update

cmvr/__init__.py

@@ -2,7 +2,7 @@ from .client import CMVRGrpcClient
 from .enums import CMVRErrorCode, DeviceState, FingerType
 from .models import (
     MicState, SpeakerState, CameraState, 
-    RH56DFTPDexHand, DexHandState, FacialExpressionState,
+    FreedomState, DexHandState, FacialExpressionState,
     FingerTactileData, PalmTactileData, HandTactileSensors
 )
 
@@ -10,6 +10,6 @@ __all__ = [
     'CMVRGrpcClient',
     'CMVRErrorCode', 'DeviceState', 'FingerType',
     'MicState', 'SpeakerState', 'CameraState',
-    'RH56DFTPDexHand', 'DexHandState', 'FacialExpressionState',
+    'FreedomState', 'DexHandState', 'FacialExpressionState',
     'FingerTactileData', 'PalmTactileData', 'HandTactileSensors'
 ]

cmvr/camera_client.py

@@ -6,7 +6,7 @@ from typing import Tuple
 
 from .enums import CMVRErrorCode
 from .models import CameraState
-
+from .models import Rs2Intrinsics
 class CameraClient:
     """相机客户端"""
 
@@ -116,6 +116,23 @@ class CameraClient:
             # 将字节数据转换为numpy数组
             img_data = np.frombuffer(response.color_frame.data, dtype=np.uint8)
 
+
+            # 从 Protobuf 消息中读取 intrinsics 数据
+            protobuf_intrinsics = response.intrinsics
+
+            # 构造 Python 数据类对象（字段名称完全对应）
+            python_intrinsics = Rs2Intrinsics(
+                cx=protobuf_intrinsics.cx,
+                cy=protobuf_intrinsics.cy,
+                fx=protobuf_intrinsics.fx,
+                fy=protobuf_intrinsics.fy,
+                coeffs=list(protobuf_intrinsics.coeffs)  # Protobuf repeated 字段通常是列表类型，直接转换
+            )
+
+            # 示例：访问读取后的数据
+            print(f"主点坐标: ({python_intrinsics.cx}, {python_intrinsics.cy})")
+            print(f"焦距: ({python_intrinsics.fx}, {python_intrinsics.fy})")
+            print(f"畸变系数: {python_intrinsics.coeffs}")
             # 重塑为图像格式 (height, width, channels)
             channels = 3  # 假设是RGB图像
             if size == width * height * channels:

cmvr/dexhand_client.py

@@ -4,7 +4,7 @@ from typing import Tuple
 from typing import Dict
 
 from .enums import CMVRErrorCode, FingerType
-from .models import DexHandState, RH56DFTPDexHand, HandTactileSensors
+from .models import DexHandState, FreedomState, HandTactileSensors
 
 class DexHandClient:
     """灵巧手客户端"""
@@ -57,7 +57,7 @@ class DexHandClient:
             # 填充手指状态
             for i, hand_state in enumerate(response.state.hands):
                 if i < len(state.hands):
-                    state.hands[i] = RH56DFTPDexHand(
+                    state.hands[i] = FreedomState(
                         angle=hand_state.angle,
                         speed=hand_state.speed,
                         force=hand_state.force,

cmvr/models.py

@@ -30,9 +30,18 @@ class CameraState:
     width: int = 0
     height: int = 0
     fps: int = 0
+@dataclass
+class CameraIntrinsics:
+    """相机内参（与Protobuf Rs2Intrinsics对齐）"""
+    cx: float = 0.0  # 对应Protobuf tag=1
+    cy: float = 0.0  # 对应Protobuf tag=2
+    fx: float = 0.0  # 对应Protobuf tag=3
+    fy: float = 0.0  # 对应Protobuf tag=4
+    # 畸变系数：固定5个元素（k1, k2, p1, p2, k3），与Protobuf tag=5对齐
+    coeffs: List[float] = field(default_factory=lambda: [0.0]*5)
 
