三种方法-直接从Intel RealSenseD456/D435获取相机和IMU内外参数，自己标定很麻烦
1、直接从出厂参数获取
方法1——最直接
直接从Intel RealSense中获取相机参数。
先按照下面图片的步骤获取数据，保存为json,然后电脑可以直接用记事本打开查看。
方法2——最有条理
在ubuntu中连接相机，然后在终端分别输入如下命令:
1）、打开ros：
roscore
2）、新建一个终端启动realsense_ros,此时就有追踪画面了
roslaunch realsense2_camera rs_camera.launch
3）、根据需求分别输入下述命令，获取需要的参数：
rostopic echo /camera/color/camera_info
rostopic echo /camera/accel/imu_info
rostopic echo /camera/color/camera_info
rostopic echo /camera/depth/camera_info
rostopic echo /camera/infra1/camera_info
rostopic echo /camera/infra2/camera_info
rostopic echo /camera/extrinsics/depth_to_color
方法3——最全
在ubuntu中连接相机，然后在终端输入如下命令，查看D456的标定参数：
rs-enumerate-devices -c
终端列出的所有参数如下，这比realsense-viewer给出要多很很很很……多多：
book@100ask:~$ rs-enumerate-devices -c
Device info:
Name : Intel RealSense D456
Serial Number : 333422304212
Firmware Version : 5.16.0.1
Recommended Firmware Version : 5.16.0.1
Physical Port : /sys/devices/pci0000:00/0000:00:15.0/0000:03:00.0/usb4/4-1/4-1:1.0/video4linux/video0
Debug Op Code : 15
Advanced Mode : YES
Product Id : 0B5C
Camera Locked : YES
Usb Type Descriptor : 3.2
Product Line : D400
Asic Serial Number : 320143060035
Firmware Update Id : 320143060035
Dfu Device Path :
Stream Profiles supported by Stereo Module
Supported modes:
STREAM RESOLUTION FORMAT FPS
Infrared 1280x720 UYVY @ 30/15/5 Hz
Infrared | BGRA8 @ 30/15/5 Hz
Infrared | RGBA8 @ 30/15/5 Hz
Infrared | BGR8 @ 30/15/5 Hz
Infrared | RGB8 @ 30/15/5 Hz
Infrared 848x480 UYVY @ 90/60/30/15/5 Hz
Infrared | BGRA8 @ 90/60/30/15/5 Hz
Infrared | RGBA8 @ 90/60/30/15/5 Hz
Infrared | BGR8 @ 90/60/30/15/5 Hz
Infrared | RGB8 @ 90/60/30/15/5 Hz
Infrared 848x100 UYVY @ 100 Hz
Infrared | BGRA8 @ 100 Hz
Infrared | RGBA8 @ 100 Hz
Infrared | BGR8 @ 100 Hz
Infrared | RGB8 @ 100 Hz
Infrared 640x480 UYVY @ 90/60/30/15/5 Hz
Infrared | BGRA8 @ 90/60/30/15/5 Hz
Infrared | RGBA8 @ 90/60/30/15/5 Hz
Infrared | BGR8 @ 90/60/30/15/5 Hz
Infrared | RGB8 @ 90/60/30/15/5 Hz
Infrared 640x360 UYVY @ 90/60/30/15/5 Hz
Infrared | BGRA8 @ 90/60/30/15/5 Hz
Infrared | RGBA8 @ 90/60/30/15/5 Hz
Infrared | BGR8 @ 90/60/30/15/5 Hz
Infrared | RGB8 @ 90/60/30/15/5 Hz
Infrared 480x270 UYVY @ 90/60/30/15/5 Hz
Infrared | BGRA8 @ 90/60/30/15/5 Hz
Infrared | RGBA8 @ 90/60/30/15/5 Hz
Infrared | BGR8 @ 90/60/30/15/5 Hz
Infrared | RGB8 @ 90/60/30/15/5 Hz
Infrared 424x240 UYVY @ 90/60/30/15/5 Hz
Infrared | BGRA8 @ 90/60/30/15/5 Hz
