# 獲取攝像頭的內參是為了將像素坐標轉化成實際坐標 import pyrealsense2 as rspipeline = rs.pipeline() config = rs.config() config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30) config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30) profile = pipeline.start(config) frames = pipeline.wait_for_frames() depth = frames.get_depth_frame() color = frames.get_color_frame() # 獲取內參 depth_profile = depth.get_profile() print(depth_profile) # <pyrealsense2.video_stream_profile: 1(0) 640x480 @ 30fps 1> print(type(depth_profile)) # <class 'pyrealsense2.pyrealsense2.stream_profile'> print(depth_profile.fps()) # 30 print(depth_profile.stream_index()) # 0 print(depth_profile.stream_name()) # Depth print(depth_profile.stream_type()) # stream.depth print('', depth_profile.unique_id) # <bound method PyCapsule.unique_id of <pyrealsense2.video_stream_profile: 1(0) 640x480 @ 30fps 1>>color_profile = color.get_profile() print(color_profile) # <pyrealsense2.video_stream_profile: 2(0) 640x480 @ 30fps 6> print(type(color_profile)) # <class 'pyrealsense2.pyrealsense2.stream_profile'> print(depth_profile.fps()) # 30 print(depth_profile.stream_index()) # 0cvsprofile = rs.video_stream_profile(color_profile) dvsprofile = rs.video_stream_profile(depth_profile)color_intrin = cvsprofile.get_intrinsics() print(color_intrin) # width: 640, height: 480, ppx: 318.482, ppy: 241.167, fx: 616.591, fy: 616.765, model: 2, coeffs: [0, 0, 0, 0, 0] depth_intrin = dvsprofile.get_intrinsics() print(depth_intrin) # width: 640, height: 480, ppx: 317.78, ppy: 236.709, fx: 382.544, fy: 382.544, model: 4, coeffs: [0, 0, 0, 0, 0] extrin = depth_profile.get_extrinsics_to(color_profile) print(extrin) # rotation: [0.999984, -0.00420567, -0.00380472, 0.00420863, 0.999991, 0.00076919, 0.00380145, -0.00078519, 0.999992] # translation: [0.0147755, 0.000203265, 0.00051274]

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