add new Rest api wrapper

wrappers/readme.md

@@ -12,11 +12,12 @@
 * [Matlab](./matlab) - Supports 64bit Windows installations
 * [OpenNI2](./openni2) - OpenNI2 integration
 * [Unreal Engine 4](./unrealengine4) - Unreal Engine 4 integration
+* [Rest API](./rest-api) - Rest API wrapper
 
 If you are interested in official support for a language / framework, please let us know via [a new Issue](https://github.com/IntelRealSense/librealsense/issues/new)
 
 ## Community Projects:
 
-* Community contributions to add Java wrappers: [Java by edwinRNDR](https://github.com/edwinRNDR/librealsense/tree/master/wrappers/java) and [Java by cansik](https://github.com/cansik/librealsense-java). 
+* Community contributions to add Java wrappers: [Java by edwinRNDR](https://github.com/edwinRNDR/librealsense/tree/master/wrappers/java) and [Java by cansik](https://github.com/cansik/librealsense-java).
 Check the authors' notes: ([edwinRNDR](https://github.com/IntelRealSense/librealsense/issues/1594#issuecomment-429216051)) and [cansik](https://github.com/cansik/librealsense-java#-important).
 > A warm **thank you** to [@edwinRNDR](https://github.com/edwinRNDR) and [@cansik](https://github.com/cansik) for further expanding RealSense eco-system!

wrappers/rest-api/.gitignore

@@ -0,0 +1,10 @@
+# Ignore vscode configuration files
+.vscode/
+.pytest_cache/
+# Ignore virtual environment folder
+.venv/
+venv/
+
+# Ignore Python bytecode files
+*.pyc
+__pycache__/

wrappers/rest-api/README.md

@@ -0,0 +1,87 @@
+# LibRS Rest API server
+## Overview
+
+This Python library provides a convenient wrapper to interact with the [RealSense REST API], a FastAPI-based service that exposes the functionality of the Intel RealSense SDK (librealsense) over a network.
+
+It simplifies remote control and data streaming from RealSense devices by handling communication protocols for:
+
+1.  **RESTful Operations:** For device discovery, configuration, and control.
+2.  **WebRTC:** For efficient, browser-compatible live video streaming (RGB, Depth).
+3.  **Socket.IO:** For real-time streaming of frame metadata and point cloud data.
+    * In order to decode point cloud data in the client, follow those steps:
+        * Decode Base64 string to Uint8Array
+        * 'bytes' now holds the raw byte data that originated from the NumPy array
+        * Interpret bytes as Float32Array.
+        IMPORTANT ASSUMPTION: We assume the original NumPy array used float32.
+        If it used float64 (Python's default float), use Float64Array here.
+        The ArrayBuffer gives access to the raw binary data buffer of the Uint8Array.
+        The Float32Array constructor creates a *view* over that buffer, interpreting
+        groups of 4 bytes as 32-bit floats without copying data.
+        * Now you can use the 'vertices' Float32Array
+    * Motion raw data is also propogated using this socket.io channel
+
+## Support Features
+
+*   **Device Management:**
+    *   List connected RealSense devices.
+    *   Get detailed information about specific devices (name, serial, firmware, etc.).
+    *   Perform hardware resets remotely.
+*   **Sensor & Option Control:**
+    *   List available sensors on a device.
+    *   Get detailed sensor information and supported stream profiles.
+    *   List and retrieve current values for sensor options (e.g., exposure, gain).
+    *   Update writable sensor options.
+*   **REST-based Stream Control:**
+    *   Start/Stop streams with specific configurations (resolution, format, FPS).
+    *   Check the streaming status of a device.
+*   **WebRTC Video Streaming:**
+    *   Initiate WebRTC sessions with the API to receive live video feeds.
+    *   Handles the offer/answer and ICE candidate exchange mechanisms required for WebRTC setup (via REST endpoints).
+*   **Socket.IO Data Streaming:**
+    *   Establish a Socket.IO connection to the API.
+    *   Receive real-time events containing:
+        *   Frame metadata (timestamps, frame numbers, etc.).
+        *   Point cloud data streams.
+
+## Missing Features
+* Not all SDK capabilities are yet supported(e.g. Texture Mapping, Post processing filters,...)
+
+## Installation
+
+
+1. **Create a virtual environment:**
+
+   ```bash
+   python3 -m venv venv
+   source venv/bin/activate
+   ```
+
+2. **Install dependencies:**
+
+   ```bash
+   pip3 install -r requirements.txt
+   ```
+
+3. **Run API server:**
+
+   ```bash
+   run start_server.sh
+   ```
+
+4. **Run tests(inside tests folder):**
+
+   ```bash
+   pytest test_api_service.py
+   ```
+
+
+## Testing
+
+1. **To enable testing add the following to the requirements.txt**
+    ```bash
+    pytest==8.3.5
+    pytest-asyncio==0.26.0
+    pyyaml==6.0.2
+    lark==1.2.2
+    httpx==0.28.1
+    ```

