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fix: cam code

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This commit is contained in:
lgv 2026-03-18 10:12:22 +08:00
parent 4629de3d36
commit 96aca18525
13 changed files with 1138 additions and 140 deletions
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74
cmvr-es/common/config/cabin_robot.xml
View File

@ -32,44 +32,44 @@
<!-- <LeftArm id="left_arm" devtype="ti5Robot" />-->
<!-- <RightArm />-->
<!-- <Neck/>-->
<!-- <Humanoid id="hc01" dof="14"-->
<!-- urdf="/home/linbo/cmvr/cmvr-es/model/xiaoyan_description/dual_arm.urdf"-->
<!-- baseLink="PELVIS_S"-->
<!-- jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"-->
<!-- linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM"-->
<!-- bufferSize="50"-->
<!-- verbose="false">-->
<!-- <CanManger id="" devId="">-->
<!-- <LeftArmCan id = " " devId = " " channelId ="0" enable="false" toolFrame="L_FINGER_TIP">-->
<!-- <Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="29" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- </LeftArmCan>-->
<!-- <RightArmCan id = " " devId = " " channelId ="1" enable="true" toolFrame="R_FINGER_TIP">-->
<!-- <Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>-->
<!-- <Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>-->
<!-- </RightArmCan>-->
<!-- <HeadCan id = " " devId = " " channelId ="2" enable="false">-->
<!-- <Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- </HeadCan>-->
<!-- <WaistCan id = " " devId = " " channelId ="3" enable="false">-->
<!-- <Motor id="4" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- </WaistCan>-->
<!-- </CanManger>-->
<Humanoid id="hc01" dof="14"
urdf="/home/lgv/cmvr/cmvr-es/model/xiaoyan_description/dual_arm.urdf"
baseLink="PELVIS_S"
jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"
linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM"
bufferSize="50"
verbose="false">
<CanManger id="" devId="">
<LeftArmCan id = " " devId = " " channelId ="0" enable="false" toolFrame="L_FINGER_TIP">
<Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="29" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</LeftArmCan>
<RightArmCan id = " " devId = " " channelId ="1" enable="true" toolFrame="R_FINGER_TIP">
<Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>
<Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>
</RightArmCan>
<HeadCan id = " " devId = " " channelId ="2" enable="false">
<Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</HeadCan>
<WaistCan id = " " devId = " " channelId ="3" enable="false">
<Motor id="4" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</WaistCan>
</CanManger>
<!-- </Humanoid>-->
</Humanoid>
</Robot>
<BioHead>

8
cmvr-es/common/config/camera_config/camera_config.pb.txt
View File

@ -18,10 +18,12 @@ realsense_cameras {
serialNumber: "243122072252"
width: 1280
height: 720
encode_width: 640
encode_height: 360
fps: 30
codec: "H265"
codec: "H264"
camera_mode: CAMERA_MODE_VIDEO
stream_mode: STREAM_MODE_RGBD
stream_mode: STREAM_MODE_RGB
align_mode: ALIGN_MODE_COLOR
buffer_size: 30
sync: false
@ -69,4 +71,4 @@ realsense_cameras {
buffer_size: 30
sync: false
enable: false
}
}

5
cmvr-es/devices/camera/abstract_camera.h
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@ -58,6 +58,9 @@ namespace cmvr::device {
virtual void pauseRecording() {}
virtual void resumeRecording() {}
virtual void getEncodedFrame(StreamFrameData& frame_data, size_t& index) {}
virtual bool getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index) {
return false;
}
virtual bool startStreaming() {return true;}
virtual void stopStreaming() {}
@ -73,4 +76,4 @@ namespace cmvr::device {
}
#endif // CMVR_ES_ABSTRACT_CAMERA_H
#endif // CMVR_ES_ABSTRACT_CAMERA_H

5
cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h
View File

@ -37,6 +37,7 @@ namespace cmvr::device{
int width, int height, int fps);
static bool encodeFrameWithEncoder(std::shared_ptr<FfmpegEncoderInfo>& encoder,const cv::Mat& frame,std::vector<uint8_t>& encoded_frame,bool& is_key);
void getEncodedFrame(StreamFrameData& frame_data, size_t& index) override;
bool getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index) override;
bool startStreaming() override;
void stopStreaming() override;
@ -51,6 +52,8 @@ namespace cmvr::device{
int fps_;
int width_;
int height_;
int encode_width_;
int encode_height_;
std::string serial_;
std::string align_mode_;
cv::VideoCapture cap_;
@ -121,4 +124,4 @@ namespace cmvr::device{
#endif //REALSENSE_CAMERA_H
#endif //REALSENSE_CAMERA_H

