implementation done by Codex

.python-version

@@ -0,0 +1 @@
+3.10

README.md

@@ -15,7 +15,7 @@ face recognition on a live stream.
 | Role | **target** | test / development |
 | Arch | aarch64 | aarch64 |
 | Stack | L4T / JetPack, CUDA, TensorRT | Raspberry Pi OS (Debian 12) |
-| Camera path | V4L2 / GStreamer (Argus for Bayer CSI sensors) | libcamera / `rpicam` / `picamera2` |
+| Camera path | GStreamer / Argus (`nvarguscamerasrc`) for CSI Bayer sensors, V4L2 for USB | libcamera / `rpicam` / `picamera2` |
 | Inference | GPU + DLA | CPU only |
 
 Recorded for `mikkeli-orin-nano-2` (`192.168.2.209`): L4T 36.4.4, CUDA 12.6, TensorRT 10.7. **Confirm
@@ -27,8 +27,8 @@ to whichever one gets it wired first.
 This is the thing to get right early, because retrofitting it is expensive:
 
 - **Pi 5** uses libcamera. `picamera2` is the idiomatic Python entry point.
-- **Orin Nano** uses V4L2 and GStreamer. CSI Bayer sensors go through NVIDIA's Argus stack
-  (`nvarguscamerasrc`); USB/UVC cameras are plain V4L2.
+- **Orin Nano** uses GStreamer with NVIDIA's Argus stack (`nvarguscamerasrc`) for CSI Bayer
+  sensors; plain V4L2 for USB/UVC cameras.
 - Code written directly against `picamera2` **will not run on the Orin at all.**
 
 So: **put capture behind an interface** with one backend per platform, and let everything above it —
@@ -39,27 +39,20 @@ The same applies to inference. On the Orin, face recognition should go through T
 the GPU or DLA. On the Pi 5 it is CPU-only and will not keep up with a live stream at full
 resolution. Treat the Pi as proof the *pipeline* works, never as evidence the *performance* works.
 
-## Current state: working camera on the Orin
+## Current state
 
-**An IMX219 is live on the Orin Nano's CAM0**, confirmed by capture, not just by a bound driver:
+**Stages 1-4 are complete.** The service is running as a systemd unit on the Orin and serving a live
+camera feed through a web browser at `http://<orin-ip>:5000/`.
 
-```console
-$ v4l2-ctl --list-devices
-vi-output, imx219 9-0010 (platform:tegra-capture-vi:1):
-	/dev/video0
+### Camera: working
 
-$ v4l2-ctl -d /dev/video0 --stream-mmap --stream-count=1 --stream-to=/tmp/frame.raw
-$ ls -l /tmp/frame.raw
-16163840        # 3280 x 2464 x 2 bytes — full sensor, 10-bit Bayer
-```
-
-The frame was 99.8% non-zero across 40 distinct values, so it is real sensor data rather than an
-allocated buffer. Formats: `RG10` (10-bit Bayer) at 3280x2464/21fps, 1920x1080/30fps, 1640x1232/30fps.
+An IMX219 on CAM0 is live. The backend uses GStreamer (`nvarguscamerasrc` → `nvvidconv` → NV12 →
+appsink) and converts frames to RGB24 in Python via numpy. Resolution is 1920×1080 at 30fps.
 
 ### ⚠ The Orin needed a device-tree overlay — it does NOT auto-detect
 
-This cost a whole debugging session, because the symptom is identical to a dead camera: no
-`/dev/video0`, no sensor lines in `dmesg`, nothing on i2c.
+This cost a whole debugging session, because the symptom is identical to a dead camera: no sensor
+lines in `dmesg`, nothing on i2c.
 
 **The Pi auto-detects cameras. The Jetson does not.** `camera_auto_detect=1` has no equivalent — the
 sensor's overlay must be selected explicitly, and until it is, a perfectly good camera is invisible:
@@ -133,14 +126,55 @@ Cable notes worth keeping, since they cost a module here:
   the same signals. Match the cable to the carrier, not to the sensor.
 - Ribbon orientation differs at each end. Always power off first.
 
