使用rs-enumerate-devices -c来查看D435i可支持的分辨率和内外参

最新推荐文章于 2024-08-20 11:14:52 发布
最新推荐文章于 2024-08-20 11:14:52 发布
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文章标签： c语言 数码相机 开发语言
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本文链接：https://blog.csdn.net/hooksten/article/details/137481849
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参考自:用rs-enumerate-devices -c命令可以查看D435i所有可以支持的分辨率，帧率，所有的相机内参外参，以下是我的学习记录
realsense的相机来实现的算法其实还是有很多的，所以要对它非常的熟悉才行。
使用rs-enumerate-devices -c命令可以查到相机的所有参数，这里也就提醒我launch文件中的分辨率是不能随便更改的，得是支持的分辨率和帧率。
读取配置信息：

rs-enumerate-devices

读取内外参和imu的参数：

rs-enumerate-devices -c

cyun@cyun:~$ rs-enumerate-devices -c
Device info: 
    Name                          : 	Intel RealSense D435I
    Serial Number                 : 	109622075085
    Firmware Version              : 	05.12.06.00
    Recommended Firmware Version  : 	05.12.08.200
    Physical Port                 : 	/sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video2
    Debug Op Code                 : 	15
    Advanced Mode                 : 	YES
    Product Id                    : 	0B3A
    Camera Locked                 : 	YES
    Usb Type Descriptor           : 	3.2
    Product Line                  : 	D400
    Asic Serial Number            : 	104623050310
    Firmware Update Id            : 	104623050310
 