Infrared | RGBA8 @ 90/60/30/15/5 Hz
Infrared | BGR8 @ 90/60/30/15/5 Hz
Infrared | RGB8 @ 90/60/30/15/5 Hz
Infrared 1 1280x800 Y16 @ 25/15 Hz
Infrared 1 | Y8 @ 30/15 Hz
Infrared 1 1280x720 Y8 @ 30/15/5 Hz
Infrared 1 848x480 Y8 @ 90/60/30/15/5 Hz
Infrared 1 848x100 Y8 @ 100 Hz
Infrared 1 640x480 Y8 @ 90/60/30/15/5 Hz
Infrared 1 640x400 Y16 @ 25/15 Hz
Infrared 1 640x360 Y8 @ 90/60/30/15/5 Hz
Infrared 1 480x270 Y8 @ 90/60/30/15/5 Hz
Infrared 1 424x240 Y8 @ 90/60/30/15/5 Hz
Infrared 2 1280x800 Y16 @ 25/15 Hz
Infrared 2 | Y8 @ 30/15 Hz
Infrared 2 1280x720 Y8 @ 30/15/5 Hz
Infrared 2 848x480 Y8 @ 90/60/30/15/5 Hz
Infrared 2 848x100 Y8 @ 100 Hz
Infrared 2 640x480 Y8 @ 90/60/30/15/5 Hz
Infrared 2 640x400 Y16 @ 25/15 Hz
Infrared 2 640x360 Y8 @ 90/60/30/15/5 Hz
Infrared 2 480x270 Y8 @ 90/60/30/15/5 Hz
Infrared 2 424x240 Y8 @ 90/60/30/15/5 Hz
Depth 1280x720 Z16 @ 30/15/5 Hz
Depth 848x480 Z16 @ 90/60/30/15/5 Hz
Depth 848x100 Z16 @ 100 Hz
Depth 640x480 Z16 @ 90/60/30/15/5 Hz
Depth 640x360 Z16 @ 90/60/30/15/5 Hz
Depth 480x270 Z16 @ 90/60/30/15/5 Hz
Depth 424x240 Z16 @ 90/60/30/15/5 Hz
Depth 256x144 Z16 @ 90 Hz
Stream Profiles supported by RGB Camera
Supported modes:
STREAM RESOLUTION FORMAT FPS
Color 1280x800 RGB8 @ 30/15/10/5 Hz
Color | RAW16 @ 30 Hz
Color | Y8 @ 30/15/10/5 Hz
Color | BGRA8 @ 30/15/10/5 Hz
Color | RGBA8 @ 30/15/10/5 Hz
Color | BGR8 @ 30/15/10/5 Hz
Color | YUYV @ 30/15/10/5 Hz
Color 1280x720 RGB8 @ 30/15/10/5 Hz
Color | Y8 @ 30/15/10/5 Hz
Color | BGRA8 @ 30/15/10/5 Hz
Color | RGBA8 @ 30/15/10/5 Hz
Color | BGR8 @ 30/15/10/5 Hz
Color | YUYV @ 30/15/10/5 Hz
Color 848x480 RGB8 @ 60/30/15/5 Hz
Color | Y8 @ 60/30/15/5 Hz
Color | BGRA8 @ 60/30/15/5 Hz
Color | RGBA8 @ 60/30/15/5 Hz
Color | BGR8 @ 60/30/15/5 Hz
Color | YUYV @ 60/30/15/5 Hz
Color 640x480 RGB8 @ 60/30/15/5 Hz
Color | Y8 @ 60/30/15/5 Hz
Color | BGRA8 @ 60/30/15/5 Hz
Color | RGBA8 @ 60/30/15/5 Hz
Color | BGR8 @ 60/30/15/5 Hz
Color | YUYV @ 60/30/15/5 Hz
Color 640x360 RGB8 @ 90/60/30/15/5 Hz
Color | Y8 @ 90/60/30/15/5 Hz
Color | BGRA8 @ 90/60/30/15/5 Hz
Color | RGBA8 @ 90/60/30/15/5 Hz
Color | BGR8 @ 90/60/30/15/5 Hz
Color | YUYV @ 90/60/30/15/5 Hz
Color 480x270 RGB8 @ 90/60/30/15/5 Hz
Color | Y8 @ 90/60/30/15/5 Hz
Color | BGRA8 @ 90/60/30/15/5 Hz
Color | RGBA8 @ 90/60/30/15/5 Hz
Color | BGR8 @ 90/60/30/15/5 Hz
Color | YUYV @ 90/60/30/15/5 Hz
Color 424x240 RGB8 @ 90/60/30/15/5 Hz
Color | Y8 @ 90/60/30/15/5 Hz
