update camera intrinsics

config/cabin_robot.xml

@@ -13,16 +13,16 @@
             <Camera>
 <!--                <UVCCamera id="cam1" serial="/dev/video6" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
 <!--                <UVCCamera id="cam2" serial="/dev/video14" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
-<!--                <RealsenseCamera id="cam3" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="color" codec="H265"/>-->
+<!--                <RealsenseCamera id="cam3" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
-<!--                <RealsenseCamera id="cam4" serial="243122075614" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" codec="H265"/>-->
+                <RealsenseCamera id="cam4" serial="243122075614" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>
 <!--                <MechMind id="cam5" ip="10.148.108.111" align="true" _2dtype="color"/>-->
-<!--                <RealsenseCamera id="cam6" serial="243122075389" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" codec="H265"/>-->
+<!--                <RealsenseCamera id="cam6" serial="243122075389" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
             </Camera>
 
             <DexHand>
-<!--                <RH56DFTP id="hand1" default_force="500" default_speed="500" ip_address="10.148.108.115" port="6000">-->
+                <RH56DFTP id="hand1" default_force="500" default_speed="500" ip_address="10.148.108.115" port="6000">
-<!--                    <Freedom order="01" default_force="500" default_speed="500" />-->
+                    <Freedom order="01" default_force="500" default_speed="500" />
-<!--                </RH56DFTP>-->
+                </RH56DFTP>
 <!--                <RH56DFTP id="hand2" default_force="500" default_speed="500" ip_address="10.148.108.113" port="6000">-->
 <!--                    <Freedom order="01" default_force="500" default_speed="500" />-->
 <!--                </RH56DFTP>-->
@@ -32,38 +32,38 @@
 <!--                <LeftArm id="left_arm" devtype="ti5Robot"  />-->
 <!--                <RightArm />-->
 <!--                <Neck/>-->
-                <Humanoid id="hc01" dof="14"
+<!--                <Humanoid id="hc01" dof="14"-->
-                          urdf="/home/xtkuang/projects/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"
+<!--                          urdf="/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"-->
-                          baseLink="PELVIS_S"
+<!--                          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"
+<!--                          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"
+<!--                          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"-->
-                          bufferSize="50">
+<!--                          bufferSize="50">-->
-                    <CanManger id="" devId="">
+<!--                    <CanManger id="" devId="">-->
-                        <LeftArmCan id = " " devId = " " channelId ="0">
+<!--                        <LeftArmCan id = " " devId = " " channelId ="0">-->
-                            <Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+<!--                            <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="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="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="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="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="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>
+<!--                        </LeftArmCan>-->
-                        <RightArmCan id = " " devId = " " channelId ="1">
+<!--                        <RightArmCan id = " " devId = " " channelId ="1">-->
-                            <Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+<!--                            <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="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="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="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="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="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"/>
+<!--                            <Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>-->
-                        </RightArmCan>
+<!--                        </RightArmCan>-->
-                        <WaistCan id = " " devId = " " channelId ="2">
+<!--                        <WaistCan id = " " devId = " " channelId ="2">-->
-                            <Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+<!--                            <Motor id="14" 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"/>
+<!--                            <Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
-                        </WaistCan>
+<!--                        </WaistCan>-->
-                    </CanManger>
+<!--                    </CanManger>-->
 
-                </Humanoid>
+<!--                </Humanoid>-->
             </Robot>
 
             <BioHead>
@@ -83,8 +83,8 @@
             </BioHead >
 
             <Microphone>
-                <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>
+<!--                <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>-->
-<!--                <ffmpegMicPhone id="mic2" alsa="hw:1" channels="2" sampleRate="44100" volume="80"/>-->
+                <ffmpegMicPhone id="mic2" alsa="hw:1" channels="1" sampleRate="44100" volume="80"/>
             </Microphone>
 