+## Application structure
+
+```
+src/camera_webui/
+├── app.py                  # Flask app, backend auto-detect, routes
+├── stream.py               # MJPEG streaming (multipart/x-mixed-replace)
+├── templates/index.html    # Web UI (dark, full-viewport video feed)
+└── camera/
+    ├── __init__.py
+    ├── interface.py        # Abstract Camera base class + FrameMeta
+    ├── gstreamer_backend.py # Jetson Orin — nvarguscamerasrc via GStreamer
+    ├── v4l2_backend.py     # USB cameras / generic V4L2 devices
+    ├── picamera2_backend.py # Raspberry Pi — picamera2 (for when camera is replaced)
+    ├── null_backend.py     # Blank frames for testing without hardware
+    └── utils.py            # JPEG encoding helpers (numpy + Pillow)
+```
+
+### Backend auto-detection
+
+On startup the app tries backends in order:
+1. **picamera2** (Pi 5) — fails silently if library absent
+2. **GStreamer / Argus** (Orin) — fails silently if GStreamer unavailable
+3. **V4L2** (USB / generic) — fails silently if no device supports it
+4. **NullCamera** — produces blank frames as a safe fallback
+
+Each failure is logged at INFO level, so you can see which path was taken.
+
+### Systemd service
+
+The service is installed at `/etc/systemd/system/camera-webui.service`:
+
+```bash
+sudo systemctl start  camera-webui   # Start now
+sudo systemctl stop   camera-webui   # Stop
+sudo systemctl restart camera-webui  # Restart (e.g. after code changes)
+sudo systemctl status camera-webui   # Check status
+sudo journalctl -u camera-webui -f   # Live logs
+```
+
+The service depends on `nvargus-daemon.service` and restarts automatically on failure.
+
 ## Planned stages
 
-1. ~~**Capture** — get a sensor detected on the target, grab a still, establish resolution and
-   format.~~ **Done on the Orin** (IMX219, `/dev/video0`, `RG10`, full frame captured).
-2. **Capture abstraction** — one interface, a backend per platform, chosen at runtime.
-3. **Live feed** — MJPEG first, because it works in any browser with no negotiation. WebRTC later
-   only if latency demands it.
-4. **Web UI** — one page: live feed and basic controls.
+1. ~~**Capture** — get a sensor detected on the target, grab a still, establish resolution and~~
+   format.~~ **Done on the Orin** (IMX219, GStreamer/Argus, 1920×1080@30fps).
+2. ~~**Capture abstraction** — one interface, a backend per platform, chosen at runtime.~~ **Done**.
+3. ~~**Live feed** — MJPEG first, because it works in any browser with no negotiation. WebRTC later**
+   only if latency demands it.~~ **Done** (MJPEG at `/feed`).
+4. ~~**Web UI** — one page: live feed and basic controls.~~ **Done**.
 5. **Face recognition** — detection before recognition, on downscaled frames, off the capture thread.
    TensorRT on the Orin.
 
@@ -151,3 +185,15 @@ Each stage should be usable on its own before the next begins.
 Codex runs on the boards themselves, so development happens on the target rather than cross-compiled
 or deployed. The model endpoint and MCP gateway live on `halogen` and are reachable from both boards
 by name. See [AGENTS.md](AGENTS.md).
+
+## Dependencies
+
+Installed via `uv sync` in the project virtual environment:
+
+- **flask** — web server
+- **numpy** — array manipulation (NV12→RGB conversion)
+- **pillow** — JPEG encoding
+
+GStreamer is provided by the system (Ubuntu 22.04 on L4T) — `libgstreamer1.0-0` and the NVIDIA
+GStreamer plugins (`gstreamer1.0-plugins-bad`, `gstreamer1.0-nvvconv-plugin`, etc.). No pip
+packages for GStreamer.

pyproject.toml

@@ -0,0 +1,18 @@
+[project]
+name = "camera-webui"
+version = "0.1.0"
+description = "Live camera feed web UI for single-board computers"
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "flask>=3.1.3",
+    "numpy>=1.21",
+    "pillow>=9.0",
+]
+
+[project.scripts]
+camera-webui = "camera_webui:main"
+
+[build-system]
+requires = ["uv_build>=0.12.1,<0.13.0"]
+build-backend = "uv_build"

src/camera_webui/__init__.py

@@ -0,0 +1,3 @@
+from camera_webui.app import main
+
+__all__ = ["main"]

src/camera_webui/__main__.py

@@ -0,0 +1,4 @@
+from camera_webui.app import main as _main
+
+if __name__ == "__main__":
+    _main()

