SmartBench/cmvr-es
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update realsensecamera

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
cmvr-es/common/config/camera_config/camera_config.pb.txt
View File

@ -14,10 +14,10 @@ realsense_cameras {
} }
realsense_cameras { realsense_cameras {
id: "left_hand_cam" id: "right_hand_cam"
serialNumber: "243122072252" serialNumber: "243122072252"
width: 640 width: 1280
height: 480 height: 720
fps: 30 fps: 30
codec: "H265" codec: "H265"
camera_mode: CAMERA_MODE_VIDEO camera_mode: CAMERA_MODE_VIDEO

16
cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
View File

@ -151,11 +151,11 @@ RealsenseCamera::RealsenseCamera(const config::RealSenseCameraConfig& camera):ca
auto stream_mode = camera_.stream_mode(); auto stream_mode = camera_.stream_mode();
if (stream_mode == config::STREAM_MODE_RGB) if (stream_mode == config::STREAM_MODE_RGB)
{ {
stream_mode_ = RGBD_MODE; stream_mode_ = COLOR_MODE;
} }
else if (stream_mode == config::STREAM_MODE_RGBD) else if (stream_mode == config::STREAM_MODE_RGBD)
{ {
stream_mode_ = COLOR_MODE; stream_mode_ = RGBD_MODE;
} }
else if (stream_mode == config::STREAM_MODE_DEPTH) else if (stream_mode == config::STREAM_MODE_DEPTH)
{ {
@ -254,19 +254,15 @@ void RealsenseCamera::start() {
intrinsics_ = Kd_; intrinsics_ = Kd_;
} }
if (align_mode_ == "color") { if (camera_.align_mode() == config::ALIGN_MODE_COLOR)
{
align_ = std::make_shared<rs2::align>(RS2_STREAM_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); 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; state_.is_opened = true;
LOG(INFO) << "realsense start streaming successfully"; LOG(INFO) << "realsense start streaming successfully";
} }

4
cmvr-es/service/grpc/src/grpc_camera_service.cpp
View File

@ -372,7 +372,7 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImagesStream(grpc::ServerContext* con
{ {
if (context->IsCancelled()) if (context->IsCancelled())
{ {
LOG(INFO) << "[gRPCCameraServiceImpl](GetRGBImageStream) context is cancelled,id=" << dev_id; LOG(INFO) << "[gRPCCameraServiceImpl](GetRGBDImagesStream) context is cancelled,id=" << dev_id;
break; 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(); dev->stopStreaming();
return grpc::Status::OK; return grpc::Status::OK;
} }