             <Speaker>
@@ -131,7 +131,7 @@
 
     </MonitorManager>
 
-    <gRPCServer port="50055">
+    <gRPCServer port="50060">
 
     </gRPCServer>
 

include/devices/abstract_camera.h

@@ -47,9 +47,9 @@ namespace cmvr::device {
         ~AbstractCamera() override = default;
 
         inline void getState(CameraState &state) {state = state_;}
-        virtual void getRGBImage(cv::Mat &color) {}
+        virtual void getRGBImage(cv::Mat &color, Rs2Intrinsics& intrinsics) {}
-        virtual void getDepthImage(cv::Mat &depth) {}
+        virtual void getDepthImage(cv::Mat &depth, Rs2Intrinsics& intrinsics) {}
-        virtual void getRGBDImages(cv::Mat &color, cv::Mat &depth) {}
+        virtual void getRGBDImages(cv::Mat &color, cv::Mat &depth, Rs2Intrinsics& intrinsics) {}
         virtual void startRecording(const std::string &video_path) {}
         virtual void stopRecording() {}
         virtual void pauseRecording() {}

include/service/grpc_system_service.h

@@ -17,6 +17,7 @@ namespace cmvr::service
         ~gRPCSystemServiceImpl() override = default;
         grpc::Status GetSystemInfo(grpc::ServerContext* context, const api::GetSystemInfoCommand_Request* request, api::GetSystemInfoCommand_Feedback* response) override;
         grpc::Status GetSystemStatus(grpc::ServerContext* context, const api::GetSystemStatusCommand_Request* request, api::GetSystemStatusCommand_Feedback* response) override;
+        grpc::Status UpdateParams(grpc::ServerContext* context, const cmvr::api::UpdateParamsCommand_Request* request, cmvr::api::UpdateParamsCommand_Feedback* response) override;
     private:
         device::DeviceManager& dmgr_;
     };

protos/cmvr/api/camera_command.proto

@@ -79,6 +79,7 @@ message GetRGBImageCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
+        Rs2Intrinsics intrinsics = 3;
     }
 }
 
@@ -90,6 +91,7 @@ message GetDepthImageCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData depth_frame = 2;
+        Rs2Intrinsics intrinsics = 3;
     }
 }
 
@@ -102,6 +104,7 @@ message GetRGBDImagesCommand {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
         FrameData depth_frame = 3;
+        Rs2Intrinsics intrinsics = 4;
     }
 }
 

protos/cmvr/api/common.proto

@@ -28,3 +28,16 @@ message CommandHeader {
         google.protobuf.Timestamp timestamp = 3;      // 回复时间
     }
 }
+
+message ConfigParam {
+
+    string param_name = 1;
+
+    oneof param_value {
+        int32 int_value = 2;     // 整数类型
+        double double_value = 3; // 浮点数类型
+        string string_value = 4; // 字符串类型
+        bool bool_value = 5;     // 布尔类型
+        bytes bytes_value = 6;   // 二进制数据类型
+    }
+}

protos/cmvr/api/system_command.proto

@@ -48,3 +48,14 @@ message GetSystemStatusCommand {
         repeated DeviceList device_list = 7;
     }
 }
+
+message UpdateParamsCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+        repeated ConfigParam params = 2;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}

protos/cmvr/api/system_service.proto

@@ -8,4 +8,6 @@ package cmvr.api;
 service SystemService {
     rpc GetSystemInfo(GetSystemInfoCommand.Request) returns (GetSystemInfoCommand.Feedback) {}
     rpc GetSystemStatus(GetSystemStatusCommand.Request) returns (GetSystemStatusCommand.Feedback) {}
+
+    rpc UpdateParams(UpdateParamsCommand.Request) returns (UpdateParamsCommand.Feedback) {}
 }

src/device_manager/device_manager.cpp

@@ -106,9 +106,23 @@ void DeviceManager::stop() {
         throw std::runtime_error("[DeviceManager] (stop): Device manager start failed: " + string(e.what()));
     }
 }
-
+std::shared_ptr<AbstractDevice> getDeviceBasePtr(DeviceVariant& variant) {
+    return std::visit([](auto& device_ptr) -> std::shared_ptr<AbstractDevice> {
+        // 利用多态，自动转换为基类指针
+        return device_ptr;
+    }, variant);
+}
 void DeviceManager::updateParam(const std::string& id, const std::pair<std::string, std::string> &param){
+    auto it = devices_.find(id);
+    if (it == devices_.end()) {
+        LOG(WARNING) << "[DeviceManager]: Device ID " << id << " not found.";
+        throw runtime_error("[DeviceManager]: Device ID " + id + " not found.");
+    }
+    // 获取基类指针（无需知道具体类型）
+    std::shared_ptr<AbstractDevice> base_dev = getDeviceBasePtr(it->second);
 
