For aligning on the host: on the Jetson rs.align.process costs ~104 ms and
holds the GIL (optimize-streams R04/R05). JSON in the usual envelope, one
response: frameset_seq, camera_timestamp_ms, timestamp_domain,
host_timestamp, color_jpeg_b64 (color grid), depth_png_b64 (16-bit PNG, mm,
depth grid), color_shape, depth_shape, depth_units. after=N / timeout_ms as
/api/color/latest. JSON + base64 like /api/capture: every client already
parses that envelope, one request gets both images, base64 costs ~0.1 ms.
Built once per frameset (EncodedRaw, last 4 kept); the color JPEG is the
color channel's own (same bytes). The depth is converted only on request
(camera.raw_frame, phase raw_depth; PNG in phase png_raw_depth).
camera: _published() shared by color_frame() and raw_frame(); _depth_mm()
extracted unchanged from _aligned_frame().
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
OliviaCandClaude Opus 5.5
22815e9b0f