From 91eeb0d5867df5239db5ead7858ce2c7ff026061 Mon Sep 17 00:00:00 2001
From: stream <strean4y@163.com>
Date: Thu, 28 Aug 2025 16:31:06 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E8=A7=A6=E6=8E=A7=E5=9D=90=E6=A0=87?=
 =?UTF-8?q?=E8=AE=A1=E7=AE=97?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../service/impl/EdgeCameraServiceImpl.java   |   76 +-
 .../src/main/java/cmvr/api/CameraCommand.java | 2416 ++++++++++++++++-
 .../main/proto/cmvr/api/camera_command.proto  |   20 +-
 .../operator/llm/LLMTouchOperateService.java  |   15 +
 4 files changed, 2418 insertions(+), 109 deletions(-)

diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java
index db33813..9b1f2e7 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java
@@ -159,7 +159,31 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
                 .build();
         CameraCommand.GetRGBDImagesCommand.Feedback feedback = executeGrpcCall(() -> stub.getRGBDImages(request));
 
-        return JSON.toJSONString(feedback);
+        // 彩色图和深度图
+        CameraCommand.FrameData frame = feedback.getColorFrame();
+        CameraCommand.FrameData depthFrame = feedback.getDepthFrame();
+        if (!feedback.hasColorFrame() || frame.getWidth() <= 0 || frame.getHeight() <= 0) {
+            throw new GlobalException("响应图片数据无效");
+        }
+        String filePath = saveImage(frame.getData(), frame.getWidth(), frame.getHeight(), false);
+        String deepFilePath = saveImage(depthFrame.getData(), depthFrame.getWidth(), depthFrame.getHeight(), true);
+        List<String> result = new ArrayList<>();
+        try {
+            MultipartFile file = convertFileToMultipartFile(filePath);
+            MultipartFile deepFile = convertFileToMultipartFile(deepFilePath);
+            String imageUrl = sysFileService.uploadFile(file, FileType.IMAGE.code());
+            result.add(imageUrl);
+            String deepImageUrl = sysFileService.uploadFile(deepFile, FileType.IMAGE.code());
+            result.add(deepImageUrl);
+        } catch (IOException e) {
+            throw new GlobalException("图片上传失败: " + e.getMessage());
+        } finally {
+            deleteTempFile(filePath);
+            deleteTempFile(deepFilePath);
+//             todo 暂时不关闭摄像头
+//            stop(terminalId, deviceId);
+        }
+        return JSON.toJSONString(result);
     }
 
     // 缓冲区和收集状态
@@ -338,6 +362,56 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         return filePath;
     }
 
+    private String saveImage(ByteString pixelData, int width, int height, boolean isDepth) {
+        File tempDir = new File(System.getProperty("java.io.tmpdir"));
+        FileUtil.mkdir(tempDir);
+
+        String fileName = System.currentTimeMillis() + (isDepth ? "_depth" : "") + ".jpg";
+        String filePath = Paths.get(tempDir.getAbsolutePath(), fileName).toString();
+        try {
+            byte[] pixels = pixelData.toByteArray();
+            BufferedImage image;
+
+            if (isDepth) {
+                // 深度图：单通道（灰度）
+                DataBuffer buffer = new DataBufferByte(pixels, pixels.length);
+                WritableRaster raster = Raster.createInterleavedRaster(
+                        buffer, width, height, width, 1,
+                        new int[]{0}, null
+                );
+
+                ColorModel cm = new ComponentColorModel(
+                        ColorSpace.getInstance(ColorSpace.CS_GRAY),
+                        false, false,
+                        Transparency.OPAQUE,
+                        DataBuffer.TYPE_BYTE
+                );
+                image = new BufferedImage(cm, raster, false, null);
+            } else {
+                // 彩色图：RGB 三通道
+                DataBuffer buffer = new DataBufferByte(pixels, pixels.length);
+                WritableRaster raster = Raster.createInterleavedRaster(
+                        buffer, width, height, 3 * width, 3,
+                        new int[]{2, 1, 0}, null
+                );
+
+                ColorModel cm = new ComponentColorModel(
+                        ColorSpace.getInstance(ColorSpace.CS_sRGB),
+                        false, false,
+                        Transparency.OPAQUE,
+                        DataBuffer.TYPE_BYTE
+                );
+                image = new BufferedImage(cm, raster, false, null);
+            }
+
+            File output = new File(filePath);
+            ImageIO.write(image, "jpg", output);
+        } catch (IOException e) {
+            throw new GlobalException(e.getMessage());
+        }
+        return filePath;
+    }
+
     /**
      * 将本地文件转换为 MultipartFile
      */
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraCommand.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraCommand.java
index 0950bdc..01c12b6 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraCommand.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraCommand.java
@@ -1098,6 +1098,1011 @@ public final class CameraCommand {
 