+    // 直接调用基类中定义的通用接口
+    base_dev->updateParams(param); // 调用配置接口
 }
 
 

src/devices/camera/mechmind/mechmind_camera.cpp

@@ -78,7 +78,7 @@ void MechmindCamera::stop() {
     }
 }
 
-void MechmindCamera::getRGBImage(cv::Mat& color) {
+void MechmindCamera::getRGBImage(cv::Mat& color, Rs2Intrinsics& intrinsics) {
     try {
         std::lock_guard lock(dev_mtx_);
         clear_error_();
@@ -123,7 +123,7 @@ void MechmindCamera::getRGBImage(cv::Mat& color) {
     }
 }
 
-void MechmindCamera::getDepthImage(cv::Mat& depth) {
+void MechmindCamera::getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) {
     try {
         std::lock_guard lock(dev_mtx_);
         clear_error_();
@@ -149,7 +149,7 @@ void MechmindCamera::getDepthImage(cv::Mat& depth) {
     }
 }
 
-void MechmindCamera::getRGBDImages(cv::Mat& color, cv::Mat& depth) {
+void MechmindCamera::getRGBDImages(cv::Mat& color, cv::Mat& depth, Rs2Intrinsics& intrinsics) {
     try {
         std::lock_guard lock(dev_mtx_);
         clear_error_();

src/devices/camera/mechmind/mechmind_camera.h

@@ -29,9 +29,9 @@ namespace cmvr::device
         void init() override;
         void start() override;
         void stop() override;
-        void getRGBImage(cv::Mat& color) override;
+        void getRGBImage(cv::Mat& color, Rs2Intrinsics& intrinsics) override;
-        void getDepthImage(cv::Mat& depth) override;
+        void getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) override;
-        void getRGBDImages(cv::Mat &color, cv::Mat &depth) override;
+        void getRGBDImages(cv::Mat &color, cv::Mat &depth, Rs2Intrinsics& intrinsics) override;
         void updateParams(const std::pair<std::string, std::string>& param) override;
         void startRecording(const std::string &video_path) override;
         void stopRecording() override;

src/devices/camera/realsense_camera/realsense_camera.cpp

@@ -226,7 +226,14 @@ void RealsenseCamera::stop() {
     }
 }
 
-void RealsenseCamera::getRGBImage(cv::Mat& color) {
+void RealsenseCamera::getRGBImage(cv::Mat& color, Rs2Intrinsics& intrinsics) {
+    intrinsics.cx = intrinsics_.ppx;
+    intrinsics.cy = intrinsics_.ppy;
+    intrinsics.fx = intrinsics_.fx;
+    intrinsics.fy = intrinsics_.fy;
+    for (int i = 0; i < 5 ; i++) {
+        intrinsics.coeffs[i] = intrinsics_.coeffs[i];
+    }
     try {
         std::lock_guard lock(ctrl_mtx_);
         clear_error_();
@@ -252,8 +259,15 @@ void RealsenseCamera::getRGBImage(cv::Mat& color) {
     }
 }
 
-void RealsenseCamera::getDepthImage(cv::Mat& depth) {
+void RealsenseCamera::getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) {
 
+    intrinsics.cx = intrinsics_.ppx;
+    intrinsics.cy = intrinsics_.ppy;
+    intrinsics.fx = intrinsics_.fx;
+    intrinsics.fy = intrinsics_.fy;
+    for (int i = 0; i < 5 ; i++) {
+        intrinsics.coeffs[i] = intrinsics_.coeffs[i];
+    }
     auto frame = stream_frame_buffer_->pop(getImageIndex_);
     if (frame.has_value()) {
         depth = frame.value().depthImage.clone();
@@ -283,8 +297,15 @@ void RealsenseCamera::getDepthImage(cv::Mat& depth) {
     }
 }
 
-void RealsenseCamera::getRGBDImages(cv::Mat &color, cv::Mat &depth) {
+void RealsenseCamera::getRGBDImages(cv::Mat &color, cv::Mat &depth, Rs2Intrinsics& intrinsics) {
 
