56 lines
1.7 KiB
Python
56 lines
1.7 KiB
Python
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import pyrealsense2 as rs
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# 创建管道
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pipeline = rs.pipeline()
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# 配置管道
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config = rs.config()
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config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
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config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
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# 启动管道
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profile = pipeline.start(config)
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# 等待帧
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frames = pipeline.wait_for_frames()
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# 获取深度帧和彩色帧
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depth_frame = frames.get_depth_frame()
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color_frame = frames.get_color_frame()
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# 获取深度帧和彩色帧的stream_profile
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depth_profile = depth_frame.get_profile()
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color_profile = color_frame.get_profile()
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# 获取外参
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extrinsics = depth_profile.get_extrinsics_to(color_profile)
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# 打印外参
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print("Extrinsics: ", extrinsics) # 这里会打印出外参的旋转和平移信息
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# 获取并打印内参
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depth_intrinsics = depth_profile.as_video_stream_profile().get_intrinsics()
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color_intrinsics = color_profile.as_video_stream_profile().get_intrinsics()
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print("Depth Intrinsics: ")
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print("width: ", depth_intrinsics.width)
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print("height: ", depth_intrinsics.height)
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print("fx: ", depth_intrinsics.fx)
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print("fy: ", depth_intrinsics.fy)
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print("ppx: ", depth_intrinsics.ppx)
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print("ppy: ", depth_intrinsics.ppy)
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print("model: ", depth_intrinsics.model) # 畸变模型
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print("coeffs: ", depth_intrinsics.coeffs) # 畸变系数
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print("Color Intrinsics: ")
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print("width: ", color_intrinsics.width)
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print("height: ", color_intrinsics.height)
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print("fx: ", color_intrinsics.fx)
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print("fy: ", color_intrinsics.fy)
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print("ppx: ", color_intrinsics.ppx)
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print("ppy: ", color_intrinsics.ppy)
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print("model: ", color_intrinsics.model) # 畸变模型
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print("coeffs: ", color_intrinsics.coeffs) # 畸变系数
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# 停止管道
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pipeline.stop()
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