diff --git a/cmvr-es/common/config/cabin_robot.xml b/cmvr-es/common/config/cabin_robot.xml index ecc9ae62..fa833a13 100644 --- a/cmvr-es/common/config/cabin_robot.xml +++ b/cmvr-es/common/config/cabin_robot.xml @@ -32,44 +32,44 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + diff --git a/cmvr-es/common/config/camera_config/camera_config.pb.txt b/cmvr-es/common/config/camera_config/camera_config.pb.txt index 39e83dcc..18b02c30 100644 --- a/cmvr-es/common/config/camera_config/camera_config.pb.txt +++ b/cmvr-es/common/config/camera_config/camera_config.pb.txt @@ -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 -} \ No newline at end of file +} diff --git a/cmvr-es/devices/camera/abstract_camera.h b/cmvr-es/devices/camera/abstract_camera.h index dd1ceec1..0830385a 100644 --- a/cmvr-es/devices/camera/abstract_camera.h +++ b/cmvr-es/devices/camera/abstract_camera.h @@ -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 \ No newline at end of file +#endif // CMVR_ES_ABSTRACT_CAMERA_H diff --git a/cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h b/cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h index 7fce04b7..8ac6624d 100644 --- a/cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h +++ b/cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h @@ -37,6 +37,7 @@ namespace cmvr::device{ int width, int height, int fps); static bool encodeFrameWithEncoder(std::shared_ptr& encoder,const cv::Mat& frame,std::vector& 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 \ No newline at end of file +#endif //REALSENSE_CAMERA_H diff --git a/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp b/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp index ec616665..ae8b5eaa 100644 --- a/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp +++ b/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp @@ -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(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(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& 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_); diff --git a/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h b/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h index 9c5cd4a0..41a7e4f5 100644 --- a/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h +++ b/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h @@ -90,6 +90,7 @@ namespace cmvr::device { int width, int height, int fps); static bool encodeFrameWithEncoder(std::shared_ptr& encoder,const cv::Mat& frame,std::vector& 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 \ No newline at end of file +#endif //CMVR_ES_UVC_CAMERA_H diff --git a/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp b/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp index fe7f2c97..30663784 100644 --- a/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp +++ b/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp @@ -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_); diff --git a/cmvr-es/devices/robot/abstract_robot.h b/cmvr-es/devices/robot/abstract_robot.h index 29ffb6f8..823caf44 100644 --- a/cmvr-es/devices/robot/abstract_robot.h +++ b/cmvr-es/devices/robot/abstract_robot.h @@ -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 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& joints_angle, Eigen::Matrix4d& cur_pose, bool is_tcp = true) = 0; protected: int dof_{}; RobotState state_{}; diff --git a/cmvr-es/service/grpc/src/grpc_camera_service.cpp b/cmvr-es/service/grpc/src/grpc_camera_service.cpp index fb033cc0..c7f07fb2 100644 --- a/cmvr-es/service/grpc/src/grpc_camera_service.cpp +++ b/cmvr-es/service/grpc/src/grpc_camera_service.cpp @@ -4,6 +4,8 @@ #include "../include/grpc_camera_service.h" +#include + 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(dev_id); int nFrameCount = 0; dev->startStreaming(); - size_t index = 0; + size_t last_sent_index = std::numeric_limits::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(); diff --git a/cmvr-es/service/grpc/src/grpc_humanoid_robot_service.cpp b/cmvr-es/service/grpc/src/grpc_humanoid_robot_service.cpp index 5cade894..15aa037e 100644 --- a/cmvr-es/service/grpc/src/grpc_humanoid_robot_service.cpp +++ b/cmvr-es/service/grpc/src/grpc_humanoid_robot_service.cpp @@ -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(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; } diff --git a/compile_commands.json b/compile_commands.json new file mode 100644 index 00000000..747587a1 --- /dev/null +++ b/compile_commands.json @@ -0,0 +1,962 @@ +[ +{ + "directory": "/home/lgv/cmvr/cmvr-es/cmake-build-debug", + "command": "/usr/bin/g++-11 -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/coal/v3.0.2/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/console_bridge/v1.0.1/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/eigenpy/v3.0.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/Eigen3/v3.4.0 -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/example-robot-data/v4.3.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/fcl/v0.7.0/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/x264/v165/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/x265/v215/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/ffmpeg-jetson/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/ffmpeg/v4.2/include -I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/gflags/v2.2.2/include 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-I/home/lgv/cmvr/cmvr-es/dependency/x86/third_party/osqp/v0.6.3/include/osqp -I/home/lgv/cmvr/cmvr-es/cmvr-es/common -I/home/lgv/cmvr/cmvr-es/protos -isystem /home/lgv/cmvr/cmvr-es/dependency/x86/third_party/grpc/v1.76.0/include -g -std=gnu++17 -fPIC -fdiagnostics-color=always -o cmvr-es/common/CMakeFiles/common.dir/utils/ffmpeg/src/VideoWriter.cpp.o -c /home/lgv/cmvr/cmvr-es/cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp", + "file": "/home/lgv/cmvr/cmvr-es/cmvr-es/common/utils/ffmpeg/src/VideoWriter.cpp", + "output": "cmvr-es/common/CMakeFiles/common.dir/utils/ffmpeg/src/VideoWriter.cpp.o" +} +] \ No newline at end of file diff --git a/protos/cmvr/config/camera_config/camera_config.proto b/protos/cmvr/config/camera_config/camera_config.proto index ee0235a2..602337ff 100644 --- a/protos/cmvr/config/camera_config/camera_config.proto +++ b/protos/cmvr/config/camera_config/camera_config.proto @@ -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; } - diff --git a/protos/cmvr/config/opt_psi_limit_bias_config.proto b/protos/cmvr/config/opt_psi_limit_bias_config.proto deleted file mode 100644 index e69de29b..00000000