+    intrinsics.cx = intrinsics_.ppx;
+    intrinsics.cy = intrinsics_.ppy;
+    intrinsics.fx = intrinsics_.fx;
+    intrinsics.fy = intrinsics_.fy;
+    for (int i = 0; i < 5 ; i++) {
+        intrinsics.coeffs[i] = intrinsics_.coeffs[i];
+    }
     auto frame = stream_frame_buffer_->pop(getImageIndex_);
     if (frame.has_value()) {
         color = frame.value().rgbImage.clone();

src/devices/camera/realsense_camera/realsense_camera.h

@@ -21,9 +21,9 @@ namespace cmvr::device{
         void init() override;
         void start() override;
         void stop() override;
-        void getRGBImage(cv::Mat& color) override;
+        void getRGBImage(cv::Mat& color, Rs2Intrinsics& intrinsics) override;
-        void getDepthImage(cv::Mat& depth) override;
+        void getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) override;
-        void getRGBDImages(cv::Mat &color, cv::Mat &depth) override;
+        void getRGBDImages(cv::Mat &color, cv::Mat &depth, Rs2Intrinsics& intrinsics) override;
         void updateParams(const std::pair<std::string, std::string>& param) override;
         void startRecording(const std::string &video_path) override;
         void stopRecording() override;

src/devices/camera/uvc_camera/uvc_camera.cpp

@@ -187,7 +187,7 @@ void UVCCamera::stop() {
     }
 }
 
-void UVCCamera::getRGBImage(cv::Mat& color)
+void UVCCamera::getRGBImage(cv::Mat& color, Rs2Intrinsics& intrinsics)
 {
     std::lock_guard lock(ctrl_mtx_);
     clear_error_();
@@ -207,11 +207,11 @@ void UVCCamera::getRGBImage(cv::Mat& color)
     }
 }
 
-void UVCCamera::getDepthImage(cv::Mat& depth) {
+void UVCCamera::getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) {
     throw runtime_error("[UVCCamera] (getDepthImage): unsupported usage");
 }
 
-void UVCCamera::getRGBDImages(cv::Mat &color, cv::Mat &depth) {
+void UVCCamera::getRGBDImages(cv::Mat &color, cv::Mat &depth, Rs2Intrinsics& intrinsics) {
     throw runtime_error("[UVCCamera] (getDepthImage): unsupported usage");
 }
 

src/devices/camera/uvc_camera/uvc_camera.h

@@ -75,9 +75,9 @@ namespace cmvr::device {
         void init() override;
         void start() override;
         void stop() override;
-        void getRGBImage(cv::Mat& color) override;
+        void getRGBImage(cv::Mat& color, Rs2Intrinsics& intrinsics) override;
-        void getDepthImage(cv::Mat& depth) override;
+        void getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) override;
-        void getRGBDImages(cv::Mat &color, cv::Mat &depth) override;
+        void getRGBDImages(cv::Mat &color, cv::Mat &depth, Rs2Intrinsics& intrinsics) override;
         void updateParams(const std::pair<std::string, std::string>& param) override;
         void startRecording(const std::string &video_path) override;
         void stopRecording() override;

src/devices/canbus/CMakeLists.txt

@@ -13,8 +13,6 @@ add_library(cmvr_es::device::canbus ALIAS canbus)
 
 target_link_libraries(canbus
         PRIVATE
-#        proto-objects
-#        gRPC::grpc++
         protobuf::libprotobuf
         glog::glog
 #        PUBLIC pcanbasic

src/devices/microphone/ffmpeg_microphone/ffmpeg_microphone.cpp

@@ -456,4 +456,24 @@ void ffmpegMicroPhone::closeFFmpeg() {
         }
         avformat_free_context(output_fmt_ctx);
     }
+}
+
+void ffmpegMicroPhone::updateParams(const std::pair<std::string, std::string>& param)
+{
+    std::lock_guard lock(mtx_);
+    try {
+        if (param.first == "sampleRate") {
+            sample_rate_ = stoi(param.second);
+        }
+        else if (param.first == "channels") {
+            channels_ = stoi(param.second);
+        }
+
+        stop();
+        init();
+        start();
+    }
+    catch (exception &e) {
+        throw runtime_error(e.what());
+    }
 }