Stream Profiles supported by Stereo Module
 Supported modes:
    stream       resolution      fps       format   
    Infrared 1	  1280x800	@ 30Hz	   Y8
    Infrared 1	  1280x800	@ 25Hz	   Y16
    Infrared 1	  1280x800	@ 15Hz	   Y16
    Infrared 1	  1280x800	@ 15Hz	   Y8
    Infrared 1	  1280x720	@ 30Hz	   Y8
    Infrared 1	  1280x720	@ 15Hz	   Y8
    Infrared 1	  1280x720	@ 6Hz	   Y8
    Infrared 1	  848x480	@ 90Hz	   Y8
    Infrared 1	  848x480	@ 60Hz	   Y8
    Infrared 1	  848x480	@ 30Hz	   Y8
    Infrared 1	  848x480	@ 15Hz	   Y8
    Infrared 1	  848x480	@ 6Hz	   Y8
    Infrared 1	  848x100	@ 300Hz	   Y8
    Infrared 1	  848x100	@ 100Hz	   Y8
    Infrared 1	  640x480	@ 90Hz	   Y8
    Infrared 1	  640x480	@ 60Hz	   Y8
    Infrared 1	  640x480	@ 30Hz	   Y8
    Infrared 1	  640x480	@ 15Hz	   Y8
    Infrared 1	  640x480	@ 6Hz	   Y8
    Infrared 1	  640x400	@ 25Hz	   Y16
    Infrared 1	  640x400	@ 15Hz	   Y16
    Infrared 1	  640x360	@ 90Hz	   Y8
    Infrared 1	  640x360	@ 60Hz	   Y8
    Infrared 1	  640x360	@ 30Hz	   Y8
    Infrared 1	  640x360	@ 15Hz	   Y8
    Infrared 1	  640x360	@ 6Hz	   Y8
    Infrared 1	  480x270	@ 90Hz	   Y8
    Infrared 1	  480x270	@ 60Hz	   Y8
    Infrared 1	  480x270	@ 30Hz	   Y8
    Infrared 1	  480x270	@ 15Hz	   Y8
    Infrared 1	  480x270	@ 6Hz	   Y8
    Infrared 1	  424x240	@ 90Hz	   Y8
    Infrared 1	  424x240	@ 60Hz	   Y8
    Infrared 1	  424x240	@ 30Hz	   Y8
    Infrared 1	  424x240	@ 15Hz	   Y8
    Infrared 1	  424x240	@ 6Hz	   Y8
    Infrared 1	  256x144	@ 300Hz	   Y8
    Infrared 1	  256x144	@ 90Hz	   Y8
    Infrared 2	  1280x800	@ 30Hz	   Y8
    Infrared 2	  1280x800	@ 25Hz	   Y16
    Infrared 2	  1280x800	@ 15Hz	   Y16
    Infrared 2	  1280x800	@ 15Hz	   Y8
    Infrared 2	  1280x720	@ 30Hz	   Y8
    Infrared 2	  1280x720	@ 15Hz	   Y8
    Infrared 2	  1280x720	@ 6Hz	   Y8
    Infrared 2	  848x480	@ 90Hz	   Y8
    Infrared 2	  848x480	@ 60Hz	   Y8
    Infrared 2	  848x480	@ 30Hz	   Y8
    Infrared 2	  848x480	@ 15Hz	   Y8
    Infrared 2	  848x480	@ 6Hz	   Y8
    Infrared 2	  848x100	@ 300Hz	   Y8
    Infrared 2	  848x100	@ 100Hz	   Y8
    Infrared 2	  640x480	@ 90Hz	   Y8
    Infrared 2	  640x480	@ 60Hz	   Y8
    Infrared 2	  640x480	@ 30Hz	   Y8
    Infrared 2	  640x480	@ 15Hz	   Y8
    Infrared 2	  640x480	@ 6Hz	   Y8
    Infrared 2	  640x400	@ 25Hz	   Y16
    Infrared 2	  640x400	@ 15Hz	   Y16
    Infrared 2	  640x360	@ 90Hz	   Y8
    Infrared 2	  640x360	@ 60Hz	   Y8
    Infrared 2	  640x360	@ 30Hz	   Y8
    Infrared 2	  640x360	@ 15Hz	   Y8
    Infrared 2	  640x360	@ 6Hz	   Y8
    Infrared 2	  480x270	@ 90Hz	   Y8
    Infrared 2	  480x270	@ 60Hz	   Y8
    Infrared 2	  480x270	@ 30Hz	   Y8
    Infrared 2	  480x270	@ 15Hz	   Y8
    Infrared 2	  480x270	@ 6Hz	   Y8
    Infrared 2	  424x240	@ 90Hz	   Y8
    Infrared 2	  424x240	@ 60Hz	   Y8
    Infrared 2	  424x240	@ 30Hz	   Y8
    Infrared 2	  424x240	@ 15Hz	   Y8
    Infrared 2	  424x240	@ 6Hz	   Y8
    Infrared 2	  256x144	@ 300Hz	   Y8
    Infrared 2	  256x144	@ 90Hz	   Y8
    Depth	  1280x720	@ 30Hz	   Z16
    Depth	  1280x720	@ 15Hz	   Z16
    Depth	  1280x720	@ 6Hz	   Z16
    Depth	  848x480	@ 90Hz	   Z16
    Depth	  848x480	@ 60Hz	   Z16
    Depth	  848x480	@ 30Hz	   Z16
    Depth	  848x480	@ 15Hz	   Z16
    Depth	  848x480	@ 6Hz	   Z16
    Depth	  848x100	@ 300Hz	   Z16
    Depth	  848x100	@ 100Hz	   Z16
    Depth	  640x480	@ 90Hz	   Z16
    Depth	  640x480	@ 60Hz	   Z16
    Depth	  640x480	@ 30Hz	   Z16
    Depth	  640x480	@ 15Hz	   Z16
    Depth	  640x480	@ 6Hz	   Z16
    Depth	  640x360	@ 90Hz	   Z16
    Depth	  640x360	@ 60Hz	   Z16
    Depth	  640x360	@ 30Hz	   Z16
    Depth	  640x360	@ 15Hz	   Z16
    Depth	  640x360	@ 6Hz	   Z16
    Depth	  480x270	@ 90Hz	   Z16
    Depth	  480x270	@ 60Hz	   Z16
    Depth	  480x270	@ 30Hz	   Z16
    Depth	  480x270	@ 15Hz	   Z16
    Depth	  480x270	@ 6Hz	   Z16
    Depth	  424x240	@ 90Hz	   Z16
    Depth	  424x240	@ 60Hz	   Z16
    Depth	  424x240	@ 30Hz	   Z16
    Depth	  424x240	@ 15Hz	   Z16
    Depth	  424x240	@ 6Hz	   Z16
    Depth	  256x144	@ 300Hz	   Z16
    Depth	  256x144	@ 90Hz	   Z16
 
