D435内参获取教程（1左2右）
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D435内参获取（1左2右）
序列号：Intel RealSense D435 #944122074377
方式1（rs-sensor-control）
Color #0 (Video Stream: RGB8 640x480@ 30Hz)
Principal Point : 321.354, 241.137
Focal Length : 611.648, 610.186
Distortion Model : Inverse Brown Conrady
Distortion Coefficients : [0,0,0,0,0]
Infrared #1 (Video Stream: Y8 640x480@ 30Hz)
Principal Point : 322.397, 238.323
Focal Length : 385.164, 385.164
Distortion Model : Brown Conrady
Distortion Coefficients : [0,0,0,0,0]
Depth #0 (Video Stream: Z16 640x480@ 30Hz)
Principal Point : 322.397, 238.323
Focal Length : 385.164, 385.164
Distortion Model : Brown Conrady
Distortion Coefficients : [0,0,0,0,0]
结论
主点（cx, cy）:322.397, 238.323
焦距（fx, fy）:385.164, 385.164
方式2（Camera_info）
[fx 0 cx]
K = [ 0 fy cy]
[ 0 0 1]
/camera/color/camera_info
header:
seq: 15
stamp:
secs: 1746781303
nsecs: 32326460
frame_id: "camera_color_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [611.6482543945312, 0.0, 321.3543395996094, 0.0, 610.1864013671875, 241.137451171875, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [611.6482543945312, 0.0, 321.3543395996094, 0.0, 0.0, 610.1864013671875, 241.137451171875, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
/camera/depth/camera_info
header:
seq: 56
stamp:
secs: 1746781323
nsecs: 335634947
frame_id: "camera_depth_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [385.1638488769531, 0.0, 322.3971862792969, 0.0, 385.1638488769531, 238.3226318359375, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [385.1638488769531, 0.0, 322.3971862792969, 0.0, 0.0, 385.1638488769531, 238.3226318359375, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
/camera/infra1/camera_info
header:
seq: 16
stamp:
secs: 1746781351
nsecs: 236518860
frame_id: "camera_infra1_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [385.1638488769531, 0.0, 322.3971862792969, 0.0, 385.1638488769531, 238.3226318359375, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [385.1638488769531, 0.0, 322.3971862792969, 0.0, 0.0, 385.1638488769531, 238.3226318359375, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
/camera/infra2/camera_info
header:
seq: 17
stamp:
secs: 1746781370
nsecs: 628710
frame_id: "camera_infra1_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [385.1638488769531, 0.0, 322.3971862792969, 0.0, 385.1638488769531, 238.3226318359375, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [385.1638488769531, 0.0, 322.3971862792969, -19.31829071044922, 0.0, 385.1638488769531, 238.3226318359375, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False