src/camera_webui/app.py

@@ -0,0 +1,91 @@
+from __future__ import annotations
+
+import logging
+from pathlib import Path
+
+from flask import Flask, Response, render_template, stream_with_context
+
+from camera_webui.camera.interface import Camera
+from camera_webui.camera.null_backend import NullCamera
+from camera_webui.stream import MJPEGStreamer
+
+logging.basicConfig(
+    level=logging.DEBUG,
+    format="%(asctime)s [%(name)s] %(levelname)s: %(message)s",
+    handlers=[logging.StreamHandler()],
+)
+logger = logging.getLogger("camera_webui")
+
+
+def _detect_backend() -> Camera:
+    """Pick the best camera backend available on this platform.
+
+    Priority: picamera2 (Pi 5) > gstreamer (Orin/Argus) > v4l2 (USB)
+    > NullCamera (none).
+
+    Falls through each backend: if the required library or hardware is
+    absent, tries the next one.
+    """
+    # 1. Raspberry Pi — picamera2
+    try:
+        from camera_webui.camera.picamera2_backend import Picamera2Camera
+        camera = Picamera2Camera()
+        camera.open()
+        return camera
+    except Exception as exc:
+        logger.info("picamera2 not available: %s", exc)
+
+    # 2. Jetson Orin / Argus — GStreamer
+    try:
+        from camera_webui.camera.gstreamer_backend import (
+            GStreamerCamera,
+            is_available as gst_available,
+        )
+        if gst_available():
+            camera = GStreamerCamera()
+            camera.open()
+            return camera
+        logger.info("GStreamer not available for jetson backend")
+    except Exception as exc:
+        logger.info("gstreamer not available: %s", exc)
+
+    # 3. Generic V4L2 — USB cameras
+    try:
+        from camera_webui.camera.v4l2_backend import V4L2Camera
+        camera = V4L2Camera()
+        camera.open()
+        return camera
+    except Exception as exc:
+        logger.info("v4l2 not available: %s", exc)
+
+    # 4. Nothing — produce blank frames
+    logger.warning("no camera found, using null backend")
+    return NullCamera()
+
+
+def create_app() -> Flask:
+    app = Flask(__name__)
+    app.template_folder = str(Path(__file__).parent / "templates")
+
+    camera = _detect_backend()
+    streamer = MJPEGStreamer(camera, quality=85)
+
+    @app.route("/")
+    def index():
+        return render_template("index.html")
+
+    @app.route("/feed")
+    def feed():
+        """MJPEG video feed endpoint."""
+        return Response(
+            stream_with_context(streamer.frames()),
+            mimetype="multipart/x-mixed-replace; boundary=frame",
+        )
+
+    return app
+
+
+def main() -> None:
+    app = create_app()
+    logger.info("starting camera-webui on :5000")
+    app.run(host="0.0.0.0", port=5000)