Stream Profiles supported by RGB Camera
 Supported modes:
    stream       resolution      fps       format   
    Color	  1920x1080	@ 30Hz	   RGB8
    Color	  1920x1080	@ 30Hz	   Y16
    Color	  1920x1080	@ 30Hz	   BGRA8
    Color	  1920x1080	@ 30Hz	   RGBA8
    Color	  1920x1080	@ 30Hz	   BGR8
    Color	  1920x1080	@ 30Hz	   YUYV
    Color	  1920x1080	@ 15Hz	   RGB8
    Color	  1920x1080	@ 15Hz	   Y16
    Color	  1920x1080	@ 15Hz	   BGRA8
    Color	  1920x1080	@ 15Hz	   RGBA8
    Color	  1920x1080	@ 15Hz	   BGR8
    Color	  1920x1080	@ 15Hz	   YUYV
    Color	  1920x1080	@ 6Hz	   RGB8
    Color	  1920x1080	@ 6Hz	   Y16
    Color	  1920x1080	@ 6Hz	   BGRA8
    Color	  1920x1080	@ 6Hz	   RGBA8
    Color	  1920x1080	@ 6Hz	   BGR8
    Color	  1920x1080	@ 6Hz	   YUYV
    Color	  1280x720	@ 30Hz	   RGB8
    Color	  1280x720	@ 30Hz	   Y16
    Color	  1280x720	@ 30Hz	   BGRA8
    Color	  1280x720	@ 30Hz	   RGBA8
    Color	  1280x720	@ 30Hz	   BGR8
    Color	  1280x720	@ 30Hz	   YUYV
    Color	  1280x720	@ 15Hz	   RGB8
    Color	  1280x720	@ 15Hz	   Y16
    Color	  1280x720	@ 15Hz	   BGRA8
    Color	  1280x720	@ 15Hz	   RGBA8
    Color	  1280x720	@ 15Hz	   BGR8
    Color	  1280x720	@ 15Hz	   YUYV
    Color	  1280x720	@ 6Hz	   RGB8
    Color	  1280x720	@ 6Hz	   Y16
    Color	  1280x720	@ 6Hz	   BGRA8
    Color	  1280x720	@ 6Hz	   RGBA8
    Color	  1280x720	@ 6Hz	   BGR8
    Color	  1280x720	@ 6Hz	   YUYV
    Color	  960x540	@ 60Hz	   RGB8
    Color	  960x540	@ 60Hz	   Y16
    Color	  960x540	@ 60Hz	   BGRA8
    Color	  960x540	@ 60Hz	   RGBA8
    Color	  960x540	@ 60Hz	   BGR8
    Color	  960x540	@ 60Hz	   YUYV
    Color	  960x540	@ 30Hz	   RGB8
    Color	  960x540	@ 30Hz	   Y16
    Color	  960x540	@ 30Hz	   BGRA8
    Color	  960x540	@ 30Hz	   RGBA8
    Color	  960x540	@ 30Hz	   BGR8
    Color	  960x540	@ 30Hz	   YUYV
    Color	  960x540	@ 15Hz	   RGB8
    Color	  960x540	@ 15Hz	   Y16
    Color	  960x540	@ 15Hz	   BGRA8
    Color	  960x540	@ 15Hz	   RGBA8
    Color	  960x540	@ 15Hz	   BGR8
    Color	  960x540	@ 15Hz	   YUYV
    Color	  960x540	@ 6Hz	   RGB8
    Color	  960x540	@ 6Hz	   Y16
    Color	  960x540	@ 6Hz	   BGRA8
    Color	  960x540	@ 6Hz	   RGBA8
    Color	  960x540	@ 6Hz	   BGR8
    Color	  960x540	@ 6Hz	   YUYV
    Color	  848x480	@ 60Hz	   RGB8
    Color	  848x480	@ 60Hz	   Y16
    Color	  848x480	@ 60Hz	   BGRA8
    Color	  848x480	@ 60Hz	   RGBA8
    Color	  848x480	@ 60Hz	   BGR8
    Color	  848x480	@ 60Hz	   YUYV
    Color	  848x480	@ 30Hz	   RGB8
    Color	  848x480	@ 30Hz	   Y16
    Color	  848x480	@ 30Hz	   BGRA8
    Color	  848x480	@ 30Hz	   RGBA8
    Color	  848x480	@ 30Hz	   BGR8
    Color	  848x480	@ 30Hz	   YUYV
    Color	  848x480	@ 15Hz	   RGB8
    Color	  848x480	@ 15Hz	   Y16
    Color	  848x480	@ 15Hz	   BGRA8
    Color	  848x480	@ 15Hz	   RGBA8
    Color	  848x480	@ 15Hz	   BGR8
    Color	  848x480	@ 15Hz	   YUYV
    Color	  848x480	@ 6Hz	   RGB8
    Color	  848x480	@ 6Hz	   Y16
    Color	  848x480	@ 6Hz	   BGRA8
    Color	  848x480	@ 6Hz	   RGBA8
    Color	  848x480	@ 6Hz	   BGR8
    Color	  848x480	@ 6Hz	   YUYV
    Color	  640x480	@ 60Hz	   RGB8
    Color	  640x480	@ 60Hz	   Y16
    Color	  640x480	@ 60Hz	   BGRA8
    Color	  640x480	@ 60Hz	   RGBA8
    Color	  640x480	@ 60Hz	   BGR8
    Color	  640x480	@ 60Hz	   YUYV
    Color	  640x480	@ 30Hz	   RGB8
    Color	  640x480	@ 30Hz	   Y16
    Color	  640x480	@ 30Hz	   BGRA8
    Color	  640x480	@ 30Hz	   RGBA8