Color | BGRA8 @ 90/60/30/15/5 Hz
Color | RGBA8 @ 90/60/30/15/5 Hz
Color | BGR8 @ 90/60/30/15/5 Hz
Color | YUYV @ 90/60/30/15/5 Hz
Stream Profiles supported by Motion Module
Supported modes:
STREAM FORMAT FPS
Accel MOTION_XYZ32F @ 200/100 Hz
Gyro MOTION_XYZ32F @ 400/200 Hz
17/11 21:56:53,327 ERROR [140035100243200] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0x56488f696ad0, intr:[ 424x240 p[214.133 120.562] f[217.048 217.048] Brown Conrady [0 0 0 0 0] ] ) Not Implemented] No intrinsics are available for this stream profile!
17/11 21:56:53,327 ERROR [140035100243200] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0x56488f696810, intr:[ 424x240 p[214.133 120.562] f[217.048 217.048] Brown Conrady [0 0 0 0 0] ] ) Not Implemented] No intrinsics are available for this stream profile!
17/11 21:56:53,328 ERROR [140035100243200] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0x56488f6812e0, intr:[ 640x480 p[323.864 240.979] f[393.144 393.144] Brown Conrady [0 0 0 0 0] ] ) Not Implemented] No intrinsics are available for this stream profile!
17/11 21:56:53,328 ERROR [140035100243200] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0x56488f6a9fb0, intr:[ 640x480 p[323.864 240.979] f[393.144 393.144] Brown Conrady [0 0 0 0 0] ] ) Not Implemented] No intrinsics are available for this stream profile!
17/11 21:56:53,328 ERROR [140035100243200] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0x56488f696bd0, intr:[ 424x240 p[214.133 120.562] f[217.048 217.048] Brown Conrady [0 0 0 0 0] ] ) Not Implemented] No intrinsics are available for this stream profile!
17/11 21:56:53,328 ERROR [140035100243200] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0x56488f696960, intr:[ 424x240 p[214.133 120.562] f[217.048 217.048] Brown Conrady [0 0 0 0 0] ] ) Not Implemented] No intrinsics are available for this stream profile!
17/11 21:56:53,328 ERROR [140035100243200] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0x56488f681390, intr:[ 640x480 p[323.864 240.979] f[393.144 393.144] Brown Conrady [0 0 0 0 0] ] ) Not Implemented] No intrinsics are available for this stream profile!
17/11 21:56:53,328 ERROR [140035100243200] (rs.cpp:237) [rs2_get_video_stream_intrinsics( from:0x56488f6aa060, intr:[ 640x480 p[323.864 240.979] f[393.144 393.144] Brown Conrady [0 0 0 0 0] ] ) Not Implemented] No intrinsics are available for this stream profile!