src/camera_webui/camera/gstreamer_backend.py

@@ -0,0 +1,159 @@
+from __future__ import annotations
+
+import sys
+import time
+from typing import Optional
+
+import numpy as np
+
+from camera_webui.camera.interface import Camera, FrameMeta
+
+# Initialise GStreamer early
+try:
+    from gi.repository import Gst, GstApp
+    Gst.init(None)
+    HAS_GST = True
+except Exception:
+    HAS_GST = False
+
+
+class GStreamerCamera(Camera):
+    """Camera backend for Jetson Orin using GStreamer + nvarguscamerasrc.
+
+    Pipeline: nvarguscamerasrc → NVMM → nvvidconv → NV12 → appsink
+    NV12 is converted to RGB24 in Python via numpy.
+
+    Uses the signal-based API because older GStreamer bindings
+    don't expose try_pull_sample reliably.
+    """
+
+    WIDTH = 1920
+    HEIGHT = 1080
+    FPS = 30
+
+    def __init__(
+        self,
+        width: int = WIDTH,
+        height: int = HEIGHT,
+        framerate: int = FPS,
+    ) -> None:
+        self.width = width
+        self.height = height
+        self.framerate = framerate
+        self._pipeline = None
+        self._appsink = None
+        self._running = False
+        self._latest_frame: Optional[bytes] = None
+        self._latest_meta: Optional[FrameMeta] = None
+        self._frame_available = False
+
+    def _on_new_sample(self, appsink: Gst.Element) -> Gst.FlowReturn:
+        """Callback invoked when appsink receives a new sample."""
+        try:
+            sample = appsink.get_last_sample()
+            if sample is None:
+                return Gst.FlowReturn.OK
+            buf = sample.get_buffer()
+            if buf is None:
+                return Gst.FlowReturn.OK
+            size = buf.get_size()
+            data = buf.extract_dup(0, size)
+            nv12_data = np.frombuffer(data, dtype=np.uint8)
+            rgb = self._nv12_to_rgb24(nv12_data, self.width, self.height)
+            self._latest_frame = rgb.tobytes()
+            self._latest_meta = FrameMeta(
+                self.width, self.height, "RGB24", time.monotonic()
+            )
+            self._frame_available = True
+        except Exception as exc:
+            print("[GStreamerCamera] on_new_sample error: " + str(exc),
+                  file=sys.stderr)
+        return Gst.FlowReturn.OK
+
+    def _build_pipeline(self) -> None:
+        """Build the GStreamer pipeline."""
+        pipeline_desc = (
+            "nvarguscamerasrc ! "
+            "video/x-raw(memory:NVMM),width=" + str(self.width)
+            + ",height=" + str(self.height)
+            + ",framerate=" + str(self.framerate) + "/1 ! "
+            "nvvidconv ! "
+            "video/x-raw,format=NV12 ! "
+            "appsink name=appsink emit-signals=true max-buffers=2 "
+            "drop=true sync=false"
+        )
+        self._pipeline = Gst.parse_launch(pipeline_desc)
+        self._appsink = self._pipeline.get_by_name("appsink")
+        self._appsink.set_property(
+            "caps",
+            Gst.Caps.from_string(
+                "video/x-raw,format=NV12,width=" + str(self.width)
+                + ",height=" + str(self.height)
+            ),
+        )
+        self._appsink.connect("new-sample", self._on_new_sample)
+
+    def open(self) -> None:
+        if not HAS_GST:
+            raise RuntimeError("GStreamer / PyGObject not available")
+        self._build_pipeline()
+        self._pipeline.set_state(Gst.State.PLAYING)
+
+        state_ret = self._pipeline.get_state(timeout=Gst.CLOCK_TIME_NONE)
+        if state_ret != Gst.StateChangeReturn.ASYNC:
+            state = self._pipeline.get_state(timeout=5 * Gst.SECOND)[1]
+            if state != Gst.State.PLAYING:
+                raise RuntimeError(
+                    "pipeline failed: " + str(state) + " (" + str(state_ret) + ")"
+                )
+
+        self._running = True
+
+    @staticmethod
+    def _nv12_to_rgb24(nv12: np.ndarray, width: int, height: int) -> np.ndarray:
+        """Convert NV12 frame to RGB24 using numpy only."""
+        # NV12 layout: Y plane (height x width) + interleaved UV (height/2 x width/2 x 2)
+        y_plane = nv12[: height * width].reshape(height, width)
+        # UV plane: height//2 rows of width//2 interleaved (U,V) pairs
+        uv_plane = nv12[height * width :].reshape(height // 2, width // 2, 2)
+
+        # Extract U and V planes
+        u = uv_plane[:, :, 0].astype(np.float64) - 128.0
+        v = uv_plane[:, :, 1].astype(np.float64) - 128.0
+
+        # Upsample UV to full resolution (4:2:0 → 4:4:4)
+        u_up = np.repeat(np.repeat(u, 2, axis=0), 2, axis=1)
+        v_up = np.repeat(np.repeat(v, 2, axis=0), 2, axis=1)
+        y_flat = y_plane.astype(np.float64)
+
+        # Standard YUV to RGB conversion (BT.601)
+        r = np.clip(y_flat + 1.402 * v_up, 0, 255).astype(np.uint8)
+        g = np.clip(y_flat - 0.34413 * u_up - 0.71414 * v_up, 0, 255).astype(np.uint8)
+        b = np.clip(y_flat + 1.772 * u_up, 0, 255).astype(np.uint8)
+        return np.stack([r, g, b], axis=2)
+
+    def capture_frame(self, timeout: float = 1.0) -> tuple[FrameMeta, Optional[bytes]]:
+        if not self._running:
+            return FrameMeta(0, 0, "", time.monotonic()), None
+
+        deadline = time.monotonic() + timeout
+        while time.monotonic() < deadline:
+            if self._frame_available:
+                self._frame_available = False
+                if self._latest_frame is not None:
+                    return self._latest_meta, self._latest_frame
+            time.sleep(0.01)
+
+        return FrameMeta(self.width, self.height,
+                         "RGB24", time.monotonic()), None
+
+    def close(self) -> None:
+        self._running = False
+        if self._pipeline:
+            self._pipeline.set_state(Gst.State.NULL)
+            self._pipeline = None
+            self._appsink = None
+
+
+def is_available() -> bool:
+    return HAS_GST

src/camera_webui/camera/interface.py

@@ -0,0 +1,38 @@
+from __future__ import annotations
+
+import abc
+from dataclasses import dataclass
+from typing import Optional
+
+
+@dataclass
+class FrameMeta:
+    width: int
+    height: int
+    format: str
+    timestamp: float
+
+
+class Camera(abc.ABC):
+    @abc.abstractmethod
+    def open(self) -> None:
+        """Open the camera device or source."""
+
+    @abc.abstractmethod
+    def capture_frame(self, timeout: float = 1.0) -> tuple[FrameMeta, Optional[bytes]]:
+        """Capture a single frame.
+
+        Returns (meta, raw_bytes) on success, or (meta, None) on timeout.
+        raw_bytes is in the format reported by meta.format.
+        """
+
+    @abc.abstractmethod
+    def close(self) -> None:
+        """Close the camera device or source."""
+
+    def __enter__(self) -> Camera:
+        self.open()
+        return self
+
+    def __exit__(self, *exc: object) -> None:
+        self.close()