src/devices/microphone/ffmpeg_microphone/ffmpeg_microphone.h

@@ -28,7 +28,7 @@ namespace cmvr::device {
         void init() override;
         void start() override;
         void stop() override;
-
+        void updateParams(const std::pair<std::string, std::string>& param) override;
         void getState(MicrophoneState &state) override;
         void startRecording(const std::string& outputFilePath) override;
         void stopRecording() override;

src/devices/speaker/ffmpeg_speaker/ffmpeg_speaker.cpp

@@ -355,3 +355,23 @@ void ffmpegSpeaker::play_audio_() {
     //state_.is_running = false;
     resetPlayState();
 }
+
+void ffmpegSpeaker::updateParams(const std::pair<std::string, std::string>& param)
+{
+    std::lock_guard lock(mtx_);
+    try {
+        if (param.first == "sampleRate") {
+            sample_rate_ = stoi(param.second);
+        }
+        else if (param.first == "channels") {
+            channels_ = stoi(param.second);
+        }
+
+        stop();
+        init();
+        start();
+    }
+    catch (exception &e) {
+        throw runtime_error(e.what());
+    }
+}

src/devices/speaker/ffmpeg_speaker/ffmpeg_speaker.h

@@ -28,6 +28,7 @@ namespace cmvr::device {
         void init() override;
         void start() override;
         void stop() override;
+        void updateParams(const std::pair<std::string, std::string>& param) override;
         void play(const std::string& audio_path) override;
         void setVolume(int volume) override;
         [[nodiscard]] int getVolume() const override;

src/service/grpc_camera_service.cpp

@@ -90,7 +90,17 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImage(grpc::ServerContext* context,
         LOG(INFO) << "[gRPCCameraServiceImpl] (GetRGBImage): id=" << dev_id;
         cv::Mat image;
         const auto dev = dmgr_.getDevice<AbstractCamera>(dev_id);
-        dev->getRGBImage(image);
+        Rs2Intrinsics intrinsics = {0};
+        dev->getRGBImage(image,intrinsics);
+        response->mutable_header()->set_success(true);
+
+        response->mutable_intrinsics()->set_fx(intrinsics.fx);
+        response->mutable_intrinsics()->set_fy(intrinsics.fx);
+        response->mutable_intrinsics()->set_cx(intrinsics.fx);
+        response->mutable_intrinsics()->set_cy(intrinsics.fx);
+        for (int i = 0; i < 5 ; i++) {
+            response->mutable_intrinsics()->add_coeffs(intrinsics.coeffs[i]);
+        }
         response->mutable_header()->set_success(true);
         setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
 
@@ -131,8 +141,18 @@ grpc::Status gRPCCameraServiceImpl::GetDepthImage(grpc::ServerContext* context,
         LOG(INFO) << "[gRPCCameraServiceImpl] (GetDepthImage): id=" << dev_id;
         cv::Mat image;
         const auto dev = dmgr_.getDevice<AbstractCamera>(dev_id);
-        dev->getRGBImage(image);
+        Rs2Intrinsics intrinsics = {0};
+        dev->getDepthImage(image,intrinsics);
         response->mutable_header()->set_success(true);
+
+        response->mutable_intrinsics()->set_fx(intrinsics.fx);
+        response->mutable_intrinsics()->set_fy(intrinsics.fx);
+        response->mutable_intrinsics()->set_cx(intrinsics.fx);
+        response->mutable_intrinsics()->set_cy(intrinsics.fx);
+        for (int i = 0; i < 5 ; i++) {
+            response->mutable_intrinsics()->add_coeffs(intrinsics.coeffs[i]);
+        }
+
         setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
 