Intrinsic Parameters:
Intrinsic of "Depth" / 256x144 / {Z16}
Width: 256
Height: 144
PPX: 134.440002441406
PPY: 73.6981201171875
Fx: 655.239685058594
Fy: 655.239685058594
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 22.1 x 12.54
Intrinsic of "Depth" / 424x240 / {Z16}
Width: 424
Height: 240
PPX: 214.133255004883
PPY: 120.5625
Fx: 217.048141479492
Fy: 217.048141479492
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.87
Intrinsic of "Depth" / 480x270 / {Z16}
Width: 480
Height: 270
PPX: 242.415008544922
PPY: 135.615310668945
Fx: 245.714874267578
Fy: 245.714874267578
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Depth" / 640x360 / {Z16}
Width: 640
Height: 360
PPX: 323.220001220703
PPY: 180.849060058594
Fx: 327.619842529297
Fy: 327.619842529297
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Depth" / 640x480 / {Z16}
Width: 640
Height: 480
PPX: 323.864013671875
PPY: 240.978881835938
Fx: 393.143798828125
Fy: 393.143798828125
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 78.28 x 62.8
Intrinsic of "Depth" / 848x100 / {Z16}
Width: 848
Height: 100
PPX: 428.266510009766
PPY: 51.125
Fx: 434.096282958984
Fy: 434.096282958984
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 13.14
Intrinsic of "Depth" / 848x480 / {Z16}
Width: 848
Height: 480
PPX: 428.266510009766
PPY: 241.125
Fx: 434.096282958984
Fy: 434.096282958984
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.87
Intrinsic of "Depth" / 1280x720 / {Z16}
Width: 1280
Height: 720
PPX: 646.440002441406
PPY: 361.698120117188
Fx: 655.239685058594
Fy: 655.239685058594
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Color" / 424x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8}
Width: 424
Height: 240
PPX: 218.474304199219
PPY: 124.041870117188
Fx: 213.636184692383
Fy: 213.347045898438
Distortion: Inverse Brown Conrady
Coeffs: -0.0554852411150932 0.0657553821802139 5.25410068803467e-05 0.000443693628767505 -0.0214200764894485
FOV (deg): 89.53 x 58.7
Intrinsic of "Color" / 480x270 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8}
Width: 480
Height: 270
PPX: 247.329391479492
PPY: 139.575698852539
Fx: 241.852279663086
Fy: 241.524932861328
Distortion: Inverse Brown Conrady
Coeffs: -0.0554852411150932 0.0657553821802139 5.25410068803467e-05 0.000443693628767505 -0.0214200764894485
FOV (deg): 89.53 x 58.39
Intrinsic of "Color" / 640x360 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8}
Width: 640
Height: 360
PPX: 329.772521972656
PPY: 186.100936889648
Fx: 322.4697265625
Fy: 322.033233642578
Distortion: Inverse Brown Conrady
Coeffs: -0.0554852411150932 0.0657553821802139 5.25410068803467e-05 0.000443693628767505 -0.0214200764894485
FOV (deg): 89.53 x 58.39
Intrinsic of "Color" / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8}
Width: 640
Height: 480
PPX: 331.727020263672
PPY: 247.321136474609
Fx: 386.963653564453
Fy: 386.439880371094
Distortion: Inverse Brown Conrady
Coeffs: -0.0554852411150932 0.0657553821802139 5.25410068803467e-05 0.000443693628767505 -0.0214200764894485
FOV (deg): 79.14 x 63.67
Intrinsic of "Color" / 848x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8}
Width: 848
Height: 480
PPX: 436.948608398438
PPY: 248.083740234375
Fx: 427.272369384766
Fy: 426.694091796875
Distortion: Inverse Brown Conrady
Coeffs: -0.0554852411150932 0.0657553821802139 5.25410068803467e-05 0.000443693628767505 -0.0214200764894485
FOV (deg): 89.53 x 58.7
Intrinsic of "Color" / 1280x720 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8}
Width: 1280
Height: 720
PPX: 659.545043945312
PPY: 372.201873779297
Fx: 644.939453125
Fy: 644.066467285156
Distortion: Inverse Brown Conrady
Coeffs: -0.0554852411150932 0.0657553821802139 5.25410068803467e-05 0.000443693628767505 -0.0214200764894485
FOV (deg): 89.53 x 58.39
Intrinsic of "Color" / 1280x800 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y8/RAW16}
Width: 1280
Height: 800
PPX: 659.545043945312
PPY: 412.201873779297
Fx: 644.939453125
Fy: 644.066467285156
Distortion: Inverse Brown Conrady