   }
 
+  public interface Rs2IntrinsicsOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.Rs2Intrinsics)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * <pre>
+     * 主点水平坐标（从左边缘的像素偏移）
+     * </pre>
+     *
+     * <code>float cx = 1;</code>
+     * @return The cx.
+     */
+    float getCx();
+
+    /**
+     * <pre>
+     * 主点垂直坐标（从上边缘的像素偏移）
+     * </pre>
+     *
+     * <code>float cy = 2;</code>
+     * @return The cy.
+     */
+    float getCy();
+
+    /**
+     * <pre>
+     * x方向焦距（像素宽度的倍数）
+     * </pre>
+     *
+     * <code>float fx = 3;</code>
+     * @return The fx.
+     */
+    float getFx();
+
+    /**
+     * <pre>
+     * y方向焦距（像素高度的倍数）
+     * </pre>
+     *
+     * <code>float fy = 4;</code>
+     * @return The fy.
+     */
+    float getFy();
+
+    /**
+     * <pre>
+     * 畸变系数（固定5个元素）
+     * </pre>
+     *
+     * <code>repeated float coeffs = 5 [packed = true];</code>
+     * @return A list containing the coeffs.
+     */
+    java.util.List<java.lang.Float> getCoeffsList();
+    /**
+     * <pre>
+     * 畸变系数（固定5个元素）
+     * </pre>
+     *
+     * <code>repeated float coeffs = 5 [packed = true];</code>
+     * @return The count of coeffs.
+     */
+    int getCoeffsCount();
+    /**
+     * <pre>
+     * 畸变系数（固定5个元素）
+     * </pre>
+     *
+     * <code>repeated float coeffs = 5 [packed = true];</code>
+     * @param index The index of the element to return.
+     * @return The coeffs at the given index.
+     */
+    float getCoeffs(int index);
+  }
+  /**
+   * Protobuf type {@code cmvr.api.Rs2Intrinsics}
+   */
+  public static final class Rs2Intrinsics extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.Rs2Intrinsics)
+      Rs2IntrinsicsOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use Rs2Intrinsics.newBuilder() to construct.
+    private Rs2Intrinsics(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private Rs2Intrinsics() {
+      coeffs_ = emptyFloatList();
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new Rs2Intrinsics();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.CameraCommand.internal_static_cmvr_api_Rs2Intrinsics_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.CameraCommand.internal_static_cmvr_api_Rs2Intrinsics_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.CameraCommand.Rs2Intrinsics.class, cmvr.api.CameraCommand.Rs2Intrinsics.Builder.class);
+    }
+
+    public static final int CX_FIELD_NUMBER = 1;
+    private float cx_;
+    /**
+     * <pre>
+     * 主点水平坐标（从左边缘的像素偏移）
+     * </pre>
+     *
+     * <code>float cx = 1;</code>
+     * @return The cx.
+     */
+    @java.lang.Override
+    public float getCx() {
+      return cx_;
+    }
+
+    public static final int CY_FIELD_NUMBER = 2;
+    private float cy_;
+    /**
+     * <pre>
+     * 主点垂直坐标（从上边缘的像素偏移）
+     * </pre>
+     *
+     * <code>float cy = 2;</code>
+     * @return The cy.
+     */
+    @java.lang.Override
+    public float getCy() {
+      return cy_;
+    }
+
+    public static final int FX_FIELD_NUMBER = 3;
+    private float fx_;
+    /**
+     * <pre>
+     * x方向焦距（像素宽度的倍数）
+     * </pre>
+     *
+     * <code>float fx = 3;</code>
+     * @return The fx.
+     */
+    @java.lang.Override
+    public float getFx() {
+      return fx_;
+    }
+
+    public static final int FY_FIELD_NUMBER = 4;
+    private float fy_;
+    /**
+     * <pre>
+     * y方向焦距（像素高度的倍数）
+     * </pre>
+     *
+     * <code>float fy = 4;</code>
+     * @return The fy.
+     */
+    @java.lang.Override
+    public float getFy() {
+      return fy_;
+    }
+
+    public static final int COEFFS_FIELD_NUMBER = 5;
+    private com.google.protobuf.Internal.FloatList coeffs_;
+    /**
+     * <pre>
+     * 畸变系数（固定5个元素）
+     * </pre>
+     *
+     * <code>repeated float coeffs = 5 [packed = true];</code>
+     * @return A list containing the coeffs.
+     */
+    @java.lang.Override
+    public java.util.List<java.lang.Float>
+        getCoeffsList() {
+      return coeffs_;
+    }
+    /**
+     * <pre>
+     * 畸变系数（固定5个元素）
+     * </pre>
+     *
+     * <code>repeated float coeffs = 5 [packed = true];</code>
+     * @return The count of coeffs.
+     */
+    public int getCoeffsCount() {
+      return coeffs_.size();
+    }
+    /**
+     * <pre>
+     * 畸变系数（固定5个元素）
+     * </pre>
+     *
+     * <code>repeated float coeffs = 5 [packed = true];</code>
+     * @param index The index of the element to return.
+     * @return The coeffs at the given index.
+     */
+    public float getCoeffs(int index) {
+      return coeffs_.getFloat(index);
+    }
+    private int coeffsMemoizedSerializedSize = -1;
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      getSerializedSize();
+      if (java.lang.Float.floatToRawIntBits(cx_) != 0) {
+        output.writeFloat(1, cx_);
+      }
+      if (java.lang.Float.floatToRawIntBits(cy_) != 0) {
+        output.writeFloat(2, cy_);
+      }
+      if (java.lang.Float.floatToRawIntBits(fx_) != 0) {
+        output.writeFloat(3, fx_);
+      }
+      if (java.lang.Float.floatToRawIntBits(fy_) != 0) {
+        output.writeFloat(4, fy_);
+      }
+      if (getCoeffsList().size() > 0) {
+        output.writeUInt32NoTag(42);
+        output.writeUInt32NoTag(coeffsMemoizedSerializedSize);
+      }
+      for (int i = 0; i < coeffs_.size(); i++) {
+        output.writeFloatNoTag(coeffs_.getFloat(i));
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (java.lang.Float.floatToRawIntBits(cx_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeFloatSize(1, cx_);
+      }
+      if (java.lang.Float.floatToRawIntBits(cy_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeFloatSize(2, cy_);
+      }
+      if (java.lang.Float.floatToRawIntBits(fx_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeFloatSize(3, fx_);
+      }
+      if (java.lang.Float.floatToRawIntBits(fy_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeFloatSize(4, fy_);
+      }
+      {
+        int dataSize = 0;
+        dataSize = 4 * getCoeffsList().size();
+        size += dataSize;
+        if (!getCoeffsList().isEmpty()) {
+          size += 1;
+          size += com.google.protobuf.CodedOutputStream
+              .computeInt32SizeNoTag(dataSize);
+        }
+        coeffsMemoizedSerializedSize = dataSize;
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.CameraCommand.Rs2Intrinsics)) {
+        return super.equals(obj);
+      }
+      cmvr.api.CameraCommand.Rs2Intrinsics other = (cmvr.api.CameraCommand.Rs2Intrinsics) obj;
+
+      if (java.lang.Float.floatToIntBits(getCx())
+          != java.lang.Float.floatToIntBits(
+              other.getCx())) return false;
+      if (java.lang.Float.floatToIntBits(getCy())
+          != java.lang.Float.floatToIntBits(
+              other.getCy())) return false;
+      if (java.lang.Float.floatToIntBits(getFx())
+          != java.lang.Float.floatToIntBits(
+              other.getFx())) return false;
+      if (java.lang.Float.floatToIntBits(getFy())
+          != java.lang.Float.floatToIntBits(
+              other.getFy())) return false;
+      if (!getCoeffsList()
+          .equals(other.getCoeffsList())) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + CX_FIELD_NUMBER;
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
+          getCx());
+      hash = (37 * hash) + CY_FIELD_NUMBER;
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
+          getCy());
+      hash = (37 * hash) + FX_FIELD_NUMBER;
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
+          getFx());
+      hash = (37 * hash) + FY_FIELD_NUMBER;
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
+          getFy());
+      if (getCoeffsCount() > 0) {
+        hash = (37 * hash) + COEFFS_FIELD_NUMBER;
+        hash = (53 * hash) + getCoeffsList().hashCode();
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.CameraCommand.Rs2Intrinsics prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.Rs2Intrinsics}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.Rs2Intrinsics)
+        cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_Rs2Intrinsics_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_Rs2Intrinsics_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.CameraCommand.Rs2Intrinsics.class, cmvr.api.CameraCommand.Rs2Intrinsics.Builder.class);
+      }
+
+      // Construct using cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        cx_ = 0F;
+
+        cy_ = 0F;
+
+        fx_ = 0F;
+
+        fy_ = 0F;
+
+        coeffs_ = emptyFloatList();
+        bitField0_ = (bitField0_ & ~0x00000001);
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_Rs2Intrinsics_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2Intrinsics getDefaultInstanceForType() {
+        return cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2Intrinsics build() {
+        cmvr.api.CameraCommand.Rs2Intrinsics result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2Intrinsics buildPartial() {
+        cmvr.api.CameraCommand.Rs2Intrinsics result = new cmvr.api.CameraCommand.Rs2Intrinsics(this);
+        int from_bitField0_ = bitField0_;
+        result.cx_ = cx_;
+        result.cy_ = cy_;
+        result.fx_ = fx_;
+        result.fy_ = fy_;
+        if (((bitField0_ & 0x00000001) != 0)) {
+          coeffs_.makeImmutable();
+          bitField0_ = (bitField0_ & ~0x00000001);
+        }
+        result.coeffs_ = coeffs_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.CameraCommand.Rs2Intrinsics) {
+          return mergeFrom((cmvr.api.CameraCommand.Rs2Intrinsics)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.CameraCommand.Rs2Intrinsics other) {
+        if (other == cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance()) return this;
+        if (other.getCx() != 0F) {
+          setCx(other.getCx());
+        }
+        if (other.getCy() != 0F) {
+          setCy(other.getCy());
+        }
+        if (other.getFx() != 0F) {
+          setFx(other.getFx());
+        }
+        if (other.getFy() != 0F) {
+          setFy(other.getFy());
+        }
+        if (!other.coeffs_.isEmpty()) {
+          if (coeffs_.isEmpty()) {
+            coeffs_ = other.coeffs_;
+            bitField0_ = (bitField0_ & ~0x00000001);
+          } else {
+            ensureCoeffsIsMutable();
+            coeffs_.addAll(other.coeffs_);
+          }
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 13: {
+                cx_ = input.readFloat();
+
+                break;
+              } // case 13
+              case 21: {
+                cy_ = input.readFloat();
+
+                break;
+              } // case 21
+              case 29: {
+                fx_ = input.readFloat();
+
+                break;
+              } // case 29
+              case 37: {
+                fy_ = input.readFloat();
+
+                break;
+              } // case 37
+              case 45: {
+                float v = input.readFloat();
+                ensureCoeffsIsMutable();
+                coeffs_.addFloat(v);
+                break;
+              } // case 45
+              case 42: {
+                int length = input.readRawVarint32();
+                int limit = input.pushLimit(length);
+                ensureCoeffsIsMutable();
+                while (input.getBytesUntilLimit() > 0) {
+                  coeffs_.addFloat(input.readFloat());
+                }
+                input.popLimit(limit);
+                break;
+              } // case 42
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private float cx_ ;
+      /**
+       * <pre>
+       * 主点水平坐标（从左边缘的像素偏移）
+       * </pre>
+       *
+       * <code>float cx = 1;</code>
+       * @return The cx.
+       */
+      @java.lang.Override
+      public float getCx() {
+        return cx_;
+      }
+      /**
+       * <pre>
+       * 主点水平坐标（从左边缘的像素偏移）
+       * </pre>
+       *
+       * <code>float cx = 1;</code>
+       * @param value The cx to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCx(float value) {
+        
+        cx_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 主点水平坐标（从左边缘的像素偏移）
+       * </pre>
+       *
+       * <code>float cx = 1;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCx() {
+        
+        cx_ = 0F;
+        onChanged();
+        return this;
+      }
+
+      private float cy_ ;
+      /**
+       * <pre>
+       * 主点垂直坐标（从上边缘的像素偏移）
+       * </pre>
+       *
+       * <code>float cy = 2;</code>
+       * @return The cy.
+       */
+      @java.lang.Override
+      public float getCy() {
+        return cy_;
+      }
+      /**
+       * <pre>
+       * 主点垂直坐标（从上边缘的像素偏移）
+       * </pre>
+       *
+       * <code>float cy = 2;</code>
+       * @param value The cy to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCy(float value) {
+        
+        cy_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 主点垂直坐标（从上边缘的像素偏移）
+       * </pre>
+       *
+       * <code>float cy = 2;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCy() {
+        
+        cy_ = 0F;
+        onChanged();
+        return this;
+      }
+
+      private float fx_ ;
+      /**
+       * <pre>
+       * x方向焦距（像素宽度的倍数）
+       * </pre>
+       *
+       * <code>float fx = 3;</code>
+       * @return The fx.
+       */
+      @java.lang.Override
+      public float getFx() {
+        return fx_;
+      }
+      /**
+       * <pre>
+       * x方向焦距（像素宽度的倍数）
+       * </pre>
+       *
+       * <code>float fx = 3;</code>
+       * @param value The fx to set.
+       * @return This builder for chaining.
+       */
+      public Builder setFx(float value) {
+        
+        fx_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * x方向焦距（像素宽度的倍数）
+       * </pre>
+       *
+       * <code>float fx = 3;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearFx() {
+        
+        fx_ = 0F;
+        onChanged();
+        return this;
+      }
+
+      private float fy_ ;
+      /**
+       * <pre>
+       * y方向焦距（像素高度的倍数）
+       * </pre>
+       *
+       * <code>float fy = 4;</code>
+       * @return The fy.
+       */
+      @java.lang.Override
+      public float getFy() {
+        return fy_;
+      }
+      /**
+       * <pre>
+       * y方向焦距（像素高度的倍数）
+       * </pre>
+       *
+       * <code>float fy = 4;</code>
+       * @param value The fy to set.
+       * @return This builder for chaining.
+       */
+      public Builder setFy(float value) {
+        
+        fy_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * y方向焦距（像素高度的倍数）
+       * </pre>
+       *
+       * <code>float fy = 4;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearFy() {
+        
+        fy_ = 0F;
+        onChanged();
+        return this;
+      }
+
+      private com.google.protobuf.Internal.FloatList coeffs_ = emptyFloatList();
+      private void ensureCoeffsIsMutable() {
+        if (!((bitField0_ & 0x00000001) != 0)) {
+          coeffs_ = mutableCopy(coeffs_);
+          bitField0_ |= 0x00000001;
+         }
+      }
+      /**
+       * <pre>
+       * 畸变系数（固定5个元素）
+       * </pre>
+       *
+       * <code>repeated float coeffs = 5 [packed = true];</code>
+       * @return A list containing the coeffs.
+       */
+      public java.util.List<java.lang.Float>
+          getCoeffsList() {
+        return ((bitField0_ & 0x00000001) != 0) ?
+                 java.util.Collections.unmodifiableList(coeffs_) : coeffs_;
+      }
+      /**
+       * <pre>
+       * 畸变系数（固定5个元素）
+       * </pre>
+       *
+       * <code>repeated float coeffs = 5 [packed = true];</code>
+       * @return The count of coeffs.
+       */
+      public int getCoeffsCount() {
+        return coeffs_.size();
+      }
+      /**
+       * <pre>
+       * 畸变系数（固定5个元素）
+       * </pre>
+       *
+       * <code>repeated float coeffs = 5 [packed = true];</code>
+       * @param index The index of the element to return.
+       * @return The coeffs at the given index.
+       */
+      public float getCoeffs(int index) {
+        return coeffs_.getFloat(index);
+      }
+      /**
+       * <pre>
+       * 畸变系数（固定5个元素）
+       * </pre>
+       *
+       * <code>repeated float coeffs = 5 [packed = true];</code>
+       * @param index The index to set the value at.
+       * @param value The coeffs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCoeffs(
+          int index, float value) {
+        ensureCoeffsIsMutable();
+        coeffs_.setFloat(index, value);
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 畸变系数（固定5个元素）
+       * </pre>
+       *
+       * <code>repeated float coeffs = 5 [packed = true];</code>
+       * @param value The coeffs to add.
+       * @return This builder for chaining.
+       */
+      public Builder addCoeffs(float value) {
+        ensureCoeffsIsMutable();
+        coeffs_.addFloat(value);
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 畸变系数（固定5个元素）
+       * </pre>
+       *
+       * <code>repeated float coeffs = 5 [packed = true];</code>
+       * @param values The coeffs to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllCoeffs(
+          java.lang.Iterable<? extends java.lang.Float> values) {
+        ensureCoeffsIsMutable();
+        com.google.protobuf.AbstractMessageLite.Builder.addAll(
+            values, coeffs_);
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 畸变系数（固定5个元素）
+       * </pre>
+       *
+       * <code>repeated float coeffs = 5 [packed = true];</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCoeffs() {
+        coeffs_ = emptyFloatList();
+        bitField0_ = (bitField0_ & ~0x00000001);
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.Rs2Intrinsics)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.Rs2Intrinsics)
+    private static final cmvr.api.CameraCommand.Rs2Intrinsics DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.CameraCommand.Rs2Intrinsics();
+    }
+
+    public static cmvr.api.CameraCommand.Rs2Intrinsics getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<Rs2Intrinsics>
+        PARSER = new com.google.protobuf.AbstractParser<Rs2Intrinsics>() {
+      @java.lang.Override
+      public Rs2Intrinsics parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser<Rs2Intrinsics> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<Rs2Intrinsics> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.CameraCommand.Rs2Intrinsics getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
   public interface CameraStateOrBuilder extends
       // @@protoc_insertion_point(interface_extends:cmvr.api.CameraState)
       com.google.protobuf.MessageOrBuilder {
@@ -7865,6 +8870,21 @@ public final class CameraCommand {
        * <code>.cmvr.api.FrameData color_frame = 2;</code>
        */
       cmvr.api.CameraCommand.FrameDataOrBuilder getColorFrameOrBuilder();
+
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      boolean hasIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return The intrinsics.
+       */
+      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       */
+      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
     }
     /**
      * Protobuf type {@code cmvr.api.GetRGBImageCommand.Feedback}
@@ -7958,6 +8978,32 @@ public final class CameraCommand {
         return getColorFrame();
       }
 