         if (image.type() == CV_8UC1) {
@@ -175,7 +195,17 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImages(grpc::ServerContext* context,
         LOG(INFO) << "[gRPCCameraServiceImpl] (GetRGBDImages): id=" << dev_id;
         cv::Mat color_image, depth_image;
         const auto dev = dmgr_.getDevice<AbstractCamera>(dev_id);
-        dev->getRGBDImages(color_image, depth_image);
+        Rs2Intrinsics intrinsics = {0};
+        dev->getRGBDImages(color_image,depth_image, intrinsics);
+        response->mutable_header()->set_success(true);
+
+        response->mutable_intrinsics()->set_fx(intrinsics.fx);
+        response->mutable_intrinsics()->set_fy(intrinsics.fx);
+        response->mutable_intrinsics()->set_cx(intrinsics.fx);
+        response->mutable_intrinsics()->set_cy(intrinsics.fx);
+        for (int i = 0; i < 5 ; i++) {
+            response->mutable_intrinsics()->add_coeffs(intrinsics.coeffs[i]);
+        }
         response->mutable_header()->set_success(true);
         setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
 

src/service/grpc_system_service.cpp

@@ -88,3 +88,77 @@ grpc::Status gRPCSystemServiceImpl::GetSystemStatus(grpc::ServerContext* context
         return grpc::Status::OK;
     }
 }
+
+grpc::Status gRPCSystemServiceImpl::UpdateParams(grpc::ServerContext* context, const cmvr::api::UpdateParamsCommand_Request* request, cmvr::api::UpdateParamsCommand_Feedback* response)
+{
+    try {
+        std::string dev_id = request->header().device_id();
+        LOG(INFO) << "[gRPCSystemServiceImpl] (UpdateParams): id=" << dev_id;
+        auto params = request->params();
+        for (auto& param : params) {
+            //遍历拿到需要配置的自由度,传入的是百分比0-1
+            std::string param_name = param.param_name();
+            std::string param_value_str; // 存储转换后的字符串值
+
+            // 根据 oneof 类型分支转换
+            switch (param.param_value_case()) {
+                case cmvr::api::ConfigParam::kIntValue: {
+                    // 整数类型：用 std::to_string 转换
+                    int32_t int_val = param.int_value();
+                    param_value_str = std::to_string(int_val);
+                    break;
+                }
+                case cmvr::api::ConfigParam::kDoubleValue: {
+                    // 浮点数类型：用 std::to_string 转换（也可按需用 printf 控制精度）
+                    double double_val = param.double_value();
+                    param_value_str = std::to_string(double_val);
+                    // （可选）若需控制浮点数精度（如保留2位小数），可替换为：
+                    // char buf[64];
+                    // snprintf(buf, sizeof(buf), "%.2f", double_val);
+                    // param_value_str = buf;
+                    break;
+                }
+                case cmvr::api::ConfigParam::kStringValue: {
+                    // 字符串类型：直接赋值（本身就是 string）
+                    param_value_str = param.string_value();
+                    break;
+                }
+                case cmvr::api::ConfigParam::kBoolValue: {
+                    // 布尔类型：转为 "true" 或 "false"
+                    bool bool_val = param.bool_value();
+                    param_value_str = bool_val ? "true" : "false";
+                    break;
+                }
+                case cmvr::api::ConfigParam::kBytesValue: {
+                    // 二进制类型：可选方案（二选一，根据你的需求）
+                    // 方案1：转为十六进制字符串（推荐，二进制数据可视化）
+                    const auto& bytes_val = param.bytes_value();
+                    static const char hex_chars[] = "0123456789ABCDEF";
+                    std::string hex_str;
+                    hex_str.reserve(bytes_val.size() * 2); // 预分配空间，提升效率
+                    for (unsigned char c : bytes_val) {
+                        hex_str.push_back(hex_chars[c >> 4]);
+                        hex_str.push_back(hex_chars[c & 0x0F]);
+                    }
+                    param_value_str = hex_str; // 结果如 "A3B2C1"
+                    break;
+                }
+                case cmvr::api::ConfigParam::PARAM_VALUE_NOT_SET: {
+                    // 未设置值的异常场景：赋值为空字符串或标记
+                    param_value_str = "[UNSET]";
+                    LOG(WARNING) << "[UpdateParams] Param '" << param_name << "' has no value";
+                    break;
+                }
+            }
+
+            dmgr_.updateParam(dev_id,std::pair<std::string,std::string>(param_name,param_value_str));
+        }
+        return grpc::Status::OK;
+    }
+    catch (std::exception& e) {
+        response->mutable_header()->set_success(false);
+        response->mutable_header()->set_error_message(e.what());
+        setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
+        return grpc::Status::OK;
+    }
+}