53
cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
View File

@ -79,6 +79,8 @@ RealsenseCamera::RealsenseCamera(const XmlNode& config) : AbstractCamera(config)
fps_ = cfg_.getAttrDefault("fps", 30);
width_ = cfg_.getAttrDefault("w", 640);
height_ = cfg_.getAttrDefault("h", 480);
encode_width_ = cfg_.getAttrDefault("encode_w", width_);
encode_height_ = cfg_.getAttrDefault("encode_h", height_);
buffer_size_ = cfg_.getAttrDefault("bs", 30);
max_retry_ = cfg_.getAttrDefault("max_retry", 5);
@ -131,6 +133,8 @@ RealsenseCamera::RealsenseCamera(const config::RealSenseCameraConfig& camera):ca
fps_ = camera_.fps();
width_ = camera_.width();
height_ = camera_.height();
encode_width_ = camera_.encode_width() > 0 ? camera_.encode_width() : width_;
encode_height_ = camera_.encode_height() > 0 ? camera_.encode_height() : height_;
buffer_size_ = camera_.buffer_size();
state_.fps = fps_;
@ -212,7 +216,7 @@ void RealsenseCamera::init() {
//初始化编码器
// 初始化RGB编码器（示例参数：640x480，30fps，H.264）
if (!initSingleEncoder(rgbEncoder_, codec_, width_, height_, fps_)) {
if (!initSingleEncoder(rgbEncoder_, codec_, encode_width_, encode_height_, fps_)) {
LOG(ERROR) << "[RealsenseCamera] (start): Failed to init RGB encoder!";
throw runtime_error("Failed to init RGB encoder!");
}
@ -696,6 +700,12 @@ void RealsenseCamera::streaming_worker_() {
frames = get_frameset(true);
rs2::frame color_frame = frames.get_color_frame();
rs2::frame depth_frame = frames.get_depth_frame();
if (!color_frame) {
throw std::runtime_error("[RealsenseCamera]streaming_worker_: missing color frame");
}
if (stream_mode_ == RGBD_MODE && !depth_frame) {
throw std::runtime_error("[RealsenseCamera]streaming_worker_: missing depth frame in RGBD mode");
}
// 以下为编码部分，用于流模式
StreamFrameData frame_data;
@ -712,7 +722,7 @@ void RealsenseCamera::streaming_worker_() {
cv::Mat temp(cv::Size(width_, height_), CV_8UC3, const_cast<void*>(color_frame.get_data()), cv::Mat::AUTO_STEP);
temp.copyTo(frame_data.rgbImage); // 执行深拷贝
}
{
if (depth_frame) {
auto temp = cv::Mat(cv::Size(width_, height_), CV_16UC1, const_cast<void*>(depth_frame.get_data()));
temp.copyTo(frame_data.depthImage); // 执行深拷贝
}
@ -721,13 +731,23 @@ void RealsenseCamera::streaming_worker_() {
auto encode_start_time = std::chrono::high_resolution_clock::now();
// rgb图像编码
success = encodeFrameWithEncoder(rgbEncoder_, frame_data.rgbImage, frame_data.rgbFrame, frame_data.bKey);
cv::Mat rgb_to_encode = frame_data.rgbImage;
if (encode_width_ > 0 && encode_height_ > 0 &&
(frame_data.rgbImage.cols != encode_width_ || frame_data.rgbImage.rows != encode_height_)) {
cv::resize(frame_data.rgbImage,
rgb_to_encode,
cv::Size(encode_width_, encode_height_),
0.0,
0.0,
cv::INTER_LINEAR);
}
success = encodeFrameWithEncoder(rgbEncoder_, rgb_to_encode, frame_data.rgbFrame, frame_data.bKey);
// 深度图编码
// success = encodeFrameWithEncoder(depthEncoder_, frame_data.depthImage, frame_data.depthFrame, frame_data.depthKey);
if (success) {
frame_data.fps = fps_;
frame_data.width = width_;
frame_data.height = height_;
frame_data.width = encode_width_;
frame_data.height = encode_height_;
frame_data.codec = codec_;
stream_frame_buffer_->push(frame_data);
}
@ -903,7 +923,7 @@ bool RealsenseCamera::initSingleEncoder(std::shared_ptr<FfmpegEncoderInfo>& enco
"min-keyint=%d:" // 最小关键帧间隔
"no-open-gop=1:" // 禁用开放GOP
"bframes=0:" // 禁用B帧
"lookahead=0:"
"rc-lookahead=0:"
"log-level=none", // 日志级别
10, 10); // 设置keyint和min-keyint为10
@ -1143,6 +1163,27 @@ void RealsenseCamera::getEncodedFrame(StreamFrameData& frame_data, size_t& index
}
}
bool RealsenseCamera::getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index) {
if (!stream_frame_buffer_) {
return false;
}
const size_t head = stream_frame_buffer_->getHead();
if (head == 0) {
return false;
}
size_t latest_index = head - 1;
auto frame = stream_frame_buffer_->pop(latest_index);
if (!frame.has_value()) {
return false;
}
frame_data = frame.value();
next_index = latest_index;
return true;
}
bool RealsenseCamera::startStreaming()
{
std::lock_guard lock(ctrl_mtx_);

