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fix(config): preserve dev camera definitions

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This commit is contained in:
linbo 2026-09-20 14:31:15 +08:00
parent b9b6088800
commit 7ecf0324f1
1 changed files with 142 additions and 91 deletions
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233
cmvr-es/config/devices/camera/camera.pb.txt
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@ -35,8 +35,8 @@ camera {
stream_mode: STREAM_MODE_RGB stream_mode: STREAM_MODE_RGB
} }
encoder { encoder {
width: 640 width: 480
height: 360 height: 320
fps: 30 fps: 30
codec: "H264" codec: "H264"
enable_stream_timestamp: true enable_stream_timestamp: true
@ -48,21 +48,21 @@ camera {
} }
cameras { cameras {
id: "cam3" id: "left_hand_cam"
realsense { realsense {
serialNumber: "243122075614" serialNumber: "243122075614"
camera_mode: CAMERA_MODE_VIDEO camera_mode: CAMERA_MODE_VIDEO
capture { capture {
width: 640 width: 1280
height: 480 height: 720
fps: 30 fps: 30
stream_mode: STREAM_MODE_RGBD stream_mode: STREAM_MODE_RGB
} }
encoder { encoder {
width: 640 width: 480
height: 480 height: 320
fps: 30 fps: 30
codec: "H265" codec: "H264"
enable_stream_timestamp: true enable_stream_timestamp: true
buffer_size: 30 buffer_size: 30
} }
@ -83,8 +83,8 @@ camera {
stream_mode: STREAM_MODE_RGBD stream_mode: STREAM_MODE_RGBD
} }
encoder { encoder {
width: 1280 width: 480
height: 720 height: 320
fps: 30 fps: 30
codec: "H264" codec: "H264"
enable_stream_timestamp: true enable_stream_timestamp: true
@ -92,7 +92,7 @@ camera {
} }
consume_new_frame_only: false consume_new_frame_only: false
viewer_pip { viewer_pip {
enable: true enable: false
left: -10 left: -10
bottom: 10 bottom: 10
width: 320 width: 320
@ -101,7 +101,57 @@ camera {
} }
} }
cameras {
id: "mujoco_external_touch_cam"
mujoco {
world_id: "mujoco_world"
camera_name: "external_touch_cam"
render {
width: 1280
height: 720
fps: 30
stream_mode: STREAM_MODE_RGBD
}
encoder {
width: 480
height: 320
fps: 30
codec: "H264"
enable_stream_timestamp: true
buffer_size: 30
}
consume_new_frame_only: false
viewer_pip {
enable: false
left: 10
bottom: 10
width: 320
height: 180
}
}
}
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 { cameras {
id: "cam5" id: "cam5"
@ -128,87 +178,88 @@ camera {
} }
cameras { cameras {
id: "hikvision_cam" id: "hikvision_cam"
hikvision { hikvision {
ip: "192.168.192.64" ip: "192.168.192.64"
port: 8000 port: 8000
username: "admin" username: "admin"
password: "okwy1688" password: "okwy1688"
channel: 1 channel: 1
stream_type: 0 stream_type: 0
link_mode: 0 link_mode: 0
width: 1920 width: 1920
height: 1080 height: 1080
fps: 25 fps: 25
codec: "H264" codec: "H264"
camera_mode: CAMERA_MODE_VIDEO camera_mode: CAMERA_MODE_VIDEO
stream_mode: STREAM_MODE_RGB
buffer_size: 30
}
}
cameras {
id: "hikvision_thermal_cam"
hikvision {
ip: "192.168.192.65"
port: 8000
username: "admin"
password: "okwy1688"
channel: 1
stream_type: 0
link_mode: 0
width: 384
height: 288
fps: 50
codec: "H264"
camera_mode: CAMERA_MODE_VIDEO
stream_mode: STREAM_MODE_RGB
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 stream_mode: STREAM_MODE_RGB
}
encoder {
width: 640
height: 480
fps: 30
codec: "h265_qsv"
enable_stream_timestamp: true
buffer_size: 30 buffer_size: 30
} }
} }
cameras { }
id: "hikvision_thermal_cam"
hikvision {
ip: "192.168.192.65"
port: 8000
username: "admin"
password: "okwy1688"
channel: 1
stream_type: 0
link_mode: 0
width: 384
height: 288
fps: 50
codec: "H264"
camera_mode: CAMERA_MODE_VIDEO
stream_mode: STREAM_MODE_RGB
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
}
}
}
} }