Coeffs: -0.0554852411150932 0.0657553821802139 5.25410068803467e-05 0.000443693628767505 -0.0214200764894485
FOV (deg): 89.53 x 63.67
Intrinsic of "Infrared" / 424x240 / {RGB8/BGR8/RGBA8/BGRA8/UYVY}
Width: 424
Height: 240
PPX: 214.133255004883
PPY: 120.5625
Fx: 217.048141479492
Fy: 217.048141479492
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.87
Intrinsic of "Infrared" / 480x270 / {RGB8/BGR8/RGBA8/BGRA8/UYVY}
Width: 480
Height: 270
PPX: 242.415008544922
PPY: 135.615310668945
Fx: 245.714874267578
Fy: 245.714874267578
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Infrared" / 640x360 / {RGB8/BGR8/RGBA8/BGRA8/UYVY}
Width: 640
Height: 360
PPX: 323.220001220703
PPY: 180.849060058594
Fx: 327.619842529297
Fy: 327.619842529297
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Infrared" / 640x480 / {RGB8/BGR8/RGBA8/BGRA8/UYVY}
Width: 640
Height: 480
PPX: 323.864013671875
PPY: 240.978881835938
Fx: 393.143798828125
Fy: 393.143798828125
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 78.28 x 62.8
Intrinsic of "Infrared" / 848x100 / {RGB8/BGR8/RGBA8/BGRA8/UYVY}
Width: 848
Height: 100
PPX: 428.266510009766
PPY: 51.125
Fx: 434.096282958984
Fy: 434.096282958984
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 13.14
Intrinsic of "Infrared" / 848x480 / {RGB8/BGR8/RGBA8/BGRA8/UYVY}
Width: 848
Height: 480
PPX: 428.266510009766
PPY: 241.125
Fx: 434.096282958984
Fy: 434.096282958984
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.87
Intrinsic of "Infrared" / 1280x720 / {RGB8/BGR8/RGBA8/BGRA8/UYVY}
Width: 1280
Height: 720
PPX: 646.440002441406
PPY: 361.698120117188
Fx: 655.239685058594
Fy: 655.239685058594
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Infrared 1" / 424x240 / {Y8}
Width: 424
Height: 240
PPX: 214.133255004883
PPY: 120.5625
Fx: 217.048141479492
Fy: 217.048141479492
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.87
Intrinsic of "Infrared 1" / 480x270 / {Y8}
Width: 480
Height: 270
PPX: 242.415008544922
PPY: 135.615310668945
Fx: 245.714874267578
Fy: 245.714874267578
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Infrared 1" / 640x360 / {Y8}
Width: 640
Height: 360
PPX: 323.220001220703
PPY: 180.849060058594
Fx: 327.619842529297
Fy: 327.619842529297
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Infrared 1" / 640x480 / {Y8}
Width: 640
Height: 480
PPX: 323.864013671875
PPY: 240.978881835938
Fx: 393.143798828125
Fy: 393.143798828125
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 78.28 x 62.8
Intrinsic of "Infrared 1" / 848x100 / {Y8}
Width: 848
Height: 100
PPX: 428.266510009766
PPY: 51.125
Fx: 434.096282958984
Fy: 434.096282958984
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 13.14
Intrinsic of "Infrared 1" / 848x480 / {Y8}
Width: 848
Height: 480
PPX: 428.266510009766
PPY: 241.125
Fx: 434.096282958984
Fy: 434.096282958984
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.87
Intrinsic of "Infrared 1" / 1280x720 / {Y8}
Width: 1280
Height: 720
PPX: 646.440002441406
PPY: 361.698120117188
Fx: 655.239685058594
Fy: 655.239685058594
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Infrared 1" / 1280x800 / {Y8}
Width: 1280
Height: 800
PPX: 646.440002441406
PPY: 401.698120117188
Fx: 655.239685058594
Fy: 655.239685058594
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 62.8
Intrinsic of "Infrared 2" / 424x240 / {Y8}
Width: 424
Height: 240
PPX: 214.133255004883
PPY: 120.5625
Fx: 217.048141479492
Fy: 217.048141479492
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.87
Intrinsic of "Infrared 2" / 480x270 / {Y8}
Width: 480
Height: 270
PPX: 242.415008544922
PPY: 135.615310668945
Fx: 245.714874267578
Fy: 245.714874267578
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Infrared 2" / 640x360 / {Y8}
Width: 640
Height: 360
PPX: 323.220001220703
PPY: 180.849060058594
Fx: 327.619842529297
Fy: 327.619842529297
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Infrared 2" / 640x480 / {Y8}
Width: 640
Height: 480
PPX: 323.864013671875
PPY: 240.978881835938
Fx: 393.143798828125
Fy: 393.143798828125
