depth_buf.tobytes()).decode(),
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"timestamp": frame.timestamp,
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"width": frame.rgb.shape[1],
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"height": frame.rgb.shape[0],
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}))
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except Exception as e:
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logger.error(f"Snapshot handler error: {e}")
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await msg.respond(_nats_response(
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False, error={"code": "PROCESSING_ERROR", "message": str(e)}
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))
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async def handle_status(msg):
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await msg.respond(_nats_response(True, data={
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"camera_open": _camera.is_open() if _camera else False,
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"sdk_initialized": _camera.is_initialized() if _camera else False,
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}))
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await nc.subscribe(Subjects.action("snapshot"), cb=handle_snapshot)
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await nc.subscribe(Subjects.action("status"), cb=handle_status)
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