wrappers/rest-api/app/api/dependencies.py

@@ -0,0 +1,27 @@
+from fastapi import Depends
+from fastapi.security import OAuth2PasswordBearer
+from typing import Generator
+
+from app.core.auth import get_current_user
+from app.services.rs_manager import RealSenseManager
+from app.services.webrtc_manager import WebRTCManager
+from app.services.socketio import sio
+
+# OAuth2 setup
+oauth2_scheme = OAuth2PasswordBearer(tokenUrl="token")
+
+# Singleton instances
+_realsense_manager = None
+_webrtc_manager = None
+
+def get_realsense_manager() -> RealSenseManager:
+    global _realsense_manager
+    if _realsense_manager is None:
+        _realsense_manager = RealSenseManager(sio)
+    return _realsense_manager
+
+def get_webrtc_manager() -> WebRTCManager:
+    global _webrtc_manager
+    if _webrtc_manager is None:
+        _webrtc_manager = WebRTCManager(get_realsense_manager())
+    return _webrtc_manager

wrappers/rest-api/app/api/endpoints/devices.py

@@ -0,0 +1,47 @@
+from fastapi import APIRouter, Depends, HTTPException
+from typing import List
+
+from app.core.auth import get_current_user
+from app.models.device import DeviceInfo
+from app.services.rs_manager import RealSenseManager
+from app.api.dependencies import get_realsense_manager
+
+router = APIRouter()
+
+@router.get("/", response_model=List[DeviceInfo])
+async def get_devices(
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+    #user: dict = Depends(get_current_user)  -> enable this if security is needed
+):
+    """
+    Get a list of all connected RealSense devices.
+    """
+    return rs_manager.get_devices()
+
+@router.get("/{device_id}", response_model=DeviceInfo)
+async def get_device(
+    device_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+    #user: dict = Depends(get_current_user) -> enable this if security is needed
+):
+    """
+    Get details of a specific RealSense device.
+    """
+    try:
+        return rs_manager.get_device(device_id)
+    except Exception as e:
+        raise HTTPException(status_code=404, detail=str(e))
+
+@router.post("/{device_id}/hw_reset", response_model=bool)
+async def hw_reset_device(
+    device_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+    #user: dict = Depends(get_current_user) -> enable this if security is needed
+):
+    """
+    Perform a hardware reset on a specific RealSense device.
+    """
+    try:
+        return rs_manager.reset_device(device_id)
+    except Exception as e:
+        raise HTTPException(status_code=400, detail=str(e))

wrappers/rest-api/app/api/endpoints/options.py

@@ -0,0 +1,55 @@
+from fastapi import APIRouter, Depends, HTTPException
+from typing import List, Any
+
+from app.core.auth import get_current_user
+from app.models.option import OptionInfo, OptionUpdate
+from app.services.rs_manager import RealSenseManager
+from app.api.dependencies import get_realsense_manager
+
+router = APIRouter()
+
+@router.get("/", response_model=List[OptionInfo])
+async def get_options(
+    device_id: str,
+    sensor_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+):
+    """
+    Get a list of all options for a specific sensor.
+    """
+    try:
+        return rs_manager.get_sensor_options(device_id, sensor_id)
+    except Exception as e:
+        raise HTTPException(status_code=404, detail=str(e))
+
+@router.get("/{option_id}", response_model=OptionInfo)
+async def get_option(
+    device_id: str,
+    sensor_id: str,
+    option_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+):
+    """
+    Get details of a specific option for a sensor.
+    """
+    try:
+        return rs_manager.get_sensor_option(device_id, sensor_id, option_id)
+    except Exception as e:
+        raise HTTPException(status_code=404, detail=str(e))
+
+@router.put("/{option_id}", response_model=dict)
+async def update_option(
+    device_id: str,
+    sensor_id: str,
+    option_id: str,
+    option_update: OptionUpdate,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+):
+    """
+    Update the value of a specific option for a sensor.
+    """
+    try:
+        result = rs_manager.set_sensor_option(device_id, sensor_id, option_id, option_update.value)
+        return {"success": result}
+    except Exception as e:
+        raise HTTPException(status_code=400, detail=str(e))