+      public static final int INTRINSICS_FIELD_NUMBER = 3;
+      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      @java.lang.Override
+      public boolean hasIntrinsics() {
+        return intrinsics_ != null;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return The intrinsics.
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        return getIntrinsics();
+      }
+
       private byte memoizedIsInitialized = -1;
       @java.lang.Override
       public final boolean isInitialized() {
@@ -7978,6 +9024,9 @@ public final class CameraCommand {
         if (colorFrame_ != null) {
           output.writeMessage(2, getColorFrame());
         }
+        if (intrinsics_ != null) {
+          output.writeMessage(3, getIntrinsics());
+        }
         getUnknownFields().writeTo(output);
       }
 
@@ -7995,6 +9044,10 @@ public final class CameraCommand {
           size += com.google.protobuf.CodedOutputStream
             .computeMessageSize(2, getColorFrame());
         }
+        if (intrinsics_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(3, getIntrinsics());
+        }
         size += getUnknownFields().getSerializedSize();
         memoizedSize = size;
         return size;
@@ -8020,6 +9073,11 @@ public final class CameraCommand {
           if (!getColorFrame()
               .equals(other.getColorFrame())) return false;
         }
+        if (hasIntrinsics() != other.hasIntrinsics()) return false;
+        if (hasIntrinsics()) {
+          if (!getIntrinsics()
+              .equals(other.getIntrinsics())) return false;
+        }
         if (!getUnknownFields().equals(other.getUnknownFields())) return false;
         return true;
       }
@@ -8039,6 +9097,10 @@ public final class CameraCommand {
           hash = (37 * hash) + COLOR_FRAME_FIELD_NUMBER;
           hash = (53 * hash) + getColorFrame().hashCode();
         }
+        if (hasIntrinsics()) {
+          hash = (37 * hash) + INTRINSICS_FIELD_NUMBER;
+          hash = (53 * hash) + getIntrinsics().hashCode();
+        }
         hash = (29 * hash) + getUnknownFields().hashCode();
         memoizedHashCode = hash;
         return hash;
@@ -8179,6 +9241,12 @@ public final class CameraCommand {
             colorFrame_ = null;
             colorFrameBuilder_ = null;
           }
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
           return this;
         }
 
@@ -8215,6 +9283,11 @@ public final class CameraCommand {
           } else {
             result.colorFrame_ = colorFrameBuilder_.build();
           }
+          if (intrinsicsBuilder_ == null) {
+            result.intrinsics_ = intrinsics_;
+          } else {
+            result.intrinsics_ = intrinsicsBuilder_.build();
+          }
           onBuilt();
           return result;
         }
@@ -8269,6 +9342,9 @@ public final class CameraCommand {
           if (other.hasColorFrame()) {
             mergeColorFrame(other.getColorFrame());
           }
+          if (other.hasIntrinsics()) {
+            mergeIntrinsics(other.getIntrinsics());
+          }
           this.mergeUnknownFields(other.getUnknownFields());
           onChanged();
           return this;
@@ -8309,6 +9385,13 @@ public final class CameraCommand {
 
                   break;
                 } // case 18
+                case 26: {
+                  input.readMessage(
+                      getIntrinsicsFieldBuilder().getBuilder(),
+                      extensionRegistry);
+
+                  break;
+                } // case 26
                 default: {
                   if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                     done = true; // was an endgroup tag
@@ -8562,6 +9645,125 @@ public final class CameraCommand {
           }
           return colorFrameBuilder_;
         }
+
+        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         * @return Whether the intrinsics field is set.
+         */
+        public boolean hasIntrinsics() {
+          return intrinsicsBuilder_ != null || intrinsics_ != null;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         * @return The intrinsics.
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          } else {
+            return intrinsicsBuilder_.getMessage();
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            intrinsics_ = value;
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder setIntrinsics(
+            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = builderForValue.build();
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (intrinsics_ != null) {
+              intrinsics_ =
+                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+            } else {
+              intrinsics_ = value;
+            }
+            onChanged();
+          } else {
+            intrinsicsBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder clearIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+            onChanged();
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+          
+          onChanged();
+          return getIntrinsicsFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+          if (intrinsicsBuilder_ != null) {
+            return intrinsicsBuilder_.getMessageOrBuilder();
+          } else {
+            return intrinsics_ == null ?
+                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            getIntrinsicsFieldBuilder() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                    getIntrinsics(),
+                    getParentForChildren(),
+                    isClean());
+            intrinsics_ = null;
+          }
+          return intrinsicsBuilder_;
+        }
         @java.lang.Override
         public final Builder setUnknownFields(
             final com.google.protobuf.UnknownFieldSet unknownFields) {
@@ -9656,6 +10858,21 @@ public final class CameraCommand {
        * <code>.cmvr.api.FrameData depth_frame = 2;</code>
        */
       cmvr.api.CameraCommand.FrameDataOrBuilder getDepthFrameOrBuilder();
+
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      boolean hasIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return The intrinsics.
+       */
+      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       */
+      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
     }
     /**
      * Protobuf type {@code cmvr.api.GetDepthImageCommand.Feedback}
@@ -9749,6 +10966,32 @@ public final class CameraCommand {
         return getDepthFrame();
       }
 
+      public static final int INTRINSICS_FIELD_NUMBER = 3;
+      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      @java.lang.Override
+      public boolean hasIntrinsics() {
+        return intrinsics_ != null;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return The intrinsics.
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        return getIntrinsics();
+      }
+
       private byte memoizedIsInitialized = -1;
       @java.lang.Override
       public final boolean isInitialized() {
@@ -9769,6 +11012,9 @@ public final class CameraCommand {
         if (depthFrame_ != null) {
           output.writeMessage(2, getDepthFrame());
         }
+        if (intrinsics_ != null) {
+          output.writeMessage(3, getIntrinsics());
+        }
         getUnknownFields().writeTo(output);
       }
 
@@ -9786,6 +11032,10 @@ public final class CameraCommand {
           size += com.google.protobuf.CodedOutputStream
             .computeMessageSize(2, getDepthFrame());
         }
+        if (intrinsics_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(3, getIntrinsics());
+        }
         size += getUnknownFields().getSerializedSize();
         memoizedSize = size;
         return size;
@@ -9811,6 +11061,11 @@ public final class CameraCommand {
           if (!getDepthFrame()
               .equals(other.getDepthFrame())) return false;
         }
+        if (hasIntrinsics() != other.hasIntrinsics()) return false;
+        if (hasIntrinsics()) {
+          if (!getIntrinsics()
+              .equals(other.getIntrinsics())) return false;
+        }
         if (!getUnknownFields().equals(other.getUnknownFields())) return false;
         return true;
       }
@@ -9830,6 +11085,10 @@ public final class CameraCommand {
           hash = (37 * hash) + DEPTH_FRAME_FIELD_NUMBER;
           hash = (53 * hash) + getDepthFrame().hashCode();
         }
+        if (hasIntrinsics()) {
+          hash = (37 * hash) + INTRINSICS_FIELD_NUMBER;
+          hash = (53 * hash) + getIntrinsics().hashCode();
+        }
         hash = (29 * hash) + getUnknownFields().hashCode();
         memoizedHashCode = hash;
         return hash;
@@ -9970,6 +11229,12 @@ public final class CameraCommand {
             depthFrame_ = null;
             depthFrameBuilder_ = null;
           }
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
           return this;
         }
 
