update

cmvr-es/common/media/ffmpeg/camera_capture.cpp

@@ -62,16 +62,10 @@ int CameraCapture::initialize(const Config& config) {
 }
 
 int CameraCapture::init_device() {
-    AVInputFormat* input_fmt = nullptr;
     std::string device_path;
 
-#ifdef _WIN32
-    input_fmt = av_find_input_format("dshow");
-    device_path = "video=" + config_.device_name;
-#else
-    input_fmt = av_find_input_format("v4l2");
+    auto input_fmt = av_find_input_format("v4l2");
     device_path = config_.device_name;
-#endif
 
     if (!input_fmt) {
         CMVR_LOG(ERROR) << "找不到输入格式";

cmvr-es/config/devices/camera/camera.pb.txt

@@ -101,28 +101,6 @@ camera {
     }
   }
 
-  cameras {
-    id: "left_eye_cam"
-    uvc {
-      usb: "/dev/uvc_left_camera"
-      camera_mode: CAMERA_MODE_VIDEO
-      capture {
-        width: 640
-        height: 480
-        fps: 30
-        stream_mode: STREAM_MODE_RGB
-      }
-      encoder {
-        width: 640
-        height: 480
-        fps: 30
-        codec: "H265"
-        enable_stream_timestamp: true
-        buffer_size: 30
-      }
-    }
-  }
-
   cameras {
     id: "cam5"
     realsense {
@@ -185,4 +163,50 @@ camera {
           buffer_size: 30
         }
       }
+
+   cameras {
+       id: "real_cam1"
+       realsense {
+         serialNumber: "332522076896"
+         camera_mode: CAMERA_MODE_VIDEO
+         capture {
+           width: 640
+           height: 480
+           fps: 30
+           stream_mode: STREAM_MODE_RGBD
+         }
+         encoder {
+           width: 640
+           height: 480
+           fps: 30
+           codec: "h265_qsv"
+           enable_stream_timestamp: true
+           buffer_size: 30
+         }
+         align_mode: ALIGN_MODE_COLOR
+         sync: false
+       }
+     }
+
+     cameras {
+         id: "usb_cam1"
+         uvc {
+           usb: "/dev/video0"
+           camera_mode: CAMERA_MODE_VIDEO
+           capture {
+             width: 640
+             height: 480
+             fps: 30
+             stream_mode: STREAM_MODE_RGB
+           }
+           encoder {
+             width: 640
+             height: 480
+             fps: 30
+             codec: "h265_qsv"
+             enable_stream_timestamp: true
+             buffer_size: 30
+           }
+         }
+       }
 }

cmvr-es/config/devices/microphone/microphone.pb.txt

@@ -5,7 +5,7 @@ microphone {
       channels: 2
       sampleRate: 48000
       volume: 100
-      input_device: "default"
+      input_device: "pulse"
     }
   }
 }