虚拟相机内参

Color

header: 
  seq: 28013
  stamp: 
    secs: 1556
    nsecs: 148000000
  frame_id: "drone_with_d435::D435i::camera_color_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: []
K: [462.266357421875, 0.0, 320.0, 0.0, 462.266357421875, 240.0, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [462.266357421875, 0.0, 320.0, 0.0, 0.0, 462.266357421875, 240.0, 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

infra 1

header: 
  seq: 28427
  stamp: 
    secs: 1575
    nsecs: 788000000
  frame_id: "drone_with_d435::D435i::camera_ired1_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: []
K: [319.9348449707031, 0.0, 320.0, 0.0, 319.9348449707031, 240.0, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [319.9348449707031, 0.0, 320.0, 0.0, 0.0, 319.9348449707031, 240.0, 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

infra 2

header: 
  seq: 27447
  stamp: 
    secs: 1531
    nsecs: 532000000
  frame_id: "drone_with_d435::D435i::camera_ired2_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: []
K: [319.9348449707031, 0.0, 320.0, 0.0, 319.9348449707031, 240.0, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [319.9348449707031, 0.0, 320.0, 0.0, 0.0, 319.9348449707031, 240.0, 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

depth

header: 
  seq: 26545
  stamp: 
    secs: 1490
    nsecs: 436000000
  frame_id: "drone_with_d435::D435i::camera_depth_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: []
K: [319.9348449707031, 0.0, 320.0, 0.0, 319.9348449707031, 240.0, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [319.9348449707031, 0.0, 320.0, 0.0, 0.0, 319.9348449707031, 240.0, 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