@@ -10006,6 +11271,11 @@ public final class CameraCommand {
           } else {
             result.depthFrame_ = depthFrameBuilder_.build();
           }
+          if (intrinsicsBuilder_ == null) {
+            result.intrinsics_ = intrinsics_;
+          } else {
+            result.intrinsics_ = intrinsicsBuilder_.build();
+          }
           onBuilt();
           return result;
         }
@@ -10060,6 +11330,9 @@ public final class CameraCommand {
           if (other.hasDepthFrame()) {
             mergeDepthFrame(other.getDepthFrame());
           }
+          if (other.hasIntrinsics()) {
+            mergeIntrinsics(other.getIntrinsics());
+          }
           this.mergeUnknownFields(other.getUnknownFields());
           onChanged();
           return this;
@@ -10100,6 +11373,13 @@ public final class CameraCommand {
 
                   break;
                 } // case 18
+                case 26: {
+                  input.readMessage(
+                      getIntrinsicsFieldBuilder().getBuilder(),
+                      extensionRegistry);
+
+                  break;
+                } // case 26
                 default: {
                   if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                     done = true; // was an endgroup tag
@@ -10353,6 +11633,125 @@ public final class CameraCommand {
           }
           return depthFrameBuilder_;
         }
+
+        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         * @return Whether the intrinsics field is set.
+         */
+        public boolean hasIntrinsics() {
+          return intrinsicsBuilder_ != null || intrinsics_ != null;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         * @return The intrinsics.
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          } else {
+            return intrinsicsBuilder_.getMessage();
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            intrinsics_ = value;
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder setIntrinsics(
+            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = builderForValue.build();
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (intrinsics_ != null) {
+              intrinsics_ =
+                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+            } else {
+              intrinsics_ = value;
+            }
+            onChanged();
+          } else {
+            intrinsicsBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder clearIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+            onChanged();
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+          
+          onChanged();
+          return getIntrinsicsFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+          if (intrinsicsBuilder_ != null) {
+            return intrinsicsBuilder_.getMessageOrBuilder();
+          } else {
+            return intrinsics_ == null ?
+                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            getIntrinsicsFieldBuilder() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                    getIntrinsics(),
+                    getParentForChildren(),
+                    isClean());
+            intrinsics_ = null;
+          }
+          return intrinsicsBuilder_;
+        }
         @java.lang.Override
         public final Builder setUnknownFields(
             final com.google.protobuf.UnknownFieldSet unknownFields) {
@@ -11462,6 +12861,21 @@ public final class CameraCommand {
        * <code>.cmvr.api.FrameData depth_frame = 3;</code>
        */
       cmvr.api.CameraCommand.FrameDataOrBuilder getDepthFrameOrBuilder();
+
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      boolean hasIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       * @return The intrinsics.
+       */
+      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       */
+      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
     }
     /**
      * Protobuf type {@code cmvr.api.GetRGBDImagesCommand.Feedback}
@@ -11581,6 +12995,32 @@ public final class CameraCommand {
         return getDepthFrame();
       }
 
+      public static final int INTRINSICS_FIELD_NUMBER = 4;
+      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      @java.lang.Override
+      public boolean hasIntrinsics() {
+        return intrinsics_ != null;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       * @return The intrinsics.
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        return getIntrinsics();
+      }
+
       private byte memoizedIsInitialized = -1;
       @java.lang.Override
       public final boolean isInitialized() {
@@ -11604,6 +13044,9 @@ public final class CameraCommand {
         if (depthFrame_ != null) {
           output.writeMessage(3, getDepthFrame());
         }
+        if (intrinsics_ != null) {
+          output.writeMessage(4, getIntrinsics());
+        }
         getUnknownFields().writeTo(output);
       }
 
@@ -11625,6 +13068,10 @@ public final class CameraCommand {
           size += com.google.protobuf.CodedOutputStream
             .computeMessageSize(3, getDepthFrame());
         }
+        if (intrinsics_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(4, getIntrinsics());
+        }
         size += getUnknownFields().getSerializedSize();
         memoizedSize = size;
         return size;
@@ -11655,6 +13102,11 @@ public final class CameraCommand {
           if (!getDepthFrame()
               .equals(other.getDepthFrame())) return false;
         }
+        if (hasIntrinsics() != other.hasIntrinsics()) return false;
+        if (hasIntrinsics()) {
+          if (!getIntrinsics()
+              .equals(other.getIntrinsics())) return false;
+        }
         if (!getUnknownFields().equals(other.getUnknownFields())) return false;
         return true;
       }
@@ -11678,6 +13130,10 @@ public final class CameraCommand {
           hash = (37 * hash) + DEPTH_FRAME_FIELD_NUMBER;
           hash = (53 * hash) + getDepthFrame().hashCode();
         }
+        if (hasIntrinsics()) {
+          hash = (37 * hash) + INTRINSICS_FIELD_NUMBER;
+          hash = (53 * hash) + getIntrinsics().hashCode();
+        }
         hash = (29 * hash) + getUnknownFields().hashCode();
         memoizedHashCode = hash;
         return hash;
@@ -11824,6 +13280,12 @@ public final class CameraCommand {
             depthFrame_ = null;
             depthFrameBuilder_ = null;
           }
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
           return this;
         }
 
@@ -11865,6 +13327,11 @@ public final class CameraCommand {
           } else {
             result.depthFrame_ = depthFrameBuilder_.build();
           }
+          if (intrinsicsBuilder_ == null) {
+            result.intrinsics_ = intrinsics_;
+          } else {
+            result.intrinsics_ = intrinsicsBuilder_.build();
+          }
           onBuilt();
           return result;
         }
@@ -11922,6 +13389,9 @@ public final class CameraCommand {
           if (other.hasDepthFrame()) {
             mergeDepthFrame(other.getDepthFrame());
           }
+          if (other.hasIntrinsics()) {
+            mergeIntrinsics(other.getIntrinsics());
+          }
           this.mergeUnknownFields(other.getUnknownFields());
           onChanged();
           return this;
@@ -11969,6 +13439,13 @@ public final class CameraCommand {
 
                   break;
                 } // case 26
+                case 34: {
+                  input.readMessage(
+                      getIntrinsicsFieldBuilder().getBuilder(),
+                      extensionRegistry);
+
+                  break;
+                } // case 34
                 default: {
                   if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                     done = true; // was an endgroup tag
@@ -12341,6 +13818,125 @@ public final class CameraCommand {
           }
           return depthFrameBuilder_;
         }
+
+        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         * @return Whether the intrinsics field is set.
+         */
+        public boolean hasIntrinsics() {
+          return intrinsicsBuilder_ != null || intrinsics_ != null;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         * @return The intrinsics.
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          } else {
+            return intrinsicsBuilder_.getMessage();
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            intrinsics_ = value;
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public Builder setIntrinsics(
+            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = builderForValue.build();
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (intrinsics_ != null) {
+              intrinsics_ =
+                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+            } else {
+              intrinsics_ = value;
+            }
+            onChanged();
+          } else {
+            intrinsicsBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public Builder clearIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+            onChanged();
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+          
+          onChanged();
+          return getIntrinsicsFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+          if (intrinsicsBuilder_ != null) {
+            return intrinsicsBuilder_.getMessageOrBuilder();
+          } else {
+            return intrinsics_ == null ?
+                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            getIntrinsicsFieldBuilder() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                    getIntrinsics(),
+                    getParentForChildren(),
+                    isClean());
+            intrinsics_ = null;
+          }
+          return intrinsicsBuilder_;
+        }
         @java.lang.Override
         public final Builder setUnknownFields(
             final com.google.protobuf.UnknownFieldSet unknownFields) {
@@ -16845,7 +18441,22 @@ public final class CameraCommand {
       cmvr.api.CameraCommand.FrameDataOrBuilder getColorFrameOrBuilder();
 
       /**
-       * <code>int32 seq_no = 3;</code>
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      boolean hasIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return The intrinsics.
+       */
+      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       */
+      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
+
+      /**
+       * <code>int32 seq_no = 4;</code>
        * @return The seqNo.
        */
       int getSeqNo();
@@ -16942,10 +18553,36 @@ public final class CameraCommand {
         return getColorFrame();
       }
 
-      public static final int SEQ_NO_FIELD_NUMBER = 3;
+      public static final int INTRINSICS_FIELD_NUMBER = 3;
+      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      @java.lang.Override
+      public boolean hasIntrinsics() {
+        return intrinsics_ != null;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return The intrinsics.
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        return getIntrinsics();
+      }
+
+      public static final int SEQ_NO_FIELD_NUMBER = 4;
       private int seqNo_;
       /**
-       * <code>int32 seq_no = 3;</code>
+       * <code>int32 seq_no = 4;</code>
        * @return The seqNo.
        */
       @java.lang.Override
@@ -16973,8 +18610,11 @@ public final class CameraCommand {
         if (colorFrame_ != null) {
           output.writeMessage(2, getColorFrame());
         }
+        if (intrinsics_ != null) {
+          output.writeMessage(3, getIntrinsics());
+        }
         if (seqNo_ != 0) {
-          output.writeInt32(3, seqNo_);
+          output.writeInt32(4, seqNo_);
         }
         getUnknownFields().writeTo(output);
       }
@@ -16993,9 +18633,13 @@ public final class CameraCommand {
           size += com.google.protobuf.CodedOutputStream
             .computeMessageSize(2, getColorFrame());
         }
+        if (intrinsics_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(3, getIntrinsics());
+        }
         if (seqNo_ != 0) {
           size += com.google.protobuf.CodedOutputStream
-            .computeInt32Size(3, seqNo_);
+            .computeInt32Size(4, seqNo_);
         }
         size += getUnknownFields().getSerializedSize();
         memoizedSize = size;
@@ -17022,6 +18666,11 @@ public final class CameraCommand {
           if (!getColorFrame()
               .equals(other.getColorFrame())) return false;
         }
+        if (hasIntrinsics() != other.hasIntrinsics()) return false;
+        if (hasIntrinsics()) {
+          if (!getIntrinsics()
+              .equals(other.getIntrinsics())) return false;
+        }
         if (getSeqNo()
             != other.getSeqNo()) return false;
         if (!getUnknownFields().equals(other.getUnknownFields())) return false;
@@ -17043,6 +18692,10 @@ public final class CameraCommand {
           hash = (37 * hash) + COLOR_FRAME_FIELD_NUMBER;
           hash = (53 * hash) + getColorFrame().hashCode();
         }
+        if (hasIntrinsics()) {
+          hash = (37 * hash) + INTRINSICS_FIELD_NUMBER;
+          hash = (53 * hash) + getIntrinsics().hashCode();
+        }
         hash = (37 * hash) + SEQ_NO_FIELD_NUMBER;
         hash = (53 * hash) + getSeqNo();
         hash = (29 * hash) + getUnknownFields().hashCode();
@@ -17185,6 +18838,12 @@ public final class CameraCommand {
             colorFrame_ = null;
             colorFrameBuilder_ = null;
           }
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
           seqNo_ = 0;
 