5
cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h
View File

@ -90,6 +90,7 @@ namespace cmvr::device {
int width, int height, int fps);
static bool encodeFrameWithEncoder(std::shared_ptr<FfmpegEncoderInfo>& encoder,const cv::Mat& frame,std::vector<uint8_t>& encoded_frame,bool& is_key);
void getEncodedFrame(StreamFrameData& frame_data, size_t& index) override;
bool getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index) override;
bool startStreaming() override;
void stopStreaming() override;
@ -100,6 +101,8 @@ namespace cmvr::device {
int fps_;
int width_;
int height_;
int encode_width_;
int encode_height_;
std::string serial_;
cv::VideoCapture cap_;
size_t buffer_size_;
@ -147,4 +150,4 @@ namespace cmvr::device {
#endif //CMVR_ES_UVC_CAMERA_H
#endif //CMVR_ES_UVC_CAMERA_H

43
cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp
View File

@ -19,6 +19,8 @@ UVCCamera::UVCCamera(const XmlNode& config) : AbstractCamera(config) {
fps_ = cfg_.getAttrDefault("fps", 30);
width_ = cfg_.getAttrDefault("w", 640);
height_ = cfg_.getAttrDefault("h", 480);
encode_width_ = cfg_.getAttrDefault("encode_w", width_);
encode_height_ = cfg_.getAttrDefault("encode_h", height_);
buffer_size_ = cfg_.getAttrDefault("bs", 30);
state_.fps = fps_;
@ -54,6 +56,8 @@ UVCCamera::UVCCamera(const config::UVCCameraConfig& camera):camera_(camera)
fps_ = camera_.fps();
width_ = camera_.width();
height_ = camera_.height();
encode_width_ = camera_.encode_width() > 0 ? camera_.encode_width() : width_;
encode_height_ = camera_.encode_height() > 0 ? camera_.encode_height() : height_;
buffer_size_ = camera_.buffer_size();
state_.fps = fps_;
@ -127,7 +131,7 @@ void UVCCamera::init() {
}
//初始化编码器
// 初始化RGB编码器（示例参数：640x480，30fps，H.264）
if (!initSingleEncoder(rgbEncoder_, codec_, width_, height_, fps_)) {
if (!initSingleEncoder(rgbEncoder_, codec_, encode_width_, encode_height_, fps_)) {
LOG(ERROR) << "[UVCCamera] (start): Failed to init RGB encoder!";
throw runtime_error("Failed to init RGB encoder!");
}
@ -461,11 +465,21 @@ void UVCCamera::streaming_worker_() {
frame.copyTo(frame_data.rgbImage); // 执行深拷贝
}
// rgb图像编码
success = encodeFrameWithEncoder(rgbEncoder_, frame_data.rgbImage, frame_data.rgbFrame, frame_data.bKey);
cv::Mat rgb_to_encode = frame_data.rgbImage;
if (encode_width_ > 0 && encode_height_ > 0 &&
(frame_data.rgbImage.cols != encode_width_ || frame_data.rgbImage.rows != encode_height_)) {
cv::resize(frame_data.rgbImage,
rgb_to_encode,
cv::Size(encode_width_, encode_height_),
0.0,
0.0,
cv::INTER_LINEAR);
}
success = encodeFrameWithEncoder(rgbEncoder_, rgb_to_encode, frame_data.rgbFrame, frame_data.bKey);
if (success) {
frame_data.fps = fps_;
frame_data.width = width_;
frame_data.height = height_;
frame_data.width = encode_width_;
frame_data.height = encode_height_;
frame_data.codec = codec_;
stream_frame_buffer_->push(frame_data);
}
@ -801,6 +815,27 @@ void UVCCamera::getEncodedFrame(StreamFrameData& frame_data, size_t& index) {
}
}
bool UVCCamera::getLatestEncodedFrame(StreamFrameData& frame_data, size_t& next_index) {
if (!stream_frame_buffer_) {
return false;
}
const size_t head = stream_frame_buffer_->getHead();
if (head == 0) {
return false;
}
size_t latest_index = head - 1;
auto frame = stream_frame_buffer_->pop(latest_index);
if (!frame.has_value()) {
return false;
}
frame_data = frame.value();
next_index = latest_index;
return true;
}
bool UVCCamera::startStreaming()
{
std::lock_guard lock(ctrl_mtx_);