    Color	  640x480	@ 30Hz	   BGR8
    Color	  640x480	@ 30Hz	   YUYV
    Color	  640x480	@ 15Hz	   RGB8
    Color	  640x480	@ 15Hz	   Y16
    Color	  640x480	@ 15Hz	   BGRA8
    Color	  640x480	@ 15Hz	   RGBA8
    Color	  640x480	@ 15Hz	   BGR8
    Color	  640x480	@ 15Hz	   YUYV
    Color	  640x480	@ 6Hz	   RGB8
    Color	  640x480	@ 6Hz	   Y16
    Color	  640x480	@ 6Hz	   BGRA8
    Color	  640x480	@ 6Hz	   RGBA8
    Color	  640x480	@ 6Hz	   BGR8
    Color	  640x480	@ 6Hz	   YUYV
    Color	  640x360	@ 60Hz	   RGB8
    Color	  640x360	@ 60Hz	   Y16
    Color	  640x360	@ 60Hz	   BGRA8
    Color	  640x360	@ 60Hz	   RGBA8
    Color	  640x360	@ 60Hz	   BGR8
    Color	  640x360	@ 60Hz	   YUYV
    Color	  640x360	@ 30Hz	   RGB8
    Color	  640x360	@ 30Hz	   Y16
    Color	  640x360	@ 30Hz	   BGRA8
    Color	  640x360	@ 30Hz	   RGBA8
    Color	  640x360	@ 30Hz	   BGR8
    Color	  640x360	@ 30Hz	   YUYV
    Color	  640x360	@ 15Hz	   RGB8
    Color	  640x360	@ 15Hz	   Y16
    Color	  640x360	@ 15Hz	   BGRA8
    Color	  640x360	@ 15Hz	   RGBA8
    Color	  640x360	@ 15Hz	   BGR8
    Color	  640x360	@ 15Hz	   YUYV
    Color	  640x360	@ 6Hz	   RGB8
    Color	  640x360	@ 6Hz	   Y16
    Color	  640x360	@ 6Hz	   BGRA8
    Color	  640x360	@ 6Hz	   RGBA8
    Color	  640x360	@ 6Hz	   BGR8
    Color	  640x360	@ 6Hz	   YUYV
    Color	  424x240	@ 60Hz	   RGB8
    Color	  424x240	@ 60Hz	   Y16
    Color	  424x240	@ 60Hz	   BGRA8
    Color	  424x240	@ 60Hz	   RGBA8
    Color	  424x240	@ 60Hz	   BGR8
    Color	  424x240	@ 60Hz	   YUYV
    Color	  424x240	@ 30Hz	   RGB8
    Color	  424x240	@ 30Hz	   Y16
    Color	  424x240	@ 30Hz	   BGRA8
    Color	  424x240	@ 30Hz	   RGBA8
    Color	  424x240	@ 30Hz	   BGR8
    Color	  424x240	@ 30Hz	   YUYV
    Color	  424x240	@ 15Hz	   RGB8
    Color	  424x240	@ 15Hz	   Y16
    Color	  424x240	@ 15Hz	   BGRA8
    Color	  424x240	@ 15Hz	   RGBA8
    Color	  424x240	@ 15Hz	   BGR8
    Color	  424x240	@ 15Hz	   YUYV
    Color	  424x240	@ 6Hz	   RGB8
    Color	  424x240	@ 6Hz	   Y16
    Color	  424x240	@ 6Hz	   BGRA8
    Color	  424x240	@ 6Hz	   RGBA8
    Color	  424x240	@ 6Hz	   BGR8
    Color	  424x240	@ 6Hz	   YUYV
    Color	  320x240	@ 60Hz	   RGB8
    Color	  320x240	@ 60Hz	   Y16
    Color	  320x240	@ 60Hz	   BGRA8
    Color	  320x240	@ 60Hz	   RGBA8
    Color	  320x240	@ 60Hz	   BGR8
    Color	  320x240	@ 60Hz	   YUYV
    Color	  320x240	@ 30Hz	   RGB8
    Color	  320x240	@ 30Hz	   Y16
    Color	  320x240	@ 30Hz	   BGRA8
    Color	  320x240	@ 30Hz	   RGBA8
    Color	  320x240	@ 30Hz	   BGR8
    Color	  320x240	@ 30Hz	   YUYV
    Color	  320x240	@ 6Hz	   RGB8
    Color	  320x240	@ 6Hz	   Y16
    Color	  320x240	@ 6Hz	   BGRA8
    Color	  320x240	@ 6Hz	   RGBA8
    Color	  320x240	@ 6Hz	   BGR8
    Color	  320x240	@ 6Hz	   YUYV
    Color	  320x180	@ 60Hz	   RGB8
    Color	  320x180	@ 60Hz	   Y16
    Color	  320x180	@ 60Hz	   BGRA8
    Color	  320x180	@ 60Hz	   RGBA8
    Color	  320x180	@ 60Hz	   BGR8
    Color	  320x180	@ 60Hz	   YUYV
    Color	  320x180	@ 30Hz	   RGB8
    Color	  320x180	@ 30Hz	   Y16
    Color	  320x180	@ 30Hz	   BGRA8
    Color	  320x180	@ 30Hz	   RGBA8
    Color	  320x180	@ 30Hz	   BGR8
    Color	  320x180	@ 30Hz	   YUYV
    Color	  320x180	@ 6Hz	   RGB8
    Color	  320x180	@ 6Hz	   Y16
    Color	  320x180	@ 6Hz	   BGRA8
    Color	  320x180	@ 6Hz	   RGBA8
    Color	  320x180	@ 6Hz	   BGR8
    Color	  320x180	@ 6Hz	   YUYV
 