           return this;
@@ -17223,6 +18882,11 @@ public final class CameraCommand {
           } else {
             result.colorFrame_ = colorFrameBuilder_.build();
           }
+          if (intrinsicsBuilder_ == null) {
+            result.intrinsics_ = intrinsics_;
+          } else {
+            result.intrinsics_ = intrinsicsBuilder_.build();
+          }
           result.seqNo_ = seqNo_;
           onBuilt();
           return result;
@@ -17278,6 +18942,9 @@ public final class CameraCommand {
           if (other.hasColorFrame()) {
             mergeColorFrame(other.getColorFrame());
           }
+          if (other.hasIntrinsics()) {
+            mergeIntrinsics(other.getIntrinsics());
+          }
           if (other.getSeqNo() != 0) {
             setSeqNo(other.getSeqNo());
           }
@@ -17321,11 +18988,18 @@ public final class CameraCommand {
 
                   break;
                 } // case 18
-                case 24: {
+                case 26: {
+                  input.readMessage(
+                      getIntrinsicsFieldBuilder().getBuilder(),
+                      extensionRegistry);
+
+                  break;
+                } // case 26
+                case 32: {
                   seqNo_ = input.readInt32();
 
                   break;
-                } // case 24
+                } // case 32
                 default: {
                   if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                     done = true; // was an endgroup tag
@@ -17580,9 +19254,128 @@ public final class CameraCommand {
           return colorFrameBuilder_;
         }
 
+        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         * @return Whether the intrinsics field is set.
+         */
+        public boolean hasIntrinsics() {
+          return intrinsicsBuilder_ != null || intrinsics_ != null;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         * @return The intrinsics.
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          } else {
+            return intrinsicsBuilder_.getMessage();
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            intrinsics_ = value;
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder setIntrinsics(
+            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = builderForValue.build();
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (intrinsics_ != null) {
+              intrinsics_ =
+                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+            } else {
+              intrinsics_ = value;
+            }
+            onChanged();
+          } else {
+            intrinsicsBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder clearIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+            onChanged();
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+          
+          onChanged();
+          return getIntrinsicsFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+          if (intrinsicsBuilder_ != null) {
+            return intrinsicsBuilder_.getMessageOrBuilder();
+          } else {
+            return intrinsics_ == null ?
+                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            getIntrinsicsFieldBuilder() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                    getIntrinsics(),
+                    getParentForChildren(),
+                    isClean());
+            intrinsics_ = null;
+          }
+          return intrinsicsBuilder_;
+        }
+
         private int seqNo_ ;
         /**
-         * <code>int32 seq_no = 3;</code>
+         * <code>int32 seq_no = 4;</code>
          * @return The seqNo.
          */
         @java.lang.Override
@@ -17590,7 +19383,7 @@ public final class CameraCommand {
           return seqNo_;
         }
         /**
-         * <code>int32 seq_no = 3;</code>
+         * <code>int32 seq_no = 4;</code>
          * @param value The seqNo to set.
          * @return This builder for chaining.
          */
@@ -17601,7 +19394,7 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * <code>int32 seq_no = 3;</code>
+         * <code>int32 seq_no = 4;</code>
          * @return This builder for chaining.
          */
         public Builder clearSeqNo() {
@@ -18777,7 +20570,22 @@ public final class CameraCommand {
       cmvr.api.CameraCommand.FrameDataOrBuilder getDepthFrameOrBuilder();
 
       /**
-       * <code>int32 seq_no = 3;</code>
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      boolean hasIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return The intrinsics.
+       */
+      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       */
+      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
+
+      /**
+       * <code>int32 seq_no = 4;</code>
        * @return The seqNo.
        */
       int getSeqNo();
@@ -18874,10 +20682,36 @@ public final class CameraCommand {
         return getDepthFrame();
       }
 
-      public static final int SEQ_NO_FIELD_NUMBER = 3;
+      public static final int INTRINSICS_FIELD_NUMBER = 3;
+      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      @java.lang.Override
+      public boolean hasIntrinsics() {
+        return intrinsics_ != null;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       * @return The intrinsics.
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        return getIntrinsics();
+      }
+
+      public static final int SEQ_NO_FIELD_NUMBER = 4;
       private int seqNo_;
       /**
-       * <code>int32 seq_no = 3;</code>
+       * <code>int32 seq_no = 4;</code>
        * @return The seqNo.
        */
       @java.lang.Override
@@ -18905,8 +20739,11 @@ public final class CameraCommand {
         if (depthFrame_ != null) {
           output.writeMessage(2, getDepthFrame());
         }
+        if (intrinsics_ != null) {
+          output.writeMessage(3, getIntrinsics());
+        }
         if (seqNo_ != 0) {
-          output.writeInt32(3, seqNo_);
+          output.writeInt32(4, seqNo_);
         }
         getUnknownFields().writeTo(output);
       }
@@ -18925,9 +20762,13 @@ public final class CameraCommand {
           size += com.google.protobuf.CodedOutputStream
             .computeMessageSize(2, getDepthFrame());
         }
+        if (intrinsics_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(3, getIntrinsics());
+        }
         if (seqNo_ != 0) {
           size += com.google.protobuf.CodedOutputStream
-            .computeInt32Size(3, seqNo_);
+            .computeInt32Size(4, seqNo_);
         }
         size += getUnknownFields().getSerializedSize();
         memoizedSize = size;
@@ -18954,6 +20795,11 @@ public final class CameraCommand {
           if (!getDepthFrame()
               .equals(other.getDepthFrame())) return false;
         }
+        if (hasIntrinsics() != other.hasIntrinsics()) return false;
+        if (hasIntrinsics()) {
+          if (!getIntrinsics()
+              .equals(other.getIntrinsics())) return false;
+        }
         if (getSeqNo()
             != other.getSeqNo()) return false;
         if (!getUnknownFields().equals(other.getUnknownFields())) return false;
@@ -18975,6 +20821,10 @@ public final class CameraCommand {
           hash = (37 * hash) + DEPTH_FRAME_FIELD_NUMBER;
           hash = (53 * hash) + getDepthFrame().hashCode();
         }
+        if (hasIntrinsics()) {
+          hash = (37 * hash) + INTRINSICS_FIELD_NUMBER;
+          hash = (53 * hash) + getIntrinsics().hashCode();
+        }
         hash = (37 * hash) + SEQ_NO_FIELD_NUMBER;
         hash = (53 * hash) + getSeqNo();
         hash = (29 * hash) + getUnknownFields().hashCode();
@@ -19117,6 +20967,12 @@ public final class CameraCommand {
             depthFrame_ = null;
             depthFrameBuilder_ = null;
           }
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
           seqNo_ = 0;
 
           return this;
@@ -19155,6 +21011,11 @@ public final class CameraCommand {
           } else {
             result.depthFrame_ = depthFrameBuilder_.build();
           }
+          if (intrinsicsBuilder_ == null) {
+            result.intrinsics_ = intrinsics_;
+          } else {
+            result.intrinsics_ = intrinsicsBuilder_.build();
+          }
           result.seqNo_ = seqNo_;
           onBuilt();
           return result;
@@ -19210,6 +21071,9 @@ public final class CameraCommand {
           if (other.hasDepthFrame()) {
             mergeDepthFrame(other.getDepthFrame());
           }
+          if (other.hasIntrinsics()) {
+            mergeIntrinsics(other.getIntrinsics());
+          }
           if (other.getSeqNo() != 0) {
             setSeqNo(other.getSeqNo());
           }
@@ -19253,11 +21117,18 @@ public final class CameraCommand {
 
                   break;
                 } // case 18
-                case 24: {
+                case 26: {
+                  input.readMessage(
+                      getIntrinsicsFieldBuilder().getBuilder(),
+                      extensionRegistry);
+
+                  break;
+                } // case 26
+                case 32: {
                   seqNo_ = input.readInt32();
 
                   break;
-                } // case 24
+                } // case 32
                 default: {
                   if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                     done = true; // was an endgroup tag
@@ -19512,9 +21383,128 @@ public final class CameraCommand {
           return depthFrameBuilder_;
         }
 