src/camera_webui/camera/null_backend.py

@@ -0,0 +1,30 @@
+from __future__ import annotations
+
+import time
+from typing import Optional
+
+from camera_webui.camera.interface import Camera, FrameMeta
+
+
+class NullCamera(Camera):
+    """Produce blank frames when no camera is available.
+
+    Used on the Pi 5 (dead camera) and when running locally without
+    hardware attached. Lets the pipeline and UI exercise normally.
+    """
+
+    _BLANK_SIZE = (640, 480)
+
+    def __init__(self) -> None:
+        self._w, self._h = self._BLANK_SIZE
+
+    def open(self) -> None:
+        pass
+
+    def capture_frame(self, timeout: float = 1.0) -> tuple[FrameMeta, Optional[bytes]]:
+        meta = FrameMeta(self._w, self._h, "RGB24", time.monotonic())
+        raw = bytes(self._w * self._h * 3)  # black frame
+        return meta, raw
+
+    def close(self) -> None:
+        pass

src/camera_webui/camera/picamera2_backend.py

@@ -0,0 +1,54 @@
+from __future__ import annotations
+
+import time
+from typing import Optional
+
+import numpy as np
+
+from camera_webui.camera.interface import Camera, FrameMeta
+
+
+class Picamera2Camera(Camera):
+    """Camera backend for Raspberry Pi using picamera2."""
+
+    def __init__(
+        self,
+        resolution: tuple[int, int] = (1920, 1080),
+        framerate: int = 30,
+        index: int = 0,
+    ) -> None:
+        self.resolution = resolution
+        self.framerate = framerate
+        self.index = index
+        self._camera = None
+        self._stream_name: Optional[str] = None
+        self._frame_count = 0
+
+    def open(self) -> None:
+        import picamera2
+        self._camera = picamera2.Picamera2(self.index)
+        config = self._camera.create_still_configuration(
+            [{"size": self.resolution, "format": "RGB888"}]
+        )
+        self._camera.configure(config)
+        self._camera.start()
+        self._stream_name = self._camera.stream_configuration("main")["name"]
+
+    def capture_frame(self, timeout: float = 1.0) -> tuple[FrameMeta, Optional[bytes]]:
+        if not self._camera:
+            return FrameMeta(0, 0, "", time.monotonic()), None
+
+        try:
+            pic = self._camera.capture_array(self._stream_name)
+            h, w = pic.shape[:2]
+            raw = pic.tobytes()
+            self._frame_count += 1
+            return FrameMeta(w, h, "RGB24", time.monotonic()), raw
+        except Exception:
+            return FrameMeta(0, 0, "", time.monotonic()), None
+
+    def close(self) -> None:
+        if self._camera:
+            self._camera.stop()
+            self._camera.close()
+            self._camera = None

src/camera_webui/camera/utils.py

@@ -0,0 +1,25 @@
+from __future__ import annotations
+
+import time
+from io import BytesIO
+from typing import Optional
+
+from PIL import Image
+import numpy as np
+
+
+def encode_jpeg(frame: bytes, width: int, height: int, quality: int = 85) -> bytes:
+    """Encode a raw RGB24 frame as a JPEG image."""
+    rgb = np.frombuffer(frame, dtype=np.uint8).reshape(height, width, 3)
+    img = Image.fromarray(rgb, "RGB")
+    buf = BytesIO()
+    img.save(buf, format="JPEG", quality=quality)
+    return buf.getvalue()
+
+
+def blank_jpeg(width: int = 640, height: int = 480, quality: int = 85) -> bytes:
+    """Produce a small black JPEG for error placeholders."""
+    buf = BytesIO()
+    img = Image.new("RGB", (width, height), (0, 0, 0))
+    img.save(buf, format="JPEG", quality=quality)
+    return buf.getvalue()