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 78.28 x 62.8
Intrinsic of "Infrared 2" / 848x100 / {Y8}
Width: 848
Height: 100
PPX: 428.266510009766
PPY: 51.125
Fx: 434.096282958984
Fy: 434.096282958984
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 13.14
Intrinsic of "Infrared 2" / 848x480 / {Y8}
Width: 848
Height: 480
PPX: 428.266510009766
PPY: 241.125
Fx: 434.096282958984
Fy: 434.096282958984
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.87
Intrinsic of "Infrared 2" / 1280x720 / {Y8}
Width: 1280
Height: 720
PPX: 646.440002441406
PPY: 361.698120117188
Fx: 655.239685058594
Fy: 655.239685058594
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 57.57
Intrinsic of "Infrared 2" / 1280x800 / {Y8}
Width: 1280
Height: 800
PPX: 646.440002441406
PPY: 401.698120117188
Fx: 655.239685058594
Fy: 655.239685058594
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.65 x 62.8
Motion Intrinsic Parameters:
Motion Intrinsic of "Gyro" MOTION_XYZ32F
Bias Variances: 0.000000000000000 0.000000000000000 0.000000000000000
Noise Variances: 0.000000000000000 0.000000000000000 0.000000000000000
Sensitivity :
1.000000 0.000000 0.000000 0.000000
0.000000 1.000000 0.000000 0.000000
0.000000 0.000000 1.000000 0.000000
Motion Intrinsic of "Accel" MOTION_XYZ32F
Bias Variances: 0.000000000000000 0.000000000000000 0.000000000000000
Noise Variances: 0.000000000000000 0.000000000000000 0.000000000000000
Sensitivity :
1.000000 0.000000 0.000000 0.000000
0.000000 1.000000 0.000000 0.000000
0.000000 0.000000 1.000000 0.000000
Extrinsic Parameters:
Extrinsic from "Depth" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Depth" To "Color" :
Rotation Matrix:
1 3.74204e-05 0.000886596
-3.71193e-05 1 -0.000339585
-0.000886608 0.000339552 1
Translation Vector: -0.0592418983578682 -3.182674117852e-05 0.000426311016781256
Extrinsic from "Depth" To "Infrared" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Depth" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Depth" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0950622856616974 0 0
Extrinsic from "Depth" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0302200000733137 0.00740000000223517 0.0160199999809265
Extrinsic from "Depth" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0302200000733137 0.00740000000223517 0.0160199999809265
Extrinsic from "Color" To "Depth" :
Rotation Matrix:
1 -3.71193e-05 -0.000886608
3.74204e-05 1 0.000339552
0.000886596 -0.000339585 1
Translation Vector: 0.0592422559857368 3.38988429575693e-05 -0.000373798015061766
Extrinsic from "Color" To "Color" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Color" To "Infrared" :
Rotation Matrix:
1 -3.71193e-05 -0.000886608
3.74204e-05 1 0.000339552
0.000886596 -0.000339585 1
Translation Vector: 0.0592422559857368 3.38988429575693e-05 -0.000373798015061766
Extrinsic from "Color" To "Infrared 1" :
Rotation Matrix:
1 -3.71193e-05 -0.000886608
3.74204e-05 1 0.000339552
0.000886596 -0.000339585 1
Translation Vector: 0.0592422559857368 3.38988429575693e-05 -0.000373798015061766
Extrinsic from "Color" To "Infrared 2" :
Rotation Matrix:
1 -3.71193e-05 -0.000886608
3.74204e-05 1 0.000339552
0.000886596 -0.000339585 1
Translation Vector: -0.0358200296759605 3.38988429575693e-05 -0.000373798015061766
Extrinsic from "Color" To "Gyro" :
Rotation Matrix:
1 -3.71193e-05 -0.000886608
3.74204e-05 1 0.000339552
0.000886596 -0.000339585 1
Translation Vector: 0.0290222559124231 0.00743389874696732 0.0156462024897337
Extrinsic from "Color" To "Accel" :
Rotation Matrix:
1 -3.71193e-05 -0.000886608
3.74204e-05 1 0.000339552
0.000886596 -0.000339585 1
Translation Vector: 0.0290222559124231 0.00743389874696732 0.0156462024897337
Extrinsic from "Infrared" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Infrared" To "Color" :
Rotation Matrix:
1 3.74204e-05 0.000886596
-3.71193e-05 1 -0.000339585
-0.000886608 0.000339552 1
Translation Vector: -0.0592418983578682 -3.182674117852e-05 0.000426311016781256
