使用rs-enumerate-devices -c来查看D435i可支持的分辨率和内外参

最新推荐文章于 2025-10-26 18:36:46 发布
原创 最新推荐文章于 2025-10-26 18:36:46 发布 · 521 阅读 · 3 ·
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#c语言 #数码相机 #开发语言

参考自:用rs-enumerate-devices -c命令可以查看D435i所有可以支持的分辨率，帧率，所有的相机内参外参，以下是我的学习记录
realsense的相机来实现的算法其实还是有很多的，所以要对它非常的熟悉才行。
使用rs-enumerate-devices -c命令可以查到相机的所有参数，这里也就提醒我launch文件中的分辨率是不能随便更改的，得是支持的分辨率和帧率。
读取配置信息：

rs-enumerate-devices

读取内外参和imu的参数：

rs-enumerate-devices -c

cyun@cyun:~$ rs-enumerate-devices -c
Device info: 
    Name                          : 	Intel RealSense D435I
    Serial Number                 : 	109622075085
    Firmware Version              : 	05.12.06.00
    Recommended Firmware Version  : 	05.12.08.200
    Physical Port                 : 	/sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video2
    Debug Op Code                 : 	15
    Advanced Mode                 : 	YES
    Product Id                    : 	0B3A
    Camera Locked                 : 	YES
    Usb Type Descriptor           : 	3.2
    Product Line                  : 	D400
    Asic Serial Number            : 	104623050310
    Firmware Update Id            : 	104623050310
 
Stream Profiles supported by Stereo Module
 Supported modes:
    stream       resolution      fps       format   
    Infrared 1	  1280x800	@ 30Hz	   Y8
    Infrared 1	  1280x800	@ 25Hz	   Y16
    Infrared 1	  1280x800	@ 15Hz	   Y16
    Infrared 1	  1280x800	@ 15Hz	   Y8
    Infrared 1	  1280x720	@ 30Hz	   Y8
    Infrared 1	  1280x720	@ 15Hz	   Y8
    Infrared 1	  1280x720	@ 6Hz	   Y8
    Infrared 1	  848x480	@ 90Hz	   Y8
    Infrared 1	  848x480	@ 60Hz	   Y8
    Infrared 1	  848x480	@ 30Hz	   Y8
    Infrared 1	  848x480	@ 15Hz	   Y8
    Infrared 1	  848x480	@ 6Hz	   Y8
    Infrared 1	  848x100	@ 300Hz	   Y8
    Infrared 1	  848x100	@ 100Hz	   Y8
    Infrared 1	  640x480	@ 90Hz	   Y8
    Infrared 1	  640x480	@ 60Hz	   Y8
    Infrared 1	  640x480	@ 30Hz	   Y8
    Infrared 1	  640x480	@ 15Hz	   Y8
    Infrared 1	  640x480	@ 6Hz	   Y8
    Infrared 1	  640x400	@ 25Hz	   Y16
    Infrared 1	  640x400	@ 15Hz	   Y16
    Infrared 1	  640x360	@ 90Hz	   Y8
    Infrared 1	  640x360	@ 60Hz	   Y8
    Infrared 1	  640x360	@ 30Hz	   Y8
    Infrared 1	  640x360	@ 15Hz	   Y8
    Infrared 1	  640x360	@ 6Hz	   Y8
    Infrared 1	  480x270	@ 90Hz	   Y8
    Infrared 1	  480x270	@ 60Hz	   Y8
    Infrared 1	  480x270	@ 30Hz	   Y8
    Infrared 1	  480x270	@ 15Hz	   Y8
    Infrared 1	  480x270	@ 6Hz	   Y8
    Infrared 1	  424x240	@ 90Hz	   Y8
    Infrared 1	  424x240	@ 60Hz	   Y8
    Infrared 1	  424x240	@ 30Hz	   Y8
    Infrared 1	  424x240	@ 15Hz	   Y8
    Infrared 1	  424x240	@ 6Hz	   Y8
    Infrared 1	  256x144	@ 300Hz	   Y8
    Infrared 1	  256x144	@ 90Hz	   Y8
    Infrared 2	  1280x800	@ 30Hz	   Y8
    Infrared 2	  1280x800	@ 25Hz	   Y16
    Infrared 2	  1280x800	@ 15Hz	   Y16
    Infrared 2	  1280x800	@ 15Hz	   Y8
    Infrared 2	  1280x720	@ 30Hz	   Y8
    Infrared 2	  1280x720	@ 15Hz	   Y8
    Infrared 2	  1280x720	@ 6Hz	   Y8
    Infrared 2	  848x480	@ 90Hz	   Y8
    Infrared 2	  848x480	@ 60Hz	   Y8
    Infrared 2	  848x480	@ 30Hz	   Y8
    Infrared 2	  848x480	@ 15Hz	   Y8
    Infrared 2	  848x480	@ 6Hz	   Y8
    Infrared 2	  848x100	@ 300Hz	   Y8
    Infrared 2	  848x100	@ 100Hz	   Y8
    Infrared 2	  640x480	@ 90Hz	   Y8
    Infrared 2	  640x480	@ 60Hz	   Y8
    Infrared 2	  640x480	@ 30Hz	   Y8
    Infrared 2	  640x480	@ 15Hz	   Y8
    Infrared 2	  640x480	@ 6Hz	   Y8
    Infrared 2	  640x400	@ 25Hz	   Y16
    Infrared 2	  640x400	@ 15Hz	   Y16
    Infrared 2	  640x360	@ 90Hz	   Y8
    Infrared 2	  640x360	@ 60Hz	   Y8
    Infrared 2	  640x360	@ 30Hz	   Y8
    Infrared 2	  640x360	@ 15Hz	   Y8
    Infrared 2	  640x360	@ 6Hz	   Y8
    Infrared 2	  480x270	@ 90Hz	   Y8
    Infrared 2	  480x270	@ 60Hz	   Y8
    Infrared 2	  480x270	@ 30Hz	   Y8
    Infrared 2	  480x270	@ 15Hz	   Y8
    Infrared 2	  480x270	@ 6Hz	   Y8
    Infrared 2	  424x240	@ 90Hz	   Y8
    Infrared 2	  424x240	@ 60Hz	   Y8
    Infrared 2	  424x240	@ 30Hz	   Y8
    Infrared 2	  424x240	@ 15Hz	   Y8
    Infrared 2	  424x240	@ 6Hz	   Y8
    Infrared 2	  256x144	@ 300Hz	   Y8
    Infrared 2	  256x144	@ 90Hz	   Y8
    Depth	  1280x720	@ 30Hz	   Z16
    Depth	  1280x720	@ 15Hz	   Z16
    Depth	  1280x720	@ 6Hz	   Z16
    Depth	  848x480	@ 90Hz	   Z16
    Depth	  848x480	@ 60Hz	   Z16
    Depth	  848x480	@ 30Hz	   Z16
    Depth	  848x480	@ 15Hz	   Z16
    Depth	  848x480	@ 6Hz	   Z16
    Depth	  848x100	@ 300Hz	   Z16
    Depth	  848x100	@ 100Hz	   Z16
    Depth	  640x480	@ 90Hz	   Z16
    Depth	  640x480	@ 60Hz	   Z16
    Depth	  640x480	@ 30Hz	   Z16
    Depth	  640x480	@ 15Hz	   Z16
    Depth	  640x480	@ 6Hz	   Z16
    Depth	  640x360	@ 90Hz	   Z16
    Depth	  640x360	@ 60Hz	   Z16
    Depth	  640x360	@ 30Hz	   Z16
    Depth	  640x360	@ 15Hz	   Z16
    Depth	  640x360	@ 6Hz	   Z16
    Depth	  480x270	@ 90Hz	   Z16
    Depth	  480x270	@ 60Hz	   Z16
    Depth	  480x270	@ 30Hz	   Z16
    Depth	  480x270	@ 15Hz	   Z16
    Depth	  480x270	@ 6Hz	   Z16
    Depth	  424x240	@ 90Hz	   Z16
    Depth	  424x240	@ 60Hz	   Z16
    Depth	  424x240	@ 30Hz	   Z16
    Depth	  424x240	@ 15Hz	   Z16
    Depth	  424x240	@ 6Hz	   Z16
    Depth	  256x144	@ 300Hz	   Z16
    Depth	  256x144	@ 90Hz	   Z16
 
