88ec0ba1d4
Replace the PiCameraSource NotImplementedError stub with a working picamera2 CSI source (SourcePort read()->(ok,frame), RGB888->BGR to match the pose adapters; picamera2 lazy-imported as a system package, injected fake in tests). daemon.main() gains CAMERA_BACKEND (csi|uvc) selecting PiCameraSource or UvcSource.
29 lines
1.3 KiB
Python
29 lines
1.3 KiB
Python
"""CSI 카메라 소스 (실장비 Pi5, picamera2). Implements SourcePort.
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picamera2 is a SYSTEM package on Raspberry Pi OS (apt: python3-picamera2 + libcamera),
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NOT a pip wheel — the venv sees it via --system-site-packages (see deploy/README).
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COLOR NOTE: configured for "RGB888", which picamera2 delivers as a 3-channel array in
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**BGR** byte order (documented picamera2 quirk). The downstream pose adapters
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(MoveNet/Hailo) expect BGR (they do cv2.cvtColor(BGR2RGB)), same as cv2.VideoCapture,
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so read() returns the array as-is. Validate the channel order on device during bringup
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(a BGR<->RGB swap yields plausible-but-wrong keypoints).
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"""
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class PiCameraSource:
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def __init__(self, index: int = 0, size=(640, 480), picam2=None):
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self.index = index
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if picam2 is None: # pragma: no cover (device-only: needs picamera2 + CSI camera)
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from picamera2 import Picamera2 # system apt package (python3-picamera2)
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picam2 = Picamera2(camera_num=index)
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picam2.configure(picam2.create_video_configuration(
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main={"size": tuple(size), "format": "RGB888"}))
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picam2.start()
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self.picam2 = picam2
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def read(self):
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frame = self.picam2.capture_array()
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if frame is None:
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return False, None
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return True, frame
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