注意将代码中的分辨率改为自己项目中的分辨率
pip3 install pyrealsense2
import pyrealsense2 as rs
def print_intrinsics(stream_profile):
"""打印给定流的内参"""
intrinsics = stream_profile.as_video_stream_profile().get_intrinsics()
print(f"Intrinsics of {stream_profile.stream_type()} {stream_profile.format()}:")
print(f" Width: {intrinsics.width}")
print(f" Height: {intrinsics.height}")
print(f" cx: {intrinsics.ppx}")
print(f" cy: {intrinsics.ppy}")
print(f" Fx: {intrinsics.fx}")
print(f" Fy: {intrinsics.fy}")
print(f" Distortion model: {intrinsics.model}")
print(f" Coefficients: {intrinsics.coeffs}\n")
def main():
# 创建连接到相机的上下文
ctx = rs.context()
if len(ctx.devices) == 0:
print("No Intel RealSense device is connected.")
return
# 使用第一个检测到的设备
device = ctx.devices[0]
print("Found device:", device.get_info(rs.camera_info.name))
print("Serial number:", device.get_info(rs.camera_info.serial_number))
print("Firmware version:", device.get_info(rs.camera_info.firmware_version))
# 创建管道并配置流
pipeline = rs.pipeline()
config = rs.config()
config.enable_device(device.get_info(rs.camera_info.serial_number))
# 设置深度流和颜色流的分辨率
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 30)
# 启动管道
profile = pipeline.start(config)
# 获取流配置文件并打印内参
streams = profile.get_streams()
for stream in streams:
if stream.stream_type() in [rs.stream.depth, rs.stream.color]:
print_intrinsics(stream)
# 停止管道
pipeline.stop()
if __name__ == "__main__":
main()