84 lines
2.7 KiB
Python
84 lines
2.7 KiB
Python
"""FastAPI REST-API für appRobotBodyTrack."""
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from __future__ import annotations
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import json
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import tempfile
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from pathlib import Path
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from typing import List, Optional
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from fastapi import FastAPI, File, HTTPException, UploadFile
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from fastapi.responses import JSONResponse
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from scripts import __version__, estimate_from_dir
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_robot_json: Optional[Path] = None
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def create_app(robot_json: str | Path | None = None) -> FastAPI:
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"""App-Fabrik — setzt optionale Server-weite robot.json-Konfig."""
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global _robot_json
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if robot_json:
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_robot_json = Path(robot_json).resolve()
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return _app
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_app = FastAPI(title="approbot-pipeline", version=__version__)
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@_app.get("/v1/health")
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def health():
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return {"status": "ok", "version": __version__}
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@_app.get("/v1/config")
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def config():
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if _robot_json is None or not _robot_json.exists():
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raise HTTPException(404, "Keine robot.json konfiguriert")
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data = json.loads(_robot_json.read_text(encoding="utf-8"))
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return data.get("pose_estimation", {})
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@_app.post("/v1/estimate")
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async def estimate(
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images: List[UploadFile] = File(..., description="Kamerabilder (render_<id>.png)"),
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intrinsics: List[UploadFile] = File(..., description="Kamera-Intrinsiken (render_<id>.npz)"),
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robot_json: Optional[UploadFile] = File(default=None, description="robot.json (überschreibt Server-Konfig)"),
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):
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"""Pose-Schätzung aus Kamerabildern.
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Multipart-Upload:
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images[] — render_a.png, render_b.png, ...
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intrinsics[] — render_a.npz, render_b.npz, ... (gleiche Reihenfolge)
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robot_json — optional, überschreibt die Server-Konfiguration
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"""
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with tempfile.TemporaryDirectory(prefix="approbot_req_") as tmp:
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tmp_path = Path(tmp)
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if robot_json is not None:
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rj_path = tmp_path / "robot.json"
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rj_path.write_bytes(await robot_json.read())
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elif _robot_json and _robot_json.exists():
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rj_path = _robot_json
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else:
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raise HTTPException(400, "Keine robot.json angegeben (weder Upload noch Server-Konfig)")
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for img in images:
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(tmp_path / img.filename).write_bytes(await img.read())
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for npz in intrinsics:
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(tmp_path / npz.filename).write_bytes(await npz.read())
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try:
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result = estimate_from_dir(tmp_path, robot_json=rj_path, eval_dir=tmp_path)
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except FileNotFoundError as exc:
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raise HTTPException(400, str(exc))
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except Exception as exc:
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raise HTTPException(500, str(exc))
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return JSONResponse({
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"joints": result.joints,
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"confidence": result.confidence,
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"residual_rms": result.residual_rms,
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"n_markers": result.n_markers,
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"processing_ms": result.processing_ms,
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})
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