3
cmvr-es/devices/robot/abstract_robot.h
View File

@ -176,9 +176,6 @@ namespace cmvr::device{
virtual msgs::Pose3d fk(const std::string &base_link, const std::string &ee_link) = 0;
virtual std::vector<double> ik(const std::string &base_link, const std::string &ee_link,msgs::Pose3d pose) = 0;
virtual bool getPoseMatrix(std::string &bask_link, std::string &ee_link, Eigen::Matrix4d& cur_pose) = 0;
virtual bool fk(const std::vector<double>& joints_angle, Eigen::Matrix4d& cur_pose, bool is_tcp = true) = 0;
protected:
int dof_{};
RobotState state_{};

58
cmvr-es/service/grpc/src/grpc_camera_service.cpp
View File

@ -4,6 +4,8 @@
#include "../include/grpc_camera_service.h"
#include <limits>
using namespace std;
using namespace cmvr::service;
using namespace cmvr::device;
@ -433,7 +435,7 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
const auto dev = dmgr_.getDevice<AbstractCamera>(dev_id);
int nFrameCount = 0;
dev->startStreaming();
size_t index = 0;
size_t last_sent_index = std::numeric_limits<size_t>::max();
while (true)
{
if (context->IsCancelled())
@ -444,34 +446,36 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
api::GetRGBImageStreamCommand_Feedback response;
cmvr::device::StreamFrameData frame_data;
dev->getEncodedFrame(frame_data,index);
if (!frame_data.rgbFrame.empty()) {
response.mutable_header()->set_success(true);
response.mutable_color_frame()->set_data(frame_data.rgbFrame.data(), frame_data.rgbFrame.size());
response.mutable_color_frame()->set_is_key_frame(frame_data.bKey);
response.mutable_color_frame()->set_codec(frame_data.codec);
response.mutable_color_frame()->set_width(frame_data.width);
response.mutable_color_frame()->set_height(frame_data.height);
response.mutable_intrinsics()->set_fx(frame_data.intrinsics.fx);
response.mutable_intrinsics()->set_fy(frame_data.intrinsics.fy);
response.mutable_intrinsics()->set_cx(frame_data.intrinsics.cx);
response.mutable_intrinsics()->set_cy(frame_data.intrinsics.cy);
for (int i = 0; i < 5 ; i++) {
response.mutable_intrinsics()->add_coeffs(frame_data.intrinsics.coeffs[i]);
}
response.set_seq_no(nFrameCount++);
grpc::WriteOptions options;
options.set_last_message();
if (!stream->Write(response)) {
LOG(INFO) << "[gRPCCameraServiceImpl] (stream->Write) failed,id=" << dev_id;
break;
}
size_t next_index = last_sent_index;
if (!dev->getLatestEncodedFrame(frame_data, next_index) ||
frame_data.rgbFrame.empty() ||
next_index == last_sent_index) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
continue;
}
std::this_thread::sleep_for(std::chrono::milliseconds(33));
response.mutable_header()->set_success(true);
response.mutable_color_frame()->set_data(frame_data.rgbFrame.data(), frame_data.rgbFrame.size());
response.mutable_color_frame()->set_is_key_frame(frame_data.bKey);
response.mutable_color_frame()->set_codec(frame_data.codec);
response.mutable_color_frame()->set_width(frame_data.width);
response.mutable_color_frame()->set_height(frame_data.height);
response.mutable_intrinsics()->set_fx(frame_data.intrinsics.fx);
response.mutable_intrinsics()->set_fy(frame_data.intrinsics.fy);
response.mutable_intrinsics()->set_cx(frame_data.intrinsics.cx);
response.mutable_intrinsics()->set_cy(frame_data.intrinsics.cy);
for (int i = 0; i < 5 ; i++) {
response.mutable_intrinsics()->add_coeffs(frame_data.intrinsics.coeffs[i]);
}
response.set_seq_no(nFrameCount++);
if (!stream->Write(response)) {
LOG(INFO) << "[gRPCCameraServiceImpl] (stream->Write) failed,id=" << dev_id;
break;
}
last_sent_index = next_index;
}
LOG(INFO) << "[gRPCCameraServiceImpl] (GetRGBImageStream): end,id=" << dev_id;
dev->stopStreaming();