+        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         * @return Whether the intrinsics field is set.
+         */
+        public boolean hasIntrinsics() {
+          return intrinsicsBuilder_ != null || intrinsics_ != null;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         * @return The intrinsics.
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          } else {
+            return intrinsicsBuilder_.getMessage();
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            intrinsics_ = value;
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder setIntrinsics(
+            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = builderForValue.build();
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (intrinsics_ != null) {
+              intrinsics_ =
+                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+            } else {
+              intrinsics_ = value;
+            }
+            onChanged();
+          } else {
+            intrinsicsBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public Builder clearIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+            onChanged();
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+          
+          onChanged();
+          return getIntrinsicsFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+          if (intrinsicsBuilder_ != null) {
+            return intrinsicsBuilder_.getMessageOrBuilder();
+          } else {
+            return intrinsics_ == null ?
+                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 3;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            getIntrinsicsFieldBuilder() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                    getIntrinsics(),
+                    getParentForChildren(),
+                    isClean());
+            intrinsics_ = null;
+          }
+          return intrinsicsBuilder_;
+        }
+
         private int seqNo_ ;
         /**
-         * <code>int32 seq_no = 3;</code>
+         * <code>int32 seq_no = 4;</code>
          * @return The seqNo.
          */
         @java.lang.Override
@@ -19522,7 +21512,7 @@ public final class CameraCommand {
           return seqNo_;
         }
         /**
-         * <code>int32 seq_no = 3;</code>
+         * <code>int32 seq_no = 4;</code>
          * @param value The seqNo to set.
          * @return This builder for chaining.
          */
@@ -19533,7 +21523,7 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * <code>int32 seq_no = 3;</code>
+         * <code>int32 seq_no = 4;</code>
          * @return This builder for chaining.
          */
         public Builder clearSeqNo() {
@@ -20724,7 +22714,22 @@ public final class CameraCommand {
       cmvr.api.CameraCommand.FrameDataOrBuilder getDepthFrameOrBuilder();
 
       /**
-       * <code>int32 seq_no = 4;</code>
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      boolean hasIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       * @return The intrinsics.
+       */
+      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       */
+      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
+
+      /**
+       * <code>int32 seq_no = 5;</code>
        * @return The seqNo.
        */
       int getSeqNo();
@@ -20847,10 +22852,36 @@ public final class CameraCommand {
         return getDepthFrame();
       }
 
-      public static final int SEQ_NO_FIELD_NUMBER = 4;
+      public static final int INTRINSICS_FIELD_NUMBER = 4;
+      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       * @return Whether the intrinsics field is set.
+       */
+      @java.lang.Override
+      public boolean hasIntrinsics() {
+        return intrinsics_ != null;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       * @return The intrinsics.
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      }
+      /**
+       * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+       */
+      @java.lang.Override
+      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        return getIntrinsics();
+      }
+
+      public static final int SEQ_NO_FIELD_NUMBER = 5;
       private int seqNo_;
       /**
-       * <code>int32 seq_no = 4;</code>
+       * <code>int32 seq_no = 5;</code>
        * @return The seqNo.
        */
       @java.lang.Override
@@ -20881,8 +22912,11 @@ public final class CameraCommand {
         if (depthFrame_ != null) {
           output.writeMessage(3, getDepthFrame());
         }
+        if (intrinsics_ != null) {
+          output.writeMessage(4, getIntrinsics());
+        }
         if (seqNo_ != 0) {
-          output.writeInt32(4, seqNo_);
+          output.writeInt32(5, seqNo_);
         }
         getUnknownFields().writeTo(output);
       }
@@ -20905,9 +22939,13 @@ public final class CameraCommand {
           size += com.google.protobuf.CodedOutputStream
             .computeMessageSize(3, getDepthFrame());
         }
+        if (intrinsics_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(4, getIntrinsics());
+        }
         if (seqNo_ != 0) {
           size += com.google.protobuf.CodedOutputStream
-            .computeInt32Size(4, seqNo_);
+            .computeInt32Size(5, seqNo_);
         }
         size += getUnknownFields().getSerializedSize();
         memoizedSize = size;
@@ -20939,6 +22977,11 @@ public final class CameraCommand {
           if (!getDepthFrame()
               .equals(other.getDepthFrame())) return false;
         }
+        if (hasIntrinsics() != other.hasIntrinsics()) return false;
+        if (hasIntrinsics()) {
+          if (!getIntrinsics()
+              .equals(other.getIntrinsics())) return false;
+        }
         if (getSeqNo()
             != other.getSeqNo()) return false;
         if (!getUnknownFields().equals(other.getUnknownFields())) return false;
@@ -20964,6 +23007,10 @@ public final class CameraCommand {
           hash = (37 * hash) + DEPTH_FRAME_FIELD_NUMBER;
           hash = (53 * hash) + getDepthFrame().hashCode();
         }
+        if (hasIntrinsics()) {
+          hash = (37 * hash) + INTRINSICS_FIELD_NUMBER;
+          hash = (53 * hash) + getIntrinsics().hashCode();
+        }
         hash = (37 * hash) + SEQ_NO_FIELD_NUMBER;
         hash = (53 * hash) + getSeqNo();
         hash = (29 * hash) + getUnknownFields().hashCode();
@@ -21112,6 +23159,12 @@ public final class CameraCommand {
             depthFrame_ = null;
             depthFrameBuilder_ = null;
           }
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
           seqNo_ = 0;
 
           return this;
@@ -21155,6 +23208,11 @@ public final class CameraCommand {
           } else {
             result.depthFrame_ = depthFrameBuilder_.build();
           }
+          if (intrinsicsBuilder_ == null) {
+            result.intrinsics_ = intrinsics_;
+          } else {
+            result.intrinsics_ = intrinsicsBuilder_.build();
+          }
           result.seqNo_ = seqNo_;
           onBuilt();
           return result;
@@ -21213,6 +23271,9 @@ public final class CameraCommand {
           if (other.hasDepthFrame()) {
             mergeDepthFrame(other.getDepthFrame());
           }
+          if (other.hasIntrinsics()) {
+            mergeIntrinsics(other.getIntrinsics());
+          }
           if (other.getSeqNo() != 0) {
             setSeqNo(other.getSeqNo());
           }
@@ -21263,11 +23324,18 @@ public final class CameraCommand {
 
                   break;
                 } // case 26
-                case 32: {
+                case 34: {
+                  input.readMessage(
+                      getIntrinsicsFieldBuilder().getBuilder(),
+                      extensionRegistry);
+
+                  break;
+                } // case 34
+                case 40: {
                   seqNo_ = input.readInt32();
 
                   break;
-                } // case 32
+                } // case 40
                 default: {
                   if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                     done = true; // was an endgroup tag
@@ -21641,9 +23709,128 @@ public final class CameraCommand {
           return depthFrameBuilder_;
         }
 
