Improve odometry with rotation estimation, daemon stability, and RTSP fixes

- Add rotation estimation via log-polar phase correlation (EstimateRotation,
  rotateGray) — de-rotate before translation to avoid aliasing
- Track cumulative field rotation in Tracker, reject low-confidence frames
- Extract RTSP grabber into internal/rtspgrab module
- Daemon: pause odometry during slew (motion blur), auto-resume after settle
  delay, add /pause and /resume HTTP endpoints, switch shooting mode before
  opening camera, use ReqOpenCamera with rtsp_encode_type=1
- WebSocket heartbeat (ping/pong every 10s) to prevent idle disconnects
- FFmpeg low-latency flags (-fflags nobuffer, -probesize, -analyzeduration)
- Add SendRaw API for custom payloads, increase daemon HTTP timeout to 60s

💘 Generated with Crush

Assisted-by: Crush:/models/Qwen3.6-27B-uncensored-heretic-v2-Native-MTP-Preserved-Q4_K_M.gguf

dwarfctl/cmd/dwarfctl/main.go

@@ -705,7 +705,12 @@ func cmdPreview() *cobra.Command {
 				must(scope.OpenCamera(cam))
 				time.Sleep(2 * time.Second)
 				url := fmt.Sprintf("rtsp://%s:554/%s/stream0", flagIP, ch)
-				ffmpegCmd := exec.Command("ffmpeg", "-rtsp_transport", "tcp",
+				ffmpegCmd := exec.Command("ffmpeg",
+					"-rtsp_transport", "tcp",
+					"-fflags", "nobuffer",
+					"-flags", "low_delay",
+					"-probesize", "4096",
+					"-analyzeduration", "1000000",
 					"-i", url, "-frames:v", "1", "-q:v", "2", "-y", out)
 				if err := ffmpegCmd.Run(); err != nil {
 					die("ffmpeg: %v (is ffmpeg installed?)", err)
@@ -936,7 +941,12 @@ func cmdOrient() *cobra.Command {
 				defer ticker.Stop()
 
 				grab := func(out string) error {
-					return exec.Command("ffmpeg", "-rtsp_transport", "tcp",
+					return exec.Command("ffmpeg",
+						"-rtsp_transport", "tcp",
+						"-fflags", "nobuffer",
+						"-flags", "low_delay",
+						"-probesize", "4096",
+						"-analyzeduration", "1000000",
 						"-i", url, "-frames:v", "1", "-q:v", "2", "-y", out).Run()
 				}
 

dwarfctl/cmd/rtsp-test/main.go

@@ -1,71 +0,0 @@
-package main
-
-import (
-	"fmt"
-	"os"
-	"os/exec"
-	"time"
-
-	"github.com/antitbone/dwarfctl/internal/api"
-)
-
-func main() {
-	ip := "192.168.88.1"
-	if len(os.Args) > 1 {
-		ip = os.Args[1]
-	}
-
-	scope := api.New("rtsp-test")
-	scope.SetDebug(true)
-	fmt.Println("Connecting to", ip)
-	if err := scope.Connect(ip); err != nil {
-		die("connect: %v", err)
-	}
-	defer scope.Close()
-
-	fmt.Println("Opening wide camera...")
-	if err := scope.OpenCamera(api.CameraWide); err != nil {
-		die("open camera: %v", err)
-	}
-	fmt.Println("Wide camera opened. Waiting 3s for stream to initialize...")
-	time.Sleep(3 * time.Second)
-
-	url := fmt.Sprintf("rtsp://%s:554/ch1/stream0", ip)
-	out := "/tmp/rtsp_test_frame.jpg"
-	fmt.Println("Grabbing frame via ffmpeg...")
-	cmd := exec.Command("ffmpeg", "-rtsp_transport", "tcp",
-		"-i", url, "-frames:v", "1", "-q:v", "2", "-y", out)
-	cmd.Stdout = os.Stdout
-	cmd.Stderr = os.Stderr
-	if err := cmd.Run(); err != nil {
-		die("ffmpeg: %v", err)
-	}
-
-	info, _ := os.Stat(out)
-	if info != nil {
-		fmt.Printf("SUCCESS: frame saved (%d bytes)\n", info.Size())
-	}
-
-	// Also try tele
-	fmt.Println("\nOpening tele camera...")
-	if err := scope.OpenCamera(api.CameraTele); err != nil {
-		die("open tele: %v", err)
-	}
-	time.Sleep(3 * time.Second)
-	url0 := fmt.Sprintf("rtsp://%s:554/ch0/stream0", ip)
-	out0 := "/tmp/rtsp_test_tele.jpg"
-	fmt.Println("Grabbing tele frame...")
-	cmd0 := exec.Command("ffmpeg", "-rtsp_transport", "tcp",
-		"-i", url0, "-frames:v", "1", "-q:v", "2", "-y", out0)
-	cmd0.Stdout = os.Stdout
-	cmd0.Stderr = os.Stderr
-	cmd0.Run()
-	if i, _ := os.Stat(out0); i != nil {
-		fmt.Printf("SUCCESS: tele frame saved (%d bytes)\n", i.Size())
-	}
-}
-
-func die(format string, args ...any) {
-	fmt.Fprintf(os.Stderr, "ERROR: "+format+"\n", args...)
-	os.Exit(1)
-}