Extrinsic from "Infrared" To "Infrared" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Infrared" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Infrared" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0950622856616974 0 0
Extrinsic from "Infrared" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0302200000733137 0.00740000000223517 0.0160199999809265
Extrinsic from "Infrared" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0302200000733137 0.00740000000223517 0.0160199999809265
Extrinsic from "Infrared 1" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Infrared 1" To "Color" :
Rotation Matrix:
1 3.74204e-05 0.000886596
-3.71193e-05 1 -0.000339585
-0.000886608 0.000339552 1
Translation Vector: -0.0592418983578682 -3.182674117852e-05 0.000426311016781256
Extrinsic from "Infrared 1" To "Infrared" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Infrared 1" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Infrared 1" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0950622856616974 0 0
Extrinsic from "Infrared 1" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0302200000733137 0.00740000000223517 0.0160199999809265
Extrinsic from "Infrared 1" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0302200000733137 0.00740000000223517 0.0160199999809265
Extrinsic from "Infrared 2" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0950622856616974 0 0
Extrinsic from "Infrared 2" To "Color" :
Rotation Matrix:
1 3.74204e-05 0.000886596
-3.71193e-05 1 -0.000339585
-0.000886608 0.000339552 1
Translation Vector: 0.0358203500509262 -3.5355391446501e-05 0.000342027982696891
Extrinsic from "Infrared 2" To "Infrared" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0950622856616974 0 0
Extrinsic from "Infrared 2" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0950622856616974 0 0
Extrinsic from "Infrared 2" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Infrared 2" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0648422837257385 0.00740000000223517 0.0160199999809265
Extrinsic from "Infrared 2" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0648422837257385 0.00740000000223517 0.0160199999809265
Extrinsic from "Gyro" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0302200000733137 -0.00740000000223517 -0.0160199999809265
Extrinsic from "Gyro" To "Color" :
Rotation Matrix:
1 3.74204e-05 0.000886596
-3.71193e-05 1 -0.000339585
-0.000886608 0.000339552 1
Translation Vector: -0.0290363915264606 -0.00742750754579902 -0.0156229883432388
Extrinsic from "Gyro" To "Infrared" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0302200000733137 -0.00740000000223517 -0.0160199999809265
Extrinsic from "Gyro" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0302200000733137 -0.00740000000223517 -0.0160199999809265
Extrinsic from "Gyro" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0648422837257385 -0.00740000000223517 -0.0160199999809265
Extrinsic from "Gyro" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Gyro" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Accel" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0302200000733137 -0.00740000000223517 -0.0160199999809265
Extrinsic from "Accel" To "Color" :
Rotation Matrix:
1 3.74204e-05 0.000886596
-3.71193e-05 1 -0.000339585
-0.000886608 0.000339552 1
Translation Vector: -0.0290363915264606 -0.00742750754579902 -0.0156229883432388
Extrinsic from "Accel" To "Infrared" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0302200000733137 -0.00740000000223517 -0.0160199999809265
Extrinsic from "Accel" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0.0302200000733137 -0.00740000000223517 -0.0160199999809265
Extrinsic from "Accel" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: -0.0648422837257385 -0.00740000000223517 -0.0160199999809265
Extrinsic from "Accel" To "Gyro" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
Extrinsic from "Accel" To "Accel" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1
Translation Vector: 0 0 0
2、自己标定，比较麻烦
请参考如下方法：
D435i标定摄像头和IMU笔记一到四