src/camera_webui/camera/v4l2_backend.py

@@ -0,0 +1,258 @@
+from __future__ import annotations
+
+import mmap
+import os
+import select
+import struct
+import time
+from typing import Optional
+
+import numpy as np
+
+from camera_webui.camera.interface import Camera, FrameMeta
+
+# V4L2 ioctl request numbers
+_V4L2_IOC_MAGIC = ord('V')
+_V4L2_IOC_DIR = 2
+_V4L2_IOC_SIZE = 512
+
+
+def _v4l2_ioctl_nr(request: int) -> int:
+    return (_V4L2_IOC_DIR << 30) | (_V4L2_IOC_SIZE << 16) | (_V4L2_IOC_MAGIC << 8) | (request & 0xFF)
+
+
+# Standard V4L2 ioctl numbers (from linux/videodev2.h)
+VIDIOC_QUERYCAP = 0
+VIDIOC_ENUM_FMT = 2
+VIDIOC_G_FMT = 4
+VIDIOC_S_FMT = 5
+VIDIOC_REQBUFS = 8
+VIDIOC_QUERYBUF = 9
+VIDIOC_QBUF = 15
+VIDIOC_STREAMON = 10
+VIDIOC_STREAMOFF = 11
+VIDIOC_DQBUF = 16
+
+# Pixel format constants
+V4L2_PIX_FMT_YUYV = 0x59595639  # 'YUYV'
+V4L2_PIX_FMT_RGB32 = 0x32324752  # 'RGB32'
+V4L2_PIX_FMT_RGB24 = 0x34324752  # 'RGB4'
+V4L2_PIX_FMT_YUV420 = 0x20345559  # 'YU12'
+V4L2_PIX_FMT_MJPEG = 0x47504A4D  # 'MJPG'
+V4L2_BUF_TYPE_VIDEO_CAPTURE = 1
+V4L2_MEMORY_MMAP = 1
+
+
+class V4L2Camera(Camera):
+    """Camera backend for Linux V4L2 devices (Jetson Orin, USB cameras).
+
+    Tries a prioritised list of format/resolution combos and falls back
+    through them if the driver rejects any.
+    """
+
+    _TRY_LIST = [
+        (V4L2_PIX_FMT_YUYV, 1920, 1080),
+        (V4L2_PIX_FMT_YUYV, 1280, 720),
+        (V4L2_PIX_FMT_RGB32, 1920, 1080),
+        (V4L2_PIX_FMT_YUYV, 640, 480),
+        (V4L2_PIX_FMT_YUV420, 640, 480),
+    ]
+
+    def __init__(self, device: str = "/dev/video0") -> None:
+        self.device = device
+        self._fd: Optional[int] = None
+        self._buffers: list[dict] = []
+        self._width = 0
+        self._height = 0
+        self._pixelformat = 0
+        self._bytesperline = 0
+        self._sizeimage = 0
+        self._format_ok = False
+
+    def _ioctl(self, request: int, arg: int = 0) -> int:
+        fd = self._fd
+        if fd is None:
+            raise RuntimeError("not open")
+        return os.ioctl(fd, _v4l2_ioctl_nr(request), arg)
+
+    def _try_format(
+        self, pixelformat: int, width: int, height: int
+    ) -> bool:
+        """Test if a specific format/resolution is supported."""
+        fmt = struct.pack(
+            "<I4sII32x",
+            pixelformat,
+            struct.pack("<I", width),
+            height,
+            0,
+        )
+        try:
+            self._ioctl(VIDIOC_S_FMT, fmt)
+            return True
+        except OSError:
+            return False
+
+    def open(self) -> None:
+        self._fd = os.open(self.device, os.O_RDWR | os.O_NONBLOCK)
+        try:
+            self._setup_buffers()
+        except Exception:
+            os.close(self._fd)
+            self._fd = None
+            raise
+
+    def _setup_buffers(self) -> None:
+        # 1. Find a supported format
+        found = False
+        for pixelformat, width, height in self._TRY_LIST:
+            if self._try_format(pixelformat, width, height):
+                found = True
+                break
+
+        if not found:
+            raise RuntimeError(
+                f"no supported format on {self.device}"
+            )
+
+        # 2. Read back the actual format the driver chose
+        fmt = struct.pack("<I4sII32x", 0, struct.pack("<I", 0), 0)
+        self._ioctl(VIDIOC_G_FMT, fmt)
+        data = struct.unpack("<I4sII32x", fmt)
+        self._pixelformat = data[0]
+        self._width = struct.unpack("<I", data[1][:4])[0]
+        self._height = data[2]
+
+        # Allocate 4 buffers
+        req = struct.pack("<II5x", 4, V4L2_BUF_TYPE_VIDEO_CAPTURE)
+        self._ioctl(VIDIOC_REQBUFS, req)
+
+        # Query each buffer to get offset and length
+        self._buffers = []
+        for i in range(4):
+            buf = struct.pack("<II5x", i, V4L2_BUF_TYPE_VIDEO_CAPTURE)
+            self._ioctl(VIDIOC_QUERYBUF, buf)
+            data = struct.unpack("<IIQQ5x", buf)
+            offset = data[2]
+            length = data[3]
+
+            buf_mmap = mmap.mmap(
+                self._fd,
+                length,
+                mmap.MAP_SHARED,
+                mmap.PROT_READ | mmap.PROT_WRITE,
+                offset=offset,
+            )
+            self._buffers.append({
+                "index": i,
+                "length": length,
+                "mmap": buf_mmap,
+            })
+
+        # Queue all buffers
+        for buf in self._buffers:
+            qbuf = struct.pack("<II5x", buf["index"], V4L2_BUF_TYPE_VIDEO_CAPTURE)
+            self._ioctl(VIDIOC_QBUF, qbuf)
+
+        # Start streaming
+        stream_type = struct.pack("I", V4L2_BUF_TYPE_VIDEO_CAPTURE)
+        self._ioctl(VIDIOC_STREAMON, stream_type)
+
+        self._format_ok = True
+
+    def capture_frame(self, timeout: float = 1.0) -> tuple[FrameMeta, Optional[bytes]]:
+        if not self._format_ok:
+            return FrameMeta(0, 0, "", time.monotonic()), None
+
+        try:
+            # Wait for frame
+            ready, _, _ = select.select([self._fd], [], [], timeout)
+            if not ready:
+                                 self._format_name(), time.monotonic()), None
+
+            # Dequeue
+            dqbuf = struct.pack("<II5x", 0, V4L2_BUF_TYPE_VIDEO_CAPTURE)
+            self._ioctl(VIDIOC_DQBUF, dqbuf)
+            data = struct.unpack("<IIQQ5x", dqbuf)
+            buf_index = data[0]
+            buf_length = data[3]
+
+            buf = self._buffers[buf_index]
+            raw = bytes(buf["mmap"][:buf_length])
+
+            # Re-queue
+            qbuf = struct.pack("<II5x", buf_index, V4L2_BUF_TYPE_VIDEO_CAPTURE)
+            self._ioctl(VIDIOC_QBUF, qbuf)
+
+                             self._format_name(), time.monotonic()), raw
+
+        except Exception:
+                             self._format_name(), time.monotonic()), None
+
+    def _format_name(self) -> str:
+        fmt_map = {
+            V4L2_PIX_FMT_YUYV: "YUYV",
+            V4L2_PIX_FMT_RGB32: "RGB32",
+            V4L2_PIX_FMT_RGB24: "RGB24",
+            V4L2_PIX_FMT_YUV420: "YUV420",
+            V4L2_PIX_FMT_MJPEG: "MJPEG",
+        }
+        return fmt_map.get(self._pixelformat, f"0x{self._pixelformat:08x}")
+
+    def _convert_yuyv_to_rgb24(self, yuyv_bytes: bytes) -> bytes:
+        """Convert YUYV frame to RGB24 using numpy only."""
+        yuyv = np.frombuffer(yuyv_bytes, dtype=np.uint8)
+        h, w = self._height, self._width
+        # Reshape YUYV (h x w x 2 bytes) into pairs: (h, w//2, 2, 4)
+        # then extract Y0, U0, Y1, V0
+        yuyv = yuyv.reshape(h, w, 2)
+        y = yuyv[:, :, 0:1]
+        uv = yuyv[:, :, 1:2]
+        # Interleave to get YUYV pairs
+        frame_yuyv = np.concatenate([y, uv], axis=2)
+        # Use numpy to convert YUV to RGB
+        y = frame_yuyv[:, :, 0].astype(np.float64)
+        u = frame_yuyv[:, :, 1].astype(np.float64) - 128.0
+        v = frame_yuyv[:, :, 1].astype(np.float64) - 128.0
+        # Standard YUV to RGB conversion
+        r = np.clip(y + 1.402 * v, 0, 255).astype(np.uint8)
+        g = np.clip(y - 0.34413 * u - 0.71414 * v, 0, 255).astype(np.uint8)
+        b = np.clip(y + 1.772 * u, 0, 255).astype(np.uint8)
+        return np.stack([r, g, b], axis=2).tobytes()
+
+    def _convert_yuv420_to_rgb24(self, yuv420_bytes: bytes) -> bytes:
+        """Convert YUV420 frame to RGB24 using numpy only."""
+        yuv420 = np.frombuffer(yuv420_bytes, dtype=np.uint8)
+        h, w = self._height, self._width
+        y = yuv420[:h * w].astype(np.float64)
+        uv_start = h * w
+        u = yuv420[uv_start:uv_start + (h // 2) * (w // 2)].astype(np.float64) - 128.0
+        v = yuv420[uv_start + (h // 2) * (w // 2):].astype(np.float64) - 128.0
+        # Upsample UV
+        u_up = np.repeat(np.repeat(u, 2, axis=0), 2, axis=1)
+        v_up = np.repeat(np.repeat(v, 2, axis=0), 2, axis=1)
+        y_flat = yuv420[:h * w].reshape(h, w).astype(np.float64)
+        r = np.clip(y_flat + 1.402 * v_up, 0, 255).astype(np.uint8)
+        g = np.clip(y_flat - 0.34413 * u_up - 0.71414 * v_up, 0, 255).astype(np.uint8)
+        b = np.clip(y_flat + 1.772 * u_up, 0, 255).astype(np.uint8)
+        return np.stack([r, g, b], axis=2).tobytes()
+
+    def _convert_rgb32_to_rgb24(self, rgb32_bytes: bytes) -> bytes:
+        """Drop the alpha channel from RGB32 to get RGB24."""
+        rgb32 = np.frombuffer(rgb32_bytes, dtype=np.uint32)
+        rgb24 = rgb32 & 0x00FFFFFF
+        return rgb24.astype(np.uint8).tobytes()
+
+    def close(self) -> None:
+        if self._fd is not None:
+            try:
+                if self._format_ok:
+                    stream_type = struct.pack("I", V4L2_BUF_TYPE_VIDEO_CAPTURE)
+                    self._ioctl(VIDIOC_STREAMOFF, stream_type)
+            except Exception:
+                pass
+            for buf in self._buffers:
+                buf["mmap"].close()
+            os.close(self._fd)
+            self._fd = None
+            self._buffers = []
+            self._format_ok = False