Stream Profiles supported by Motion Module
 Supported modes:
    stream       resolution      fps       format   
    Accel	 N/A		@ 250Hz	   MOTION_XYZ32F
    Accel	 N/A		@ 63Hz	   MOTION_XYZ32F
    Gyro	 N/A		@ 400Hz	   MOTION_XYZ32F
    Gyro	 N/A		@ 200Hz	   MOTION_XYZ32F
 
Intrinsic Parameters:
 
 Intrinsic of "Depth" / 256x144 / {Z16}
  Width:      	256
  Height:     	144
  PPX:        	124.671081542969
  PPY:        	75.4661865234375
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	22.77 x 12.92
 
 Intrinsic of "Depth" / 424x240 / {Z16}
  Width:      	424
  Height:     	240
  PPX:        	210.89729309082
  PPY:        	121.148178100586
  Fx:         	210.579345703125
  Fy:         	210.579345703125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.39 x 59.35
 
 Intrinsic of "Depth" / 480x270 / {Z16}
  Width:      	480
  Height:     	270
  PPX:        	238.751647949219
  PPY:        	136.299819946289
  Fx:         	238.391723632812
  Fy:         	238.391723632812
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Depth" / 640x360 / {Z16}
  Width:      	640
  Height:     	360
  PPX:        	318.335540771484
  PPY:        	181.733093261719
  Fx:         	317.855621337891
  Fy:         	317.855621337891
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Depth" / 640x480 / {Z16}
  Width:      	640
  Height:     	480
  PPX:        	318.002655029297
  PPY:        	242.079711914062
  Fx:         	381.4267578125
  Fy:         	381.4267578125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	79.99 x 64.36
 
 Intrinsic of "Depth" / 848x100 / {Z16}
  Width:      	848
  Height:     	100
  PPX:        	421.794586181641
  PPY:        	52.2963562011719
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 13.54
 
 Intrinsic of "Depth" / 848x480 / {Z16}
  Width:      	848
  Height:     	480
  PPX:        	421.794586181641
  PPY:        	242.296356201172
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.35
 
