import pyrealsense2 as rs

# 创建管道
pipeline = rs.pipeline()

# 配置管道
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)

# 启动管道
profile = pipeline.start(config)

# 等待帧
frames = pipeline.wait_for_frames()

# 获取深度帧和彩色帧
depth_frame = frames.get_depth_frame()
color_frame = frames.get_color_frame()

# 获取深度帧和彩色帧的stream_profile
depth_profile = depth_frame.get_profile()
color_profile = color_frame.get_profile()

# 获取外参
extrinsics = depth_profile.get_extrinsics_to(color_profile)

# 打印外参
print("Extrinsics: ", extrinsics)  # 这里会打印出外参的旋转和平移信息

# 获取并打印内参
depth_intrinsics = depth_profile.as_video_stream_profile().get_intrinsics()
color_intrinsics = color_profile.as_video_stream_profile().get_intrinsics()

print("Depth Intrinsics: ")
print("width: ", depth_intrinsics.width)
print("height: ", depth_intrinsics.height)
print("fx: ", depth_intrinsics.fx)
print("fy: ", depth_intrinsics.fy)
print("ppx: ", depth_intrinsics.ppx)
print("ppy: ", depth_intrinsics.ppy)
print("model: ", depth_intrinsics.model)  # 畸变模型
print("coeffs: ", depth_intrinsics.coeffs)  # 畸变系数

print("Color Intrinsics: ")
print("width: ", color_intrinsics.width)
print("height: ", color_intrinsics.height)
print("fx: ", color_intrinsics.fx)
print("fy: ", color_intrinsics.fy)
print("ppx: ", color_intrinsics.ppx)
print("ppy: ", color_intrinsics.ppy)
print("model: ", color_intrinsics.model)  # 畸变模型
print("coeffs: ", color_intrinsics.coeffs)  # 畸变系数

# 停止管道
pipeline.stop()