src/camera_webui/stream.py

@@ -0,0 +1,39 @@
+from __future__ import annotations
+
+from camera_webui.camera.interface import Camera
+from camera_webui.camera.utils import blank_jpeg, encode_jpeg
+
+
+class MJPEGStreamer:
+    """Turn camera frames into an MJPEG stream (multipart/x-mixed-replace).
+
+    Each call to frames() yields one HTTP chunk: a JPEG image with MIME
+    boundaries between frames.
+    """
+
+    def __init__(self, camera: Camera, quality: int = 85) -> None:
+        self.camera = camera
+        self.quality = quality
+
+    def frames(self):
+        """Generator yielding HTTP-ready bytes for each MJPEG frame."""
+        while True:
+            meta, raw = self.camera.capture_frame(timeout=1.0)
+            if raw is None:
+                # Timeout — send a blank frame to keep the connection alive
+                yield b"--frame\r\n"
+                yield b"Content-Type: image/jpeg\r\n\r\n"
+                yield blank_jpeg()
+                yield b"\r\n"
+                continue
+
+            if meta.format == "RGB24":
+                jpeg = encode_jpeg(raw, meta.width, meta.height, self.quality)
+            else:
+                # Unknown format — send a blank frame and log
+                jpeg = blank_jpeg()
+
+            yield b"--frame\r\n"
+            yield b"Content-Type: image/jpeg\r\n\r\n"
+            yield jpeg
+            yield b"\r\n"

src/camera_webui/templates/index.html

@@ -0,0 +1,58 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>Camera Feed</title>
+  <style>
+    * { margin: 0; padding: 0; box-sizing: border-box; }
+    body {
+      background: #111;
+      color: #ccc;
+      font-family: system-ui, sans-serif;
+      height: 100dvh;
+      display: flex;
+      flex-direction: column;
+    }
+    header {
+      padding: 12px 20px;
+      display: flex;
+      align-items: center;
+      gap: 10px;
+      background: #1a1a1a;
+      border-bottom: 1px solid #333;
+    }
+    header h1 {
+      font-size: 16px;
+      font-weight: 500;
+      color: #eee;
+    }
+    #status {
+      font-size: 12px;
+      color: #888;
+    }
+    #status.connected { color: #4caf50; }
+    #status.error { color: #e53935; }
+    video {
+      flex: 1;
+      width: 100%;
+      object-fit: contain;
+      background: #000;
+    }
+  </style>
+</head>
+<body>
+  <header>
+    <h1>Camera Feed</h1>
+    <span id="status">Connecting...</span>
+  </header>
+  <video id="feed" autoplay playsinline src="/feed"></video>
+  <script>
+    var status = document.getElementById('status');
+    var video = document.getElementById('feed');
+    video.addEventListener('loadstart', function() { status.textContent = 'Connecting...'; });
+    video.addEventListener('loadeddata', function() { status.className = 'connected'; status.textContent = 'Live'; });
+    video.addEventListener('error', function() { status.className = 'error'; status.textContent = 'No feed'; });
+  </script>
+</body>
+</html>

systemd/camera-webui.service

@@ -0,0 +1,28 @@
+[Unit]
+Description=Camera Web UI — live feed and recognition service
+After=network.target nvargus-daemon.service
+Wants=nvargus-daemon.service
+
+[Service]
+Type=simple
+User=mikkeli
+Group=mikkeli
+WorkingDirectory=/home/mikkeli/dev/camera-webui
+Environment=PATH=/home/mikkeli/dev/camera-webui/.venv/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+Environment=PYTHONUNBUFFERED=1
+ExecStart=/home/mikkeli/dev/camera-webui/.venv/bin/camera-webui
+Restart=on-failure
+RestartSec=5
+
+# Security hardening (no root needed)
+NoNewPrivileges=true
+ProtectHome=read-only
+ReadWritePaths=/home/mikkeli/dev/camera-webui
+
+# Logging
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=camera-webui
+
+[Install]
+WantedBy=multi-user.target

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