From d8084dbc7d2eca853518a4794d987bfe2dbea830 Mon Sep 17 00:00:00 2001
From: linbo <1034003879@qq.com>
Date: Fri, 27 Feb 2026 15:40:41 +0800
Subject: [PATCH] update realsensecamera

---
 .../config/camera_config/camera_config.pb.txt    |  6 +++---
 .../realsense_camera/src/realsense_camera.cpp    | 16 ++++++----------
 cmvr-es/service/grpc/src/grpc_camera_service.cpp |  4 ++--
 3 files changed, 11 insertions(+), 15 deletions(-)

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 f0cc11fa..39e83dcc 100644
--- a/cmvr-es/common/config/camera_config/camera_config.pb.txt
+++ b/cmvr-es/common/config/camera_config/camera_config.pb.txt
@@ -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
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 fbd7574a..83980426 100644
--- a/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
+++ b/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
@@ -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";
     }
diff --git a/cmvr-es/service/grpc/src/grpc_camera_service.cpp b/cmvr-es/service/grpc/src/grpc_camera_service.cpp
index 2405d4af..e039b168 100644
--- a/cmvr-es/service/grpc/src/grpc_camera_service.cpp
+++ b/cmvr-es/service/grpc/src/grpc_camera_service.cpp
@@ -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;
     }