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update realsensecamera

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This commit is contained in:
linbo 2026-02-27 15:40:41 +08:00
parent 1cd57c36ea
commit d8084dbc7d
3 changed files with 11 additions and 15 deletions
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6
cmvr-es/common/config/camera_config/camera_config.pb.txt
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@ -14,10 +14,10 @@ realsense_cameras {
}
realsense_cameras {
id: "left_hand_cam"
id: "right_hand_cam"
serialNumber: "243122072252"
width: 640
height: 480
width: 1280
height: 720
fps: 30
codec: "H265"
camera_mode: CAMERA_MODE_VIDEO

16
cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
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@ -151,11 +151,11 @@ RealsenseCamera::RealsenseCamera(const config::RealSenseCameraConfig& camera):ca
auto stream_mode = camera_.stream_mode();
if (stream_mode == config::STREAM_MODE_RGB)
{
stream_mode_ = RGBD_MODE;
stream_mode_ = COLOR_MODE;
}
else if (stream_mode == config::STREAM_MODE_RGBD)
{
stream_mode_ = COLOR_MODE;
stream_mode_ = RGBD_MODE;
}
else if (stream_mode == config::STREAM_MODE_DEPTH)
{
@ -254,19 +254,15 @@ void RealsenseCamera::start() {
intrinsics_ = Kd_;
}
if (align_mode_ == "color") {
if (camera_.align_mode() == config::ALIGN_MODE_COLOR)
{
align_ = std::make_shared<rs2::align>(RS2_STREAM_COLOR);
}
else if (align_mode_ == "depth") {
else if (camera_.align_mode() == config::ALIGN_MODE_DEPTH)
{
align_ = std::make_shared<rs2::align>(RS2_STREAM_DEPTH);
}
// auto frames = get_frameset(true);
// rs2::frame color_frame = frames.get_color_frame();
// auto profile = color_frame.get_profile();
// auto color_profile = frames.get_color_frame().get_profile();
// intrinsics_ = color_profile.as<rs2::video_stream_profile>().get_intrinsics();
state_.is_opened = true;
LOG(INFO) << "realsense start streaming successfully";
}

4
cmvr-es/service/grpc/src/grpc_camera_service.cpp
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@ -372,7 +372,7 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImagesStream(grpc::ServerContext* con
{
if (context->IsCancelled())
{
LOG(INFO) << "[gRPCCameraServiceImpl](GetRGBImageStream) context is cancelled,id=" << dev_id;
LOG(INFO) << "[gRPCCameraServiceImpl](GetRGBDImagesStream) context is cancelled,id=" << dev_id;
break;
}
@ -411,7 +411,7 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImagesStream(grpc::ServerContext* con
}
}
}
LOG(INFO) << "[gRPCCameraServiceImpl] (GetRGBImageStream): end,id=" << dev_id;
LOG(INFO) << "[gRPCCameraServiceImpl] (GetRGBDImagesStream): end,id=" << dev_id;
dev->stopStreaming();
return grpc::Status::OK;
}