+        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         * @return Whether the intrinsics field is set.
+         */
+        public boolean hasIntrinsics() {
+          return intrinsicsBuilder_ != null || intrinsics_ != null;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         * @return The intrinsics.
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          } else {
+            return intrinsicsBuilder_.getMessage();
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            intrinsics_ = value;
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public Builder setIntrinsics(
+            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = builderForValue.build();
+            onChanged();
+          } else {
+            intrinsicsBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+          if (intrinsicsBuilder_ == null) {
+            if (intrinsics_ != null) {
+              intrinsics_ =
+                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+            } else {
+              intrinsics_ = value;
+            }
+            onChanged();
+          } else {
+            intrinsicsBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public Builder clearIntrinsics() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsics_ = null;
+            onChanged();
+          } else {
+            intrinsics_ = null;
+            intrinsicsBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+          
+          onChanged();
+          return getIntrinsicsFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+          if (intrinsicsBuilder_ != null) {
+            return intrinsicsBuilder_.getMessageOrBuilder();
+          } else {
+            return intrinsics_ == null ?
+                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.Rs2Intrinsics intrinsics = 4;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            getIntrinsicsFieldBuilder() {
+          if (intrinsicsBuilder_ == null) {
+            intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                    getIntrinsics(),
+                    getParentForChildren(),
+                    isClean());
+            intrinsics_ = null;
+          }
+          return intrinsicsBuilder_;
+        }
+
         private int seqNo_ ;
         /**
-         * <code>int32 seq_no = 4;</code>
+         * <code>int32 seq_no = 5;</code>
          * @return The seqNo.
          */
         @java.lang.Override
@@ -21651,7 +23838,7 @@ public final class CameraCommand {
           return seqNo_;
         }
         /**
-         * <code>int32 seq_no = 4;</code>
+         * <code>int32 seq_no = 5;</code>
          * @param value The seqNo to set.
          * @return This builder for chaining.
          */
@@ -21662,7 +23849,7 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * <code>int32 seq_no = 4;</code>
+         * <code>int32 seq_no = 5;</code>
          * @return This builder for chaining.
          */
         public Builder clearSeqNo() {
@@ -22096,6 +24283,11 @@ public final class CameraCommand {
   private static final 
     com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
       internal_static_cmvr_api_FrameData_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_Rs2Intrinsics_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_Rs2Intrinsics_fieldAccessorTable;
   private static final com.google.protobuf.Descriptors.Descriptor
     internal_static_cmvr_api_CameraState_descriptor;
   private static final 
@@ -22282,65 +24474,73 @@ public final class CameraCommand {
       "rameType\022\r\n\005codec\030\005 \001(\t\022\024\n\014is_key_frame\030" +
       "\006 \001(\010\"K\n\tFrameType\022\010\n\004U8C1\020\000\022\t\n\005U16C1\020\001\022" +
       "\010\n\004U8C3\020\002\022\t\n\005U16C3\020\003\022\t\n\005F16C1\020\004\022\t\n\005F32C1" +
-      "\020\005\"\271\001\n\013CameraState\022\026\n\016is_initialized\030\001 \001" +
-      "(\010\022\021\n\tis_opened\030\002 \001(\010\022\024\n\014is_streaming\030\003 " +
-      "\001(\010\022\024\n\014is_recording\030\004 \001(\010\022\020\n\010is_error\030\005 " +
-      "\001(\010\022\025\n\rerror_message\030\006 \001(\t\022\013\n\003fps\030\007 \001(\005\022" +
-      "\r\n\005width\030\010 \001(\005\022\016\n\006height\030\t \001(\005\"\267\001\n\025GetCa" +
-      "meraStateCommand\032:\n\007Request\022/\n\006header\030\001 " +
-      "\001(\0132\037.cmvr.api.CommandHeader.Request\032b\n\010" +
-      "Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api.Comm" +
-      "andHeader.Feedback\022$\n\005state\030\002 \001(\0132\025.cmvr" +
-      ".api.CameraState\"\216\001\n\022StartCameraCommand\032" +
-      ":\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Co" +
-      "mmandHeader.Request\032<\n\010Feedback\0220\n\006heade" +
-      "r\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedbac" +
-      "k\"\215\001\n\021StopCameraCommand\032:\n\007Request\022/\n\006he" +
-      "ader\030\001 \001(\0132\037.cmvr.api.CommandHeader.Requ" +
-      "est\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.a" +
-      "pi.CommandHeader.Feedback\"\270\001\n\022GetRGBImag" +
+      "\020\005\"S\n\rRs2Intrinsics\022\n\n\002cx\030\001 \001(\002\022\n\n\002cy\030\002 " +
+      "\001(\002\022\n\n\002fx\030\003 \001(\002\022\n\n\002fy\030\004 \001(\002\022\022\n\006coeffs\030\005 " +
+      "\003(\002B\002\020\001\"\271\001\n\013CameraState\022\026\n\016is_initialize" +
+      "d\030\001 \001(\010\022\021\n\tis_opened\030\002 \001(\010\022\024\n\014is_streami" +
+      "ng\030\003 \001(\010\022\024\n\014is_recording\030\004 \001(\010\022\020\n\010is_err" +
+      "or\030\005 \001(\010\022\025\n\rerror_message\030\006 \001(\t\022\013\n\003fps\030\007" +
+      " \001(\005\022\r\n\005width\030\010 \001(\005\022\016\n\006height\030\t \001(\005\"\267\001\n\025" +
+      "GetCameraStateCommand\032:\n\007Request\022/\n\006head" +
+      "er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" +
+      "t\032b\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api" +
+      ".CommandHeader.Feedback\022$\n\005state\030\002 \001(\0132\025" +
+      ".cmvr.api.CameraState\"\216\001\n\022StartCameraCom" +
+      "mand\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.a" +
+      "pi.CommandHeader.Request\032<\n\010Feedback\0220\n\006" +
+      "header\030\001 \001(\0132 .cmvr.api.CommandHeader.Fe" +
+      "edback\"\215\001\n\021StopCameraCommand\032:\n\007Request\022" +
+      "/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader" +
+      ".Request\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .c" +
+      "mvr.api.CommandHeader.Feedback\"\346\001\n\022GetRG" +
+      "BImageCommand\032:\n\007Request\022/\n\006header\030\001 \001(\013" +
+      "2\037.cmvr.api.CommandHeader.Request\032\223\001\n\010Fe" +
+      "edback\0220\n\006header\030\001 \001(\0132 .cmvr.api.Comman" +
+      "dHeader.Feedback\022(\n\013color_frame\030\002 \001(\0132\023." +
+      "cmvr.api.FrameData\022+\n\nintrinsics\030\003 \001(\0132\027" +
+      ".cmvr.api.Rs2Intrinsics\"\350\001\n\024GetDepthImag" +
       "eCommand\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cm" +
-      "vr.api.CommandHeader.Request\032f\n\010Feedback" +
-      "\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHeade" +
-      "r.Feedback\022(\n\013color_frame\030\002 \001(\0132\023.cmvr.a" +
-      "pi.FrameData\"\272\001\n\024GetDepthImageCommand\032:\n" +
-      "\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comm" +
-      "andHeader.Request\032f\n\010Feedback\0220\n\006header\030" +
-      "\001 \001(\0132 .cmvr.api.CommandHeader.Feedback\022" +
-      "(\n\013depth_frame\030\002 \001(\0132\023.cmvr.api.FrameDat" +
-      "a\"\345\001\n\024GetRGBDImagesCommand\032:\n\007Request\022/\n" +
-      "\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader.R" +
-      "equest\032\220\001\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cm" +
-      "vr.api.CommandHeader.Feedback\022(\n\013color_f" +
-      "rame\030\002 \001(\0132\023.cmvr.api.FrameData\022(\n\013depth" +
-      "_frame\030\003 \001(\0132\023.cmvr.api.FrameData\"\253\001\n\033St" +
-      "artCameraRecordingCommand\032N\n\007Request\022/\n\006" +
-      "header\030\001 \001(\0132\037.cmvr.api.CommandHeader.Re" +
-      "quest\022\022\n\nvideo_path\030\002 \001(\t\032<\n\010Feedback\0220\n" +
+      "vr.api.CommandHeader.Request\032\223\001\n\010Feedbac" +
+      "k\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHead" +
+      "er.Feedback\022(\n\013depth_frame\030\002 \001(\0132\023.cmvr." +
+      "api.FrameData\022+\n\nintrinsics\030\003 \001(\0132\027.cmvr" +
+      ".api.Rs2Intrinsics\"\222\002\n\024GetRGBDImagesComm" +
+      "and\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.ap" +
+      "i.CommandHeader.Request\032\275\001\n\010Feedback\0220\n\006" +
+      "header\030\001 \001(\0132 .cmvr.api.CommandHeader.Fe" +
+      "edback\022(\n\013color_frame\030\002 \001(\0132\023.cmvr.api.F" +
+      "rameData\022(\n\013depth_frame\030\003 \001(\0132\023.cmvr.api" +
+      ".FrameData\022+\n\nintrinsics\030\004 \001(\0132\027.cmvr.ap" +
+      "i.Rs2Intrinsics\"\253\001\n\033StartCameraRecording" +
+      "Command\032N\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmv" +
+      "r.api.CommandHeader.Request\022\022\n\nvideo_pat" +
+      "h\030\002 \001(\t\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cm" +
+      "vr.api.CommandHeader.Feedback\"\226\001\n\032StopCa" +
+      "meraRecordingCommand\032:\n\007Request\022/\n\006heade" +
+      "r\030\001 \001(\0132\037.cmvr.api.CommandHeader.Request" +
+      "\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api." +
+      "CommandHeader.Feedback\"\211\002\n\030GetRGBImageSt" +
+      "reamCommand\032G\n\007Request\022/\n\006header\030\001 \001(\0132\037" +
+      ".cmvr.api.CommandHeader.Request\022\013\n\003eof\030\002" +
+      " \001(\010\032\243\001\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr" +
+      ".api.CommandHeader.Feedback\022(\n\013color_fra" +
+      "me\030\002 \001(\0132\023.cmvr.api.FrameData\022+\n\nintrins" +
+      "ics\030\003 \001(\0132\027.cmvr.api.Rs2Intrinsics\022\016\n\006se" +
+      "q_no\030\004 \001(\005\"\213\002\n\032GetDepthImageStreamComman" +
+      "d\032G\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api." +
+      "CommandHeader.Request\022\013\n\003eof\030\002 \001(\010\032\243\001\n\010F" +
+      "eedback\0220\n\006header\030\001 \001(\0132 .cmvr.api.Comma" +
+      "ndHeader.Feedback\022(\n\013depth_frame\030\002 \001(\0132\023" +
+      ".cmvr.api.FrameData\022+\n\nintrinsics\030\003 \001(\0132" +
+      "\027.cmvr.api.Rs2Intrinsics\022\016\n\006seq_no\030\004 \001(\005" +
+      "\"\265\002\n\032GetRGBDImagesStreamCommand\032G\n\007Reque" +
+      "st\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHea" +
+      "der.Request\022\013\n\003eof\030\002 \001(\010\032\315\001\n\010Feedback\0220\n" +
       "\006header\030\001 \001(\0132 .cmvr.api.CommandHeader.F" +
-      "eedback\"\226\001\n\032StopCameraRecordingCommand\032:" +
-      "\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Com" +
-      "mandHeader.Request\032<\n\010Feedback\0220\n\006header" +
-      "\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedback" +
-      "\"\333\001\n\030GetRGBImageStreamCommand\032G\n\007Request" +
-      "\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeade" +
-      "r.Request\022\013\n\003eof\030\002 \001(\010\032v\n\010Feedback\0220\n\006he" +
-      "ader\030\001 \001(\0132 .cmvr.api.CommandHeader.Feed" +
-      "back\022(\n\013color_frame\030\002 \001(\0132\023.cmvr.api.Fra" +
-      "meData\022\016\n\006seq_no\030\003 \001(\005\"\335\001\n\032GetDepthImage" +
-      "StreamCommand\032G\n\007Request\022/\n\006header\030\001 \001(\013" +
-      "2\037.cmvr.api.CommandHeader.Request\022\013\n\003eof" +
-      "\030\002 \001(\010\032v\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmv" +
-      "r.api.CommandHeader.Feedback\022(\n\013depth_fr" +
-      "ame\030\002 \001(\0132\023.cmvr.api.FrameData\022\016\n\006seq_no" +
-      "\030\003 \001(\005\"\210\002\n\032GetRGBDImagesStreamCommand\032G\n" +
-      "\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comm" +
-      "andHeader.Request\022\013\n\003eof\030\002 \001(\010\032\240\001\n\010Feedb" +
-      "ack\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHe" +
-      "ader.Feedback\022(\n\013color_frame\030\002 \001(\0132\023.cmv" +
-      "r.api.FrameData\022(\n\013depth_frame\030\003 \001(\0132\023.c" +
-      "mvr.api.FrameData\022\016\n\006seq_no\030\004 \001(\005b\006proto" +
-      "3"
+      "eedback\022(\n\013color_frame\030\002 \001(\0132\023.cmvr.api." +
+      "FrameData\022(\n\013depth_frame\030\003 \001(\0132\023.cmvr.ap" +
+      "i.FrameData\022+\n\nintrinsics\030\004 \001(\0132\027.cmvr.a" +
+      "pi.Rs2Intrinsics\022\016\n\006seq_no\030\005 \001(\005b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -22353,14 +24553,20 @@ public final class CameraCommand {
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_FrameData_descriptor,
         new java.lang.String[] { "Data", "Width", "Height", "Type", "Codec", "IsKeyFrame", });
-    internal_static_cmvr_api_CameraState_descriptor =
+    internal_static_cmvr_api_Rs2Intrinsics_descriptor =
       getDescriptor().getMessageTypes().get(1);
+    internal_static_cmvr_api_Rs2Intrinsics_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_Rs2Intrinsics_descriptor,
+        new java.lang.String[] { "Cx", "Cy", "Fx", "Fy", "Coeffs", });
+    internal_static_cmvr_api_CameraState_descriptor =
+      getDescriptor().getMessageTypes().get(2);
     internal_static_cmvr_api_CameraState_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_CameraState_descriptor,
         new java.lang.String[] { "IsInitialized", "IsOpened", "IsStreaming", "IsRecording", "IsError", "ErrorMessage", "Fps", "Width", "Height", });
     internal_static_cmvr_api_GetCameraStateCommand_descriptor =
-      getDescriptor().getMessageTypes().get(2);
+      getDescriptor().getMessageTypes().get(3);
     internal_static_cmvr_api_GetCameraStateCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetCameraStateCommand_descriptor,
@@ -22378,7 +24584,7 @@ public final class CameraCommand {
         internal_static_cmvr_api_GetCameraStateCommand_Feedback_descriptor,
         new java.lang.String[] { "Header", "State", });
     internal_static_cmvr_api_StartCameraCommand_descriptor =
-      getDescriptor().getMessageTypes().get(3);
+      getDescriptor().getMessageTypes().get(4);
     internal_static_cmvr_api_StartCameraCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_StartCameraCommand_descriptor,
@@ -22396,7 +24602,7 @@ public final class CameraCommand {
         internal_static_cmvr_api_StartCameraCommand_Feedback_descriptor,
         new java.lang.String[] { "Header", });
     internal_static_cmvr_api_StopCameraCommand_descriptor =
-      getDescriptor().getMessageTypes().get(4);
+      getDescriptor().getMessageTypes().get(5);
     internal_static_cmvr_api_StopCameraCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_StopCameraCommand_descriptor,
@@ -22414,7 +24620,7 @@ public final class CameraCommand {
         internal_static_cmvr_api_StopCameraCommand_Feedback_descriptor,
         new java.lang.String[] { "Header", });
     internal_static_cmvr_api_GetRGBImageCommand_descriptor =
-      getDescriptor().getMessageTypes().get(5);
+      getDescriptor().getMessageTypes().get(6);
     internal_static_cmvr_api_GetRGBImageCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetRGBImageCommand_descriptor,
@@ -22430,9 +24636,9 @@ public final class CameraCommand {
     internal_static_cmvr_api_GetRGBImageCommand_Feedback_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetRGBImageCommand_Feedback_descriptor,
-        new java.lang.String[] { "Header", "ColorFrame", });
+        new java.lang.String[] { "Header", "ColorFrame", "Intrinsics", });
     internal_static_cmvr_api_GetDepthImageCommand_descriptor =
-      getDescriptor().getMessageTypes().get(6);
+      getDescriptor().getMessageTypes().get(7);
     internal_static_cmvr_api_GetDepthImageCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetDepthImageCommand_descriptor,
@@ -22448,9 +24654,9 @@ public final class CameraCommand {
     internal_static_cmvr_api_GetDepthImageCommand_Feedback_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetDepthImageCommand_Feedback_descriptor,
-        new java.lang.String[] { "Header", "DepthFrame", });
+        new java.lang.String[] { "Header", "DepthFrame", "Intrinsics", });
     internal_static_cmvr_api_GetRGBDImagesCommand_descriptor =
-      getDescriptor().getMessageTypes().get(7);
+      getDescriptor().getMessageTypes().get(8);
     internal_static_cmvr_api_GetRGBDImagesCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetRGBDImagesCommand_descriptor,
@@ -22466,9 +24672,9 @@ public final class CameraCommand {
     internal_static_cmvr_api_GetRGBDImagesCommand_Feedback_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetRGBDImagesCommand_Feedback_descriptor,
-        new java.lang.String[] { "Header", "ColorFrame", "DepthFrame", });
+        new java.lang.String[] { "Header", "ColorFrame", "DepthFrame", "Intrinsics", });
     internal_static_cmvr_api_StartCameraRecordingCommand_descriptor =
-      getDescriptor().getMessageTypes().get(8);
+      getDescriptor().getMessageTypes().get(9);
     internal_static_cmvr_api_StartCameraRecordingCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_StartCameraRecordingCommand_descriptor,
@@ -22486,7 +24692,7 @@ public final class CameraCommand {
         internal_static_cmvr_api_StartCameraRecordingCommand_Feedback_descriptor,
         new java.lang.String[] { "Header", });
     internal_static_cmvr_api_StopCameraRecordingCommand_descriptor =
-      getDescriptor().getMessageTypes().get(9);
+      getDescriptor().getMessageTypes().get(10);
     internal_static_cmvr_api_StopCameraRecordingCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_StopCameraRecordingCommand_descriptor,
@@ -22504,7 +24710,7 @@ public final class CameraCommand {
         internal_static_cmvr_api_StopCameraRecordingCommand_Feedback_descriptor,
         new java.lang.String[] { "Header", });
     internal_static_cmvr_api_GetRGBImageStreamCommand_descriptor =
-      getDescriptor().getMessageTypes().get(10);
+      getDescriptor().getMessageTypes().get(11);
     internal_static_cmvr_api_GetRGBImageStreamCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetRGBImageStreamCommand_descriptor,
@@ -22520,9 +24726,9 @@ public final class CameraCommand {
     internal_static_cmvr_api_GetRGBImageStreamCommand_Feedback_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetRGBImageStreamCommand_Feedback_descriptor,
-        new java.lang.String[] { "Header", "ColorFrame", "SeqNo", });
+        new java.lang.String[] { "Header", "ColorFrame", "Intrinsics", "SeqNo", });
     internal_static_cmvr_api_GetDepthImageStreamCommand_descriptor =
-      getDescriptor().getMessageTypes().get(11);
+      getDescriptor().getMessageTypes().get(12);
     internal_static_cmvr_api_GetDepthImageStreamCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetDepthImageStreamCommand_descriptor,
@@ -22538,9 +24744,9 @@ public final class CameraCommand {
     internal_static_cmvr_api_GetDepthImageStreamCommand_Feedback_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetDepthImageStreamCommand_Feedback_descriptor,
-        new java.lang.String[] { "Header", "DepthFrame", "SeqNo", });
+        new java.lang.String[] { "Header", "DepthFrame", "Intrinsics", "SeqNo", });
     internal_static_cmvr_api_GetRGBDImagesStreamCommand_descriptor =
-      getDescriptor().getMessageTypes().get(12);
+      getDescriptor().getMessageTypes().get(13);
     internal_static_cmvr_api_GetRGBDImagesStreamCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetRGBDImagesStreamCommand_descriptor,
@@ -22556,7 +24762,7 @@ public final class CameraCommand {
     internal_static_cmvr_api_GetRGBDImagesStreamCommand_Feedback_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetRGBDImagesStreamCommand_Feedback_descriptor,
-        new java.lang.String[] { "Header", "ColorFrame", "DepthFrame", "SeqNo", });
+        new java.lang.String[] { "Header", "ColorFrame", "DepthFrame", "Intrinsics", "SeqNo", });
     cmvr.api.Common.getDescriptor();
   }
 
