D405、D435 读取多种图片（深度、彩色、双目）、内参矩阵

之前找了很多代码都没法读取出相机的内参和双目图像进行研究，看了很多博客总结了最简单读取所有图像和内参的代码，大家可以自取：

import pyrealsense2 as rs
import numpy as np
import cv2

pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 15)  #10、15或者30可选，其他分辨率可以参考官方datasheet
config.enable_stream(rs.stream.infrared, 1, 640, 480, rs.format.y8, 15)
config.enable_stream(rs.stream.infrared, 2, 640, 480, rs.format.y8, 15)
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 15)
profile = pipeline.start(config)

# Getting the depth sensor's depth scale (see rs-align example for explanation)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
clipping_distance_in_meters = 1 #1 meter
clipping_distance = clipping_distance_in_meters / depth_scale

# Create an align object
# rs.align allows us to perform alignment of depth frames to others frames
# The "align_to" is the stream type to which we plan to align depth frames.
align_to = rs.stream.color
align = rs.align(align_to)


try:
    while True:
        frames = pipeline.wait_for_frames()

    # Align the depth frame to color frame
    #一般彩色图和深度图需要配准，所以数据从aligned_frames读出来
        aligned_frames = align.process(frames)
        # Get aligned frames
        aligned_depth_frame = aligned_frames.get_depth_frame()  # aligned_depth_frame is a 640x480 depth image
        if not aligned_depth_frame:
            continue
        depth_frame = np.asanyarray(aligned_depth_frame.get_data())
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_frame, alpha=0.03), cv2.COLORMAP_JET)
        cv2.imshow('1 depth', depth_colormap)


    # color frames
        color_frame = aligned_frames.get_color_frame()
        video_profile = rs.video_stream_profile(color_frame.get_profile())
        instrinsics = video_profile.get_intrinsics()
        fx = instrinsics.fx
        fy = instrinsics.fy
        cx = instrinsics.ppx
        cy = instrinsics.ppy
        print("Width:", instrinsics.width)
        print("Height:", instrinsics.height)
        print("PPX:",  instrinsics.ppx)
        print("PPY:", instrinsics.ppy)
        print("FX:", instrinsics.fx)
        print("FY:", instrinsics.fy)
        print("Distortion Model:", instrinsics.model)
        print("Coefficients:", instrinsics.coeffs)
        #如果需要打印其他内参 可以去官方文档查看instrinsics的具体参数，以及其他配置文件

        if not color_frame:
            continue
        color_frame = np.asanyarray(color_frame.get_data())
        cv2.imshow('2 color', color_frame)

    #读取左右眼图片，可能是为了通信方便的原因，原先的rgb和红外图像都会以灰度图的形式传输
    # left　frames
        left_frame = frames.get_infrared_frame(1)
        if not left_frame:
            continue
        left_frame = np.asanyarray(left_frame.get_data())
        cv2.imshow('3 left_frame', left_frame)

    # right frames
        right_frame = frames.get_infrared_frame(2)
        if not right_frame:
            continue
        right_frame = np.asanyarray(right_frame.get_data())
        cv2.imshow('4 right_frame', right_frame)
        
        c = cv2.waitKey(1)
        # 如果按下ESC则关闭窗口（ESC的ascii码为27），同时跳出循环
        if c == 27:
            cv2.destroyAllWindows()
            break

finally:
    # Stop streaming
    pipeline.stop()