 @dataclass
-class RH56DFTPDexHand:
+class FreedomState:
     """灵巧手自由度状态"""
     dof_id: int = 0
     angle: int = 0
@@ -48,7 +57,7 @@ class RH56DFTPDexHand:
 class DexHandState:
     """灵巧手整体状态"""
     is_initialized: bool = False
-    hands: List[RH56DFTPDexHand] = field(default_factory=lambda: [RH56DFTPDexHand() for _ in range(6)])
+    hands: List[FreedomState] = field(default_factory=lambda: [FreedomState() for _ in range(6)])
 
 @dataclass
 class FacialExpressionState:

examples/example_usage.py

@@ -659,8 +659,8 @@ def test_microphone():
         print(f"开始录音失败，错误码: {result}")
 
 if __name__ == "__main__":
-    test_biohead()
+    # test_biohead()
-    # test_camera()
+    test_camera()
     # test_rgb_image_stream()
     # test_dexhand()
     # test_sensor_data_stream()

protos/cmvr/api/camera_command.proto

@@ -21,6 +21,14 @@ message FrameData {
     bool is_key_frame = 6;
 }
 
+message CameraIntrinsics {
+  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;
+        CameraIntrinsics intrinsics = 3;
     }
 }
 
@@ -82,6 +91,7 @@ message GetDepthImageCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData depth_frame = 2;
+        CameraIntrinsics intrinsics = 3;
     }
 }
 
@@ -94,6 +104,7 @@ message GetRGBDImagesCommand {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
         FrameData depth_frame = 3;
+        CameraIntrinsics intrinsics = 4;
     }
 }
 
@@ -126,7 +137,8 @@ message GetRGBImageStreamCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
-        int32 seq_no = 3;
+        CameraIntrinsics 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;
+        CameraIntrinsics 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;
+        CameraIntrinsics intrinsics = 4;
+        int32 seq_no = 5;
     }
 }
 

protos/cmvr/api/common.proto

@@ -28,3 +28,16 @@ message CommandHeader {
         google.protobuf.Timestamp timestamp = 3;      // 回复时间
     }
 }
+
+message ConfigParam {
+
+    string param_name = 1;
+
+    oneof param_value {
+        int32 int_value = 2;     // 整数类型
+        double double_value = 3; // 浮点数类型
+        string string_value = 4; // 字符串类型
+        bool bool_value = 5;     // 布尔类型
+        bytes bytes_value = 6;   // 二进制数据类型
+    }
+}

protos/cmvr/api/dexhand_command.proto

@@ -9,7 +9,7 @@ message FreedomValue {
     float value = 2;              // 值 0-1百分比
 }
 
-message RH56DFTPDexHand {
+message FreedomState {
     int32 dof_id = 1;             // 自由度ID，唯一标识不同的关节或自由度
     int32 angle = 2;              // 自由度角度
     int32 speed = 3;              // 自由度速度
@@ -57,7 +57,7 @@ message SensorData {
 
 message DexHandState {
     bool is_initialized = 1;      // 是否初始化
-    repeated RH56DFTPDexHand hands = 2;  // 包含多个自由度状态
+    repeated FreedomState hands = 2;  // 包含多个自由度状态
 }
 
 message GetDexHandStateCommand {

protos/cmvr/api/system_command.proto

@@ -48,3 +48,12 @@ message GetSystemStatusCommand {
         repeated DeviceList device_list = 7;
     }
 }
+
+message UpdateParamsCommand {
+    message Request {}
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        repeated ConfigParam params = 2;
+    }
+}

protos/cmvr/api/system_service.proto

@@ -8,4 +8,7 @@ package cmvr.api;
 service SystemService {
     rpc GetSystemInfo(GetSystemInfoCommand.Request) returns (GetSystemInfoCommand.Feedback) {}
     rpc GetSystemStatus(GetSystemStatusCommand.Request) returns (GetSystemStatusCommand.Feedback) {}
+
+    rpc UpdateParams(UpdateParamsCommand.Request) returns (UpdateParamsCommand.Feedback) {}
+
 }