139 lines
2.8 KiB
Protocol Buffer
139 lines
2.8 KiB
Protocol Buffer
// camera_config.proto - 所有配置都在这里
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syntax = "proto3";
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package cmvr.config;
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// 枚举定义
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enum CameraMode {
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CAMERA_MODE_PHOTO = 0;
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CAMERA_MODE_VIDEO = 1;
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}
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enum StreamMode {
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STREAM_MODE_RGB = 0;
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STREAM_MODE_RGBD = 1;
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STREAM_MODE_DEPTH = 2;
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}
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enum AlignMode {
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ALIGN_MODE_COLOR = 0;
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ALIGN_MODE_DEPTH = 1;
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}
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message CameraCaptureConfig {
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int32 width = 1;
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int32 height = 2;
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int32 fps = 3;
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StreamMode stream_mode = 4;
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}
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message CameraRenderConfig {
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int32 width = 1;
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int32 height = 2;
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int32 fps = 3;
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StreamMode stream_mode = 4;
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}
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message CameraEncoderConfig {
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int32 width = 1;
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int32 height = 2;
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int32 fps = 3;
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string codec = 4;
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bool enable_stream_timestamp = 5;
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int32 buffer_size = 6;
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}
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message MujocoViewerPipConfig {
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bool enable = 1;
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int32 left = 2;
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int32 bottom = 3;
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int32 width = 4;
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int32 height = 5;
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}
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// RealSense摄像头
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message RealSenseCameraConfig {
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string id = 1;
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string serialNumber = 2;
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CameraMode camera_mode = 3;
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CameraCaptureConfig capture = 4;
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CameraEncoderConfig encoder = 5;
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AlignMode align_mode = 6;
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bool sync = 7;
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}
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// UVC摄像头
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message UVCCameraConfig {
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string id = 1;
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string usb = 2; // 或者叫 device_path
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CameraMode camera_mode = 3;
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CameraCaptureConfig capture = 4;
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CameraEncoderConfig encoder = 5;
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}
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// MechMind工业相机
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message MechMindCameraConfig {
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reserved 5;
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string id = 1;
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string ip = 2;
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optional bool align = 3;
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string image2d_type = 4;
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}
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message MujocoCameraConfig {
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string id = 1;
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string world_id = 2;
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string camera_name = 3;
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CameraRenderConfig render = 4;
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CameraEncoderConfig encoder = 5;
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bool consume_new_frame_only = 6;
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MujocoViewerPipConfig viewer_pip = 7;
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}
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message HikvisionCameraConfig {
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string id = 1;
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string ip = 2;
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int32 port = 3;
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string username = 4;
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string password = 5;
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int32 channel = 6;
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int32 stream_type = 7;
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int32 link_mode = 8;
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int32 width = 9;
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int32 height = 10;
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int32 fps = 11;
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string codec = 12;
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CameraMode camera_mode = 13;
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StreamMode stream_mode = 14;
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int32 buffer_size = 15;
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int32 encode_width = 16;
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int32 encode_height = 17;
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string sdk_path = 18;
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float fx = 19;
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float fy = 20;
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float cx = 21;
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float cy = 22;
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repeated float coeffs = 23;
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}
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message CameraDeviceConfig {
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string id = 1;
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reserved 2;
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oneof backend {
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UVCCameraConfig uvc = 10;
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RealSenseCameraConfig realsense = 11;
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MechMindCameraConfig mechmind = 12;
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MujocoCameraConfig mujoco = 13;
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HikvisionCameraConfig hikvision = 14;
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}
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}
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message CameraConfig {
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repeated CameraDeviceConfig cameras = 1;
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}
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message CameraRootConfig {
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CameraConfig camera = 1;
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}
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