wrappers/rest-api/app/api/endpoints/point_cloud.py

@@ -0,0 +1,39 @@
+from fastapi import APIRouter, Depends, HTTPException
+from typing import List, Optional
+
+from app.core.auth import get_current_user
+from app.models.stream import PointCloudStatus, StreamStatus
+from app.services.rs_manager import RealSenseManager
+from app.api.dependencies import get_realsense_manager
+
+router = APIRouter()
+
+@router.post("/activate", response_model=PointCloudStatus)
+async def activate_point_cloud(
+    device_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+):
+    try:
+        return rs_manager.activate_point_cloud(device_id, True)
+    except Exception as e:
+        raise HTTPException(status_code=400, detail=str(e))
+
+@router.post("/deactivate", response_model=PointCloudStatus)
+async def deactivate_point_cloud(
+    device_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+):
+    try:
+        return rs_manager.activate_point_cloud(device_id, False)
+    except Exception as e:
+        raise HTTPException(status_code=400, detail=str(e))
+
+@router.get("/status", response_model=PointCloudStatus)
+async def get_stream_status(
+    device_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager)
+):
+    try:
+        return rs_manager.get_point_cloud_status(device_id)
+    except Exception as e:
+        raise HTTPException(status_code=404, detail=str(e))

wrappers/rest-api/app/api/endpoints/sensors.py

@@ -0,0 +1,36 @@
+from fastapi import APIRouter, Depends, HTTPException
+from typing import List
+
+from app.core.auth import get_current_user
+from app.models.sensor import SensorInfo
+from app.services.rs_manager import RealSenseManager
+from app.api.dependencies import get_realsense_manager
+
+router = APIRouter()
+
+@router.get("/", response_model=List[SensorInfo])
+async def get_sensors(
+    device_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+):
+    """
+    Get a list of all sensors for a specific RealSense device.
+    """
+    try:
+        return rs_manager.get_sensors(device_id)
+    except Exception as e:
+        raise HTTPException(status_code=404, detail=str(e))
+
+@router.get("/{sensor_id}", response_model=SensorInfo)
+async def get_sensor(
+    device_id: str,
+    sensor_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+):
+    """
+    Get details of a specific sensor for a RealSense device.
+    """
+    try:
+        return rs_manager.get_sensor(device_id, sensor_id)
+    except Exception as e:
+        raise HTTPException(status_code=404, detail=str(e))

wrappers/rest-api/app/api/endpoints/streams.py

@@ -0,0 +1,49 @@
+from fastapi import APIRouter, Depends, HTTPException
+from typing import List, Optional
+
+from app.core.auth import get_current_user
+from app.models.stream import StreamStatus, StreamStart
+from app.services.rs_manager import RealSenseManager
+from app.api.dependencies import get_realsense_manager
+
+router = APIRouter()
+
+@router.post("/start", response_model=StreamStatus)
+async def start_stream(
+    device_id: str,
+    stream_config: StreamStart,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+):
+    """
+    Start streaming from a RealSense device with the specified configuration.
+    """
+    try:
+        return rs_manager.start_stream(device_id, stream_config.configs, stream_config.align_to)
+    except Exception as e:
+        raise HTTPException(status_code=400, detail=str(e))
+
+@router.post("/stop", response_model=StreamStatus)
+async def stop_stream(
+    device_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager),
+):
+    """
+    Stop streaming from a RealSense device.
+    """
+    try:
+        return rs_manager.stop_stream(device_id)
+    except Exception as e:
+        raise HTTPException(status_code=400, detail=str(e))
+
+@router.get("/status", response_model=StreamStatus)
+async def get_stream_status(
+    device_id: str,
+    rs_manager: RealSenseManager = Depends(get_realsense_manager)
+):
+    """
+    Get the streaming status for a RealSense device.
+    """
+    try:
+        return rs_manager.get_stream_status(device_id)
+    except Exception as e:
+        raise HTTPException(status_code=404, detail=str(e))