roslaunch realsense2_camera rs_camera.launch //打开相机节点
rostopic echo /camera/color/camera_info //查看相机内参
根据官网链接:docs.ros.org/en/melodic/api/sensor_msgs/html/msg/CameraInfo.html
D:表示相机的失真系数,其参数分别是(k1, k2, t1, t2, k3)
K:内参矩阵,其参数(fx,0,cx,0,fy,cy,0,0,1)
R: 3✖3的旋转矩阵,仅对双目相机有效,使左右极线平行
P: 投影矩阵,其参数分别是(fx’,0,cx’, Tx,0,fy,‘cy’,Ty,0,0,1,0)在单目相机中, T x = T y = 0 Tx=Ty=0 Tx=Ty=0
所以我的相机内参是:
fx=612.795654296875
fy=612.78955078125
cx=325.43609619140625
cy=236.3645782470703