 Intrinsic of "Depth" / 1280x720 / {Z16}
  Width:      	1280
  Height:     	720
  PPX:        	636.671081542969
  PPY:        	363.466186523438
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Color" / 320x180 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	320
  Height:     	180
  PPX:        	161.122665405273
  PPY:        	86.5624389648438
  Fx:         	227.984909057617
  Fy:         	227.9404296875
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	70.12 x 43.09
 
 Intrinsic of "Color" / 320x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	320
  Height:     	240
  PPX:        	161.496887207031
  PPY:        	115.416580200195
  Fx:         	303.979858398438
  Fy:         	303.920562744141
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	55.52 x 43.09
 
 Intrinsic of "Color" / 424x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	424
  Height:     	240
  PPX:        	213.496887207031
  PPY:        	115.416580200195
  Fx:         	303.979858398438
  Fy:         	303.920562744141
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	69.78 x 43.09
 
 Intrinsic of "Color" / 640x360 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	640
  Height:     	360
  PPX:        	322.245330810547
  PPY:        	173.124877929688
  Fx:         	455.969818115234
  Fy:         	455.880859375
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	70.12 x 43.09
 
 Intrinsic of "Color" / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	640
  Height:     	480
  PPX:        	322.993774414062
  PPY:        	230.833160400391
  Fx:         	607.959716796875
  Fy:         	607.841125488281
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	55.52 x 43.09
 
 Intrinsic of "Color" / 848x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	848
  Height:     	480
  PPX:        	426.993774414062
  PPY:        	230.833160400391
  Fx:         	607.959716796875
  Fy:         	607.841125488281
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	69.78 x 43.09
 
 Intrinsic of "Color" / 960x540 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	960
  Height:     	540
  PPX:        	483.367980957031
  PPY:        	259.687316894531
  Fx:         	683.954711914062
  Fy:         	683.8212890625
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	70.12 x 43.09
 
 Intrinsic of "Color" / 1280x720 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	1280
  Height:     	720
  PPX:        	644.490661621094
  PPY:        	346.249755859375
  Fx:         	911.939636230469
  Fy:         	911.76171875
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	70.12 x 43.09
 
 Intrinsic of "Color" / 1920x1080 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	1920
  Height:     	1080
  PPX:        	966.735961914062
  PPY:        	519.374633789062
  Fx:         	1367.90942382812
  Fy:         	1367.642578125
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	70.12 x 43.08
 
 Intrinsic of "Infrared 1" / 256x144 / {Y8}
  Width:      	256
  Height:     	144
  PPX:        	124.671081542969
  PPY:        	75.4661865234375
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	22.77 x 12.92
 
 Intrinsic of "Infrared 1" / 424x240 / {Y8}
  Width:      	424
  Height:     	240
  PPX:        	210.89729309082
  PPY:        	121.148178100586
  Fx:         	210.579345703125
  Fy:         	210.579345703125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.39 x 59.35
 
 Intrinsic of "Infrared 1" / 480x270 / {Y8}
  Width:      	480
  Height:     	270
  PPX:        	238.751647949219
  PPY:        	136.299819946289
  Fx:         	238.391723632812
  Fy:         	238.391723632812
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 1" / 640x360 / {Y8}
  Width:      	640
  Height:     	360
  PPX:        	318.335540771484
  PPY:        	181.733093261719
  Fx:         	317.855621337891
  Fy:         	317.855621337891
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 1" / 640x480 / {Y8}
  Width:      	640
  Height:     	480
  PPX:        	318.002655029297
  PPY:        	242.079711914062
  Fx:         	381.4267578125
  Fy:         	381.4267578125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	79.99 x 64.36
 
 Intrinsic of "Infrared 1" / 848x100 / {Y8}
  Width:      	848
  Height:     	100
  PPX:        	421.794586181641
  PPY:        	52.2963562011719
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 13.54
 
 Intrinsic of "Infrared 1" / 848x480 / {Y8}
  Width:      	848
  Height:     	480
  PPX:        	421.794586181641
  PPY:        	242.296356201172
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.35
 
 Intrinsic of "Infrared 1" / 1280x720 / {Y8}
  Width:      	1280
  Height:     	720
  PPX:        	636.671081542969
  PPY:        	363.466186523438
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 1" / 1280x800 / {Y8}
  Width:      	1280
  Height:     	800
  PPX:        	636.671081542969
  PPY:        	403.466186523438
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 64.36
 
 Intrinsic of "Infrared 2" / 256x144 / {Y8}
  Width:      	256
  Height:     	144
  PPX:        	124.671081542969
  PPY:        	75.4661865234375
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	22.77 x 12.92
 
