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update camera intrinsics

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This commit is contained in:
linbo 2025-08-27 16:41:48 +08:00
parent ab5aadd82e
commit 2f96bf9c50
2 changed files with 9 additions and 9 deletions
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14
protos/cmvr/api/camera_command.proto
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@ -21,7 +21,7 @@ message FrameData {
bool is_key_frame = 6; 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 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 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 fx = 3; // x方向焦距（像素宽度的倍数）
@ -79,7 +79,7 @@ message GetRGBImageCommand {
message Feedback { message Feedback {
CommandHeader.Feedback header = 1; CommandHeader.Feedback header = 1;
FrameData color_frame = 2; FrameData color_frame = 2;
Rs2Intrinsics intrinsics = 3; CameraIntrinsics intrinsics = 3;
} }
} }
@ -91,7 +91,7 @@ message GetDepthImageCommand {
message Feedback { message Feedback {
CommandHeader.Feedback header = 1; CommandHeader.Feedback header = 1;
FrameData depth_frame = 2; FrameData depth_frame = 2;
Rs2Intrinsics intrinsics = 3; CameraIntrinsics intrinsics = 3;
} }
} }
@ -104,7 +104,7 @@ message GetRGBDImagesCommand {
CommandHeader.Feedback header = 1; CommandHeader.Feedback header = 1;
FrameData color_frame = 2; FrameData color_frame = 2;
FrameData depth_frame = 3; FrameData depth_frame = 3;
Rs2Intrinsics intrinsics = 4; CameraIntrinsics intrinsics = 4;
} }
} }
@ -137,7 +137,7 @@ message GetRGBImageStreamCommand {
message Feedback { message Feedback {
CommandHeader.Feedback header = 1; CommandHeader.Feedback header = 1;
FrameData color_frame = 2; FrameData color_frame = 2;
Rs2Intrinsics intrinsics = 3; CameraIntrinsics intrinsics = 3;
int32 seq_no = 4; int32 seq_no = 4;
} }
} }
@ -151,7 +151,7 @@ message GetDepthImageStreamCommand {
message Feedback { message Feedback {
CommandHeader.Feedback header = 1; CommandHeader.Feedback header = 1;
FrameData depth_frame = 2; FrameData depth_frame = 2;
Rs2Intrinsics intrinsics = 3; CameraIntrinsics intrinsics = 3;
int32 seq_no = 4; int32 seq_no = 4;
} }
} }
@ -166,7 +166,7 @@ message GetRGBDImagesStreamCommand {
CommandHeader.Feedback header = 1; CommandHeader.Feedback header = 1;
FrameData color_frame = 2; FrameData color_frame = 2;
FrameData depth_frame = 3; FrameData depth_frame = 3;
Rs2Intrinsics intrinsics = 4; CameraIntrinsics intrinsics = 4;
int32 seq_no = 5; int32 seq_no = 5;
} }
} }

4
protos/cmvr/api/dexhand_command.proto
View File

@ -9,7 +9,7 @@ message FreedomValue {
float value = 2; // 值 0-1百分比 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 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 angle = 2; // 自由度角度
int32 speed = 3; // 自由度速度 int32 speed = 3; // 自由度速度
@ -57,7 +57,7 @@ message SensorData {
message DexHandState { message DexHandState {
bool is_initialized = 1; // 是否初始化 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 { message GetDexHandStateCommand {