57
cmvr-es/service/grpc/src/grpc_humanoid_robot_service.cpp
View File

@ -285,63 +285,8 @@ grpc::Status gRPCHumanoidRobotServiceImpl::getPoseMatrix(grpc::ServerContext* co
, const cmvr::api::GetPoseMatrix_Request* request
, cmvr::api::GetPoseMatrix_Response* response)
{
grpc::Status ret = grpc::Status::OK;
try {
// 获取机械臂设备
auto robot = dmgr_.getDevice<AbstractRobot>(request->header().device_id());
grpc::Status ret = grpc::Status::CANCELLED;
// 获取请求参数
std::string base_link = request->base_link();
std::string ee_link = request->ee_link();
// 调用机械臂的 getPoseMatrix 方法获取当前位姿矩阵
Eigen::Matrix4d cur_pose;
bool success = robot->getPoseMatrix(base_link, ee_link, cur_pose);
if (success) {
// 设置成功状态
response->mutable_header()->set_success(true);
response->mutable_header()->set_error_message("");
// 填充4x4矩阵到响应
auto* matrix = response->mutable_matrix();
matrix->set_m00(cur_pose(0, 0));
matrix->set_m01(cur_pose(0, 1));
matrix->set_m02(cur_pose(0, 2));
matrix->set_m03(cur_pose(0, 3));
matrix->set_m10(cur_pose(1, 0));
matrix->set_m11(cur_pose(1, 1));
matrix->set_m12(cur_pose(1, 2));
matrix->set_m13(cur_pose(1, 3));
matrix->set_m20(cur_pose(2, 0));
matrix->set_m21(cur_pose(2, 1));
matrix->set_m22(cur_pose(2, 2));
matrix->set_m23(cur_pose(2, 3));
matrix->set_m30(cur_pose(3, 0));
matrix->set_m31(cur_pose(3, 1));
matrix->set_m32(cur_pose(3, 2));
matrix->set_m33(cur_pose(3, 3));
// 可选：记录日志
// LOG(INFO) << "getPoseMatrix success for device: " << request->header().device_id();
} else {
// 获取位姿失败
response->mutable_header()->set_success(false);
response->mutable_header()->set_error_message("Failed to get pose matrix");
ret = grpc::Status(grpc::StatusCode::INTERNAL, "Failed to get pose matrix");
}
} catch (const std::exception& e) {
response->mutable_header()->set_success(false);
response->mutable_header()->set_error_message(e.what());
ret = grpc::Status(grpc::StatusCode::INTERNAL, e.what());
}
// 设置时间戳
*response->mutable_header()->mutable_timestamp() = TimeUtil::GetCurrentTime();
return ret;
}

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5
protos/cmvr/config/camera_config/camera_config.proto
View File

@ -33,6 +33,8 @@ message RealSenseCameraConfig {
int32 buffer_size = 10;
bool sync = 11;
bool enable = 12;
int32 encode_width = 13;
int32 encode_height = 14;
}
// UVC摄像头
@ -47,6 +49,8 @@ message UVCCameraConfig {
StreamMode stream_mode = 8;
int32 buffer_size = 9;
bool enable = 10;
int32 encode_width = 11;
int32 encode_height = 12;
}
// 主配置消息 - 统一管理所有摄像头
@ -54,4 +58,3 @@ message CameraConfig {
repeated UVCCameraConfig uvc_cameras = 1;
repeated RealSenseCameraConfig realsense_cameras = 2;
}

0
protos/cmvr/config/opt_psi_limit_bias_config.proto
View File