From 2f96bf9c50c2bff3a0aeedd597bc0491c3705036 Mon Sep 17 00:00:00 2001
From: linbo <1034003879@qq.com>
Date: Wed, 27 Aug 2025 16:41:48 +0800
Subject: [PATCH] update camera intrinsics

---
 protos/cmvr/api/camera_command.proto  | 14 +++++++-------
 protos/cmvr/api/dexhand_command.proto |  4 ++--
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/protos/cmvr/api/camera_command.proto b/protos/cmvr/api/camera_command.proto
index 38ab01d0..03a8f359 100644
--- a/protos/cmvr/api/camera_command.proto
+++ b/protos/cmvr/api/camera_command.proto
@@ -21,7 +21,7 @@ message FrameData {
     bool is_key_frame = 6;
 }
 
-message Rs2Intrinsics {
+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）
@@ -79,7 +79,7 @@ message GetRGBImageCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
-        Rs2Intrinsics intrinsics = 3;
+        CameraIntrinsics intrinsics = 3;
     }
 }
 
@@ -91,7 +91,7 @@ message GetDepthImageCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData depth_frame = 2;
-        Rs2Intrinsics intrinsics = 3;
+        CameraIntrinsics intrinsics = 3;
     }
 }
 
@@ -104,7 +104,7 @@ message GetRGBDImagesCommand {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
         FrameData depth_frame = 3;
-        Rs2Intrinsics intrinsics = 4;
+        CameraIntrinsics intrinsics = 4;
     }
 }
 
@@ -137,7 +137,7 @@ message GetRGBImageStreamCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
-        Rs2Intrinsics intrinsics = 3;
+        CameraIntrinsics intrinsics = 3;
         int32 seq_no = 4;
     }
 }
@@ -151,7 +151,7 @@ message GetDepthImageStreamCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData depth_frame = 2;
-        Rs2Intrinsics intrinsics = 3;
+        CameraIntrinsics intrinsics = 3;
         int32 seq_no = 4;
     }
 }
@@ -166,7 +166,7 @@ message GetRGBDImagesStreamCommand {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
         FrameData depth_frame = 3;
-        Rs2Intrinsics intrinsics = 4;
+        CameraIntrinsics intrinsics = 4;
         int32 seq_no = 5;
     }
 }
diff --git a/protos/cmvr/api/dexhand_command.proto b/protos/cmvr/api/dexhand_command.proto
index 5e89c97b..9d65a7f8 100644
--- a/protos/cmvr/api/dexhand_command.proto
+++ b/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 {