 Intrinsic of "Infrared 2" / 424x240 / {Y8}
  Width:      	424
  Height:     	240
  PPX:        	210.89729309082
  PPY:        	121.148178100586
  Fx:         	210.579345703125
  Fy:         	210.579345703125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.39 x 59.35
 
 Intrinsic of "Infrared 2" / 480x270 / {Y8}
  Width:      	480
  Height:     	270
  PPX:        	238.751647949219
  PPY:        	136.299819946289
  Fx:         	238.391723632812
  Fy:         	238.391723632812
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 2" / 640x360 / {Y8}
  Width:      	640
  Height:     	360
  PPX:        	318.335540771484
  PPY:        	181.733093261719
  Fx:         	317.855621337891
  Fy:         	317.855621337891
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 2" / 640x480 / {Y8}
  Width:      	640
  Height:     	480
  PPX:        	318.002655029297
  PPY:        	242.079711914062
  Fx:         	381.4267578125
  Fy:         	381.4267578125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	79.99 x 64.36
 
 Intrinsic of "Infrared 2" / 848x100 / {Y8}
  Width:      	848
  Height:     	100
  PPX:        	421.794586181641
  PPY:        	52.2963562011719
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 13.54
 
 Intrinsic of "Infrared 2" / 848x480 / {Y8}
  Width:      	848
  Height:     	480
  PPX:        	421.794586181641
  PPY:        	242.296356201172
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.35
 
 Intrinsic of "Infrared 2" / 1280x720 / {Y8}
  Width:      	1280
  Height:     	720
  PPX:        	636.671081542969
  PPY:        	363.466186523438
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 2" / 1280x800 / {Y8}
  Width:      	1280
  Height:     	800
  PPX:        	636.671081542969
  PPY:        	403.466186523438
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 64.36
 
Motion Intrinsic Parameters:
 
Motion Intrinsic of "Gyro"	  MOTION_XYZ32F
Bias Variances: 	0.000000000000000  0.000000000000000  0.000000000000000  
Noise Variances: 	0.000000000000000  0.000000000000000  0.000000000000000  
Sensitivity : 
     1.000000       0.000000       0.000000       0.000000  
     0.000000       1.000000       0.000000       0.000000  
     0.000000       0.000000       1.000000       0.000000  
 
 
Motion Intrinsic of "Accel"	  MOTION_XYZ32F
Bias Variances: 	0.000000000000000  0.000000000000000  0.000000000000000  
Noise Variances: 	0.000000000000000  0.000000000000000  0.000000000000000  
Sensitivity : 
     1.000000       0.000000       0.000000       0.000000  
     0.000000       1.000000       0.000000       0.000000  
     0.000000       0.000000       1.000000       0.000000  
 
 
 
Extrinsic Parameters:
Extrinsic from "Depth"	  To	  "Depth" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0  
 
Extrinsic from "Depth"	  To	  "Color" :
 Rotation Matrix:
   0.999654         0.0262549        0.00146348    
  -0.0262588        0.999652         0.00269019    
  -0.00139234      -0.00272768       0.999995      
 
 Translation Vector: 0.0149013074114919  -0.000272490200586617  3.13341515720822e-05  
 
Extrinsic from "Depth"	  To	  "Infrared 1" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0  
 
Extrinsic from "Depth"	  To	  "Infrared 2" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0  
 
Extrinsic from "Depth"	  To	  "Gyro" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Depth"	  To	  "Accel" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Color"	  To	  "Depth" :
 Rotation Matrix:
   0.999654        -0.0262588       -0.00139234    
   0.0262549        0.999652        -0.00272768    
   0.00146348       0.00269019       0.999995      
 
 Translation Vector: -0.0149032659828663  -0.000118751668196637  -5.24087845406029e-05  
 
Extrinsic from "Color"	  To	  "Color" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0  
 
Extrinsic from "Color"	  To	  "Infrared 1" :
 Rotation Matrix:
   0.999654        -0.0262588       -0.00139234    
   0.0262549        0.999652        -0.00272768    
   0.00146348       0.00269019       0.999995      
 
 Translation Vector: -0.0149032659828663  -0.000118751668196637  -5.24087845406029e-05  
 
Extrinsic from "Color"	  To	  "Infrared 2" :
 Rotation Matrix:
   0.999654        -0.0262588       -0.00139234    
   0.0262549        0.999652        -0.00272768    
   0.00146348       0.00269019       0.999995      
 
