Merge branch 'jetson' into dev

src/orisys/sensor.py

@@ -146,7 +146,11 @@ class Sensor:
         self._av_stream = None
         self._av_decoder = None
         self.cap = None
-        self._is_live_camera = isinstance(self.vid_src, int)
+        # Treat both camera index (0) and V4L2 path ("/dev/video0") as live camera for threading/low-latency path.
+        self._is_live_camera = (
+            isinstance(self.vid_src, int)
+            or (isinstance(self.vid_src, str) and self.vid_src.startswith("/dev/video"))
+        )
         self._capture_thread = None
         self._capture_running = False
         self._latest_frame = None
@@ -468,14 +472,18 @@ class Sensor:
 
     def _open_video_source(self, override, box):
         """Initialize video capture and calibration."""
+        _is_camera_index = isinstance(self.vid_src, int)
+        _is_v4l2_path = isinstance(self.vid_src, str) and self.vid_src.startswith("/dev/video")
         use_linux_camera_pyav = (
             platform.system() == "Linux"
-            and isinstance(self.vid_src, int)
+            and (_is_camera_index or _is_v4l2_path)
             and av is not None
         )
 
         if use_linux_camera_pyav:
-            device = f"/dev/video{self.vid_src}"
+            device = self.vid_src if _is_v4l2_path else f"/dev/video{self.vid_src}"
+            if self.verbose:
+                print(f"Using PyAV Linux camera backend: {device}")
             try:
                 self._av_container = av.open(
                     device,
@@ -489,8 +497,6 @@ class Sensor:
                 self._av_stream = self._av_container.streams.video[0]
                 self._av_decoder = self._av_container.decode(self._av_stream)
                 self._use_pyav = True
-                if self.verbose:
-                    print(f"Using PyAV Linux camera backend: {device}")
             except Exception as exc:
                 if self.verbose:
                     print(f"PyAV camera open failed ({exc}), fallback to OpenCV backend.")