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_command.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_command.proto
index 36dfe9a..38ab01d 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_command.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_command.proto
@@ -21,6 +21,14 @@ message FrameData {
     bool is_key_frame = 6;
 }
 
+message Rs2Intrinsics {
+  float cx = 1;                           // 主点水平坐标（从左边缘的像素偏移）
+  float cy = 2;                           // 主点垂直坐标（从上边缘的像素偏移）
+  float fx = 3;                            // x方向焦距（像素宽度的倍数）
+  float fy = 4;                            // y方向焦距（像素高度的倍数）
+  repeated float coeffs = 5 [packed = true]; // 畸变系数（固定5个元素）
+}
+
 message CameraState {
     bool is_initialized = 1;
     bool is_opened = 2;
@@ -71,6 +79,7 @@ message GetRGBImageCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
+        Rs2Intrinsics intrinsics = 3;
     }
 }
 
@@ -82,6 +91,7 @@ message GetDepthImageCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData depth_frame = 2;
+        Rs2Intrinsics intrinsics = 3;
     }
 }
 
@@ -94,6 +104,7 @@ message GetRGBDImagesCommand {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
         FrameData depth_frame = 3;
+        Rs2Intrinsics intrinsics = 4;
     }
 }
 
@@ -126,7 +137,8 @@ message GetRGBImageStreamCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
-        int32 seq_no = 3;
+        Rs2Intrinsics intrinsics = 3;
+        int32 seq_no = 4;
     }
 }
 
@@ -139,7 +151,8 @@ message GetDepthImageStreamCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData depth_frame = 2;
-        int32 seq_no = 3;
+        Rs2Intrinsics intrinsics = 3;
+        int32 seq_no = 4;
     }
 }
 
@@ -153,7 +166,8 @@ message GetRGBDImagesStreamCommand {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
         FrameData depth_frame = 3;
-        int32 seq_no = 4;
+        Rs2Intrinsics intrinsics = 4;
+        int32 seq_no = 5;
     }
 }
 
diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/llm/LLMTouchOperateService.java b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/llm/LLMTouchOperateService.java
index e1c6019..14882e9 100644
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/llm/LLMTouchOperateService.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/llm/LLMTouchOperateService.java
@@ -62,6 +62,20 @@ public class LLMTouchOperateService implements LLMOperateService {
                 try {
                     File image = minioService.getFile(bucketName, objectName);
                     output = llmTouchService.touchCoordinates(image, targetFeature, manufacturer, vehType);
+
+                    // 计算坐标
+                    JSONArray coords = output.getJSONArray("coordinates"); // [x1, y1, x2, y2]
+                    int x1 = coords.getIntValue(0);
+                    int y1 = coords.getIntValue(1);
+                    int x2 = coords.getIntValue(2);
+                    int y2 = coords.getIntValue(3);
+
+                    int x = (x1 + x2) / 2;
+                    int y = (y1 + y2) / 2;
+                    String cal = StrUtil.format("{},{}", x, y);
+                    output.put("coordinates", cal);
+
+                    // todo 获取坐标后调用边缘系统
                 } catch (Exception e) {
                     throw new RuntimeException(e);
                 }
@@ -71,6 +85,7 @@ public class LLMTouchOperateService implements LLMOperateService {
             default:
                 throw new GlobalException("不支持的触控操作类型: " + action);
         }
+
         return TaskNodeExecuteResult.success(output);
     }
 }
\ No newline at end of file