 Translation Vector: -0.0149032659828663  -0.000118751668196637  -5.24087845406029e-05  
 
Extrinsic from "Color"	  To	  "Gyro" :
 Rotation Matrix:
   0.999654        -0.0262588       -0.00139234    
   0.0262549        0.999652        -0.00272768    
   0.00146348       0.00269019       0.999995      
 
 Translation Vector: -0.0204232670366764  0.00498124863952398  0.0116875907406211  
 
Extrinsic from "Color"	  To	  "Accel" :
 Rotation Matrix:
   0.999654        -0.0262588       -0.00139234    
   0.0262549        0.999652        -0.00272768    
   0.00146348       0.00269019       0.999995      
 
 Translation Vector: -0.0204232670366764  0.00498124863952398  0.0116875907406211  
 
Extrinsic from "Infrared 1"	  To	  "Depth" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0  
 
Extrinsic from "Infrared 1"	  To	  "Color" :
 Rotation Matrix:
   0.999654         0.0262549        0.00146348    
  -0.0262588        0.999652         0.00269019    
  -0.00139234      -0.00272768       0.999995      
 
 Translation Vector: 0.0149013074114919  -0.000272490200586617  3.13341515720822e-05  
 
Extrinsic from "Infrared 1"	  To	  "Infrared 1" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0  
 
Extrinsic from "Infrared 1"	  To	  "Infrared 2" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: -0.0496295988559723  0  0  
 
Extrinsic from "Infrared 1"	  To	  "Gyro" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Infrared 1"	  To	  "Accel" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Infrared 2"	  To	  "Depth" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.0496295988559723  0  0  
 
Extrinsic from "Infrared 2"	  To	  "Color" :
 Rotation Matrix:
   0.999654         0.0262549        0.00146348    
  -0.0262588        0.999652         0.00269019    
  -0.00139234      -0.00272768       0.999995      
 
 Translation Vector: 0.0645137503743172  -0.00157570256851614  -3.77673059119843e-05  
 
Extrinsic from "Infrared 2"	  To	  "Infrared 1" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.0496295988559723  0  0  
 
Extrinsic from "Infrared 2"	  To	  "Infrared 2" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0  
 
Extrinsic from "Infrared 2"	  To	  "Gyro" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.0441095978021622  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Infrared 2"	  To	  "Accel" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.0441095978021622  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Gyro"	  To	  "Depth" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
Extrinsic from "Gyro"	  To	  "Color" :
 Rotation Matrix:
   0.999654         0.0262549        0.00146348    
  -0.0262588        0.999652         0.00269019    
  -0.00139234      -0.00272768       0.999995      
 
 Translation Vector: 0.0202683173120022  -0.00554724456742406  -0.0117023847997189  
 
Extrinsic from "Gyro"	  To	  "Infrared 1" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
Extrinsic from "Gyro"	  To	  "Infrared 2" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
Extrinsic from "Gyro"	  To	  "Gyro" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0  
 
Extrinsic from "Gyro"	  To	  "Accel" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0  
 
Extrinsic from "Accel"	  To	  "Depth" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
Extrinsic from "Accel"	  To	  "Color" :
 Rotation Matrix:
   0.999654         0.0262549        0.00146348    
  -0.0262588        0.999652         0.00269019    
  -0.00139234      -0.00272768       0.999995      
 
 Translation Vector: 0.0202683173120022  -0.00554724456742406  -0.0117023847997189  
 
Extrinsic from "Accel"	  To	  "Infrared 1" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
Extrinsic from "Accel"	  To	  "Infrared 2" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
Extrinsic from "Accel"	  To	  "Gyro" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0  
 
Extrinsic from "Accel"	  To	  "Accel" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0  0  0

这里面是有相机的内外参的。
同时也可以到realsense_viewer里面采集标定的数据：

realsense_viewer

去calibration data选项就能到处相关的标定数据，不过这些有点看不懂。

https://m.bilibili.com/video/BV19y4y147Lw
这是官方的动态校正视频，出厂都是校正了的，所以其实并不需要标定的说~

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# 获取摄像头的内参是为了将像素坐标转化成实际坐标 import pyrealsense2 as rs pipeline = rs.pipeline() config = rs.config() config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30) config.enable_stream(rs.stream.col...
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drivenzyw的博客
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【完整教程】在win10平台下使用d435i深度相机读取数据并保存到本地，以便进行后续3D点云处理
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