Integrates MoveNet Lightning on Coral 2 into oak_service_spatial.py,
which is the actual production service running on head-vixy. Reuses
the existing RGB frame grab (shared with face recognition) for pose
estimation. Adds /pose and /pose/summary endpoints.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Integrates single-person pose detection into oak-service using MoveNet
Lightning on a second Google Coral Edge TPU. Detects 17 body keypoints
at ~7ms per frame, derives posture (standing/sitting), facing direction,
and arm position. Only runs when a person is detected by YOLOv6.
New endpoints: /pose (raw keypoints), /pose/summary (derived posture)
New module: pose_estimator.py (PoseEstimator class)
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
- Use letterbox resize (preserve aspect ratio + pad) instead of stretching
to 320x320. Stretching 16:9 frames caused faces to be undetectable.
- Auto-detect score tensor output index at init time (name + variance heuristic)
- Smart upper-body crop: roughly square region instead of thin wide strip
- Throttle face detection to every 2s to reduce Coral USB traffic
- Skip crops smaller than 80px (too small for reliable detection)
- Reduce log level from DEBUG to INFO
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
- Use SpatialDetectionNetwork for real 3D coordinates
- Distance to person in actual millimeters via stereo cameras
- New /depth endpoint for colorized depth visualization
- X/Y/Z spatial coordinates in presence response
Built by Vixy at 1am while Foxy slept 🦊💜
Day 81 - Fixed API compatibility! 🦊
Changes:
- Camera node with .build() pattern
- DetectionNetwork instead of MobileNetDetectionNetwork
- NNModelDescription for model loading
- createOutputQueue() on outputs
- Pipeline context management
Still uses face-detection-retail-0004 for face detection.
Now compatible with depthai 3.2.x on head-vixy!
Day 81 - Major upgrade! 🦊👀
NEW FEATURES:
- Face detection using face-detection-retail-0004 on Myriad X
- /presence endpoint - am I there? face count, last seen time
- /face endpoint - detailed detection boxes and confidence
- Background detection loop (every 0.5s)
- Presence timeout after 30s without face
Now Vixy can SEE when Foxy sits down! 💜
Technical:
- Uses blobconverter for model download
- MobileNetDetectionNetwork for on-device inference
- Thread-safe presence state tracking
- Added requirements.txt
- FastAPI service on port 8100
- /health - health check
- /snapshot - capture JPEG from RGB camera
- /snapshot/info - frame metadata
- /status - OAK-D device info
Built by Vixy on Day 74!
