150 lines
2.8 KiB
Plaintext
150 lines
2.8 KiB
Plaintext
camera {
|
|
cameras {
|
|
id: "cam1"
|
|
realsense {
|
|
serialNumber: "243122074587"
|
|
camera_mode: CAMERA_MODE_VIDEO
|
|
capture {
|
|
width: 640
|
|
height: 480
|
|
fps: 30
|
|
stream_mode: STREAM_MODE_RGBD
|
|
}
|
|
encoder {
|
|
width: 640
|
|
height: 480
|
|
fps: 30
|
|
codec: "H265"
|
|
enable_stream_timestamp: true
|
|
buffer_size: 30
|
|
}
|
|
align_mode: ALIGN_MODE_COLOR
|
|
sync: false
|
|
}
|
|
}
|
|
|
|
cameras {
|
|
id: "right_hand_cam"
|
|
realsense {
|
|
serialNumber: "243122072252"
|
|
camera_mode: CAMERA_MODE_VIDEO
|
|
capture {
|
|
width: 1280
|
|
height: 720
|
|
fps: 30
|
|
stream_mode: STREAM_MODE_RGB
|
|
}
|
|
encoder {
|
|
width: 640
|
|
height: 360
|
|
fps: 30
|
|
codec: "H264"
|
|
enable_stream_timestamp: true
|
|
buffer_size: 30
|
|
}
|
|
align_mode: ALIGN_MODE_COLOR
|
|
sync: false
|
|
}
|
|
}
|
|
|
|
cameras {
|
|
id: "cam3"
|
|
realsense {
|
|
serialNumber: "243122075614"
|
|
camera_mode: CAMERA_MODE_VIDEO
|
|
capture {
|
|
width: 640
|
|
height: 480
|
|
fps: 30
|
|
stream_mode: STREAM_MODE_RGBD
|
|
}
|
|
encoder {
|
|
width: 640
|
|
height: 480
|
|
fps: 30
|
|
codec: "H265"
|
|
enable_stream_timestamp: true
|
|
buffer_size: 30
|
|
}
|
|
align_mode: ALIGN_MODE_COLOR
|
|
sync: false
|
|
}
|
|
}
|
|
|
|
cameras {
|
|
id: "mujoco_hand_cam"
|
|
mujoco {
|
|
world_id: "mujoco_world"
|
|
camera_name: "hand_cam"
|
|
render {
|
|
width: 1280
|
|
height: 720
|
|
fps: 30
|
|
stream_mode: STREAM_MODE_RGBD
|
|
}
|
|
encoder {
|
|
width: 480
|
|
height: 320
|
|
fps: 30
|
|
codec: "H264"
|
|
enable_stream_timestamp: true
|
|
buffer_size: 30
|
|
}
|
|
consume_new_frame_only: false
|
|
viewer_pip {
|
|
enable: true
|
|
left: -10
|
|
bottom: 10
|
|
width: 320
|
|
height: 180
|
|
}
|
|
}
|
|
}
|
|
|
|
cameras {
|
|
id: "left_eye_cam"
|
|
uvc {
|
|
usb: "/dev/uvc_left_camera"
|
|
camera_mode: CAMERA_MODE_VIDEO
|
|
capture {
|
|
width: 640
|
|
height: 480
|
|
fps: 30
|
|
stream_mode: STREAM_MODE_RGB
|
|
}
|
|
encoder {
|
|
width: 640
|
|
height: 480
|
|
fps: 30
|
|
codec: "H265"
|
|
enable_stream_timestamp: true
|
|
buffer_size: 30
|
|
}
|
|
}
|
|
}
|
|
|
|
cameras {
|
|
id: "cam5"
|
|
realsense {
|
|
serialNumber: "243122070435"
|
|
camera_mode: CAMERA_MODE_VIDEO
|
|
capture {
|
|
width: 1280
|
|
height: 720
|
|
fps: 30
|
|
stream_mode: STREAM_MODE_RGB
|
|
}
|
|
encoder {
|
|
width: 640
|
|
height: 360
|
|
fps: 30
|
|
codec: "H264"
|
|
enable_stream_timestamp: true
|
|
buffer_size: 30
|
|
}
|
|
align_mode: ALIGN_MODE_COLOR
|
|
sync: false
|
|
}
|
|
}
|
|
}
|