Stream Profiles supported by RGB Camera
 Supported modes:
    stream       resolution      fps       format   
    Color	  1920x1080	@ 30Hz	   RGB8
    Color	  1920x1080	@ 30Hz	   Y16
    Color	  1920x1080	@ 30Hz	   BGRA8
    Color	  1920x1080	@ 30Hz	   RGBA8
    Color	  1920x1080	@ 30Hz	   BGR8
    Color	  1920x1080	@ 30Hz	   YUYV
    Color	  1920x1080	@ 15Hz	   RGB8
    Color	  1920x1080	@ 15Hz	   Y16
    Color	  1920x1080	@ 15Hz	   BGRA8
    Color	  1920x1080	@ 15Hz	   RGBA8
    Color	  1920x1080	@ 15Hz	   BGR8
    Color	  1920x1080	@ 15Hz	   YUYV
    Color	  1920x1080	@ 6Hz	   RGB8
    Color	  1920x1080	@ 6Hz	   Y16
    Color	  1920x1080	@ 6Hz	   BGRA8
    Color	  1920x1080	@ 6Hz	   RGBA8
    Color	  1920x1080	@ 6Hz	   BGR8
    Color	  1920x1080	@ 6Hz	   YUYV
    Color	  1280x720	@ 30Hz	   RGB8
    Color	  1280x720	@ 30Hz	   Y16
    Color	  1280x720	@ 30Hz	   BGRA8
    Color	  1280x720	@ 30Hz	   RGBA8
    Color	  1280x720	@ 30Hz	   BGR8
    Color	  1280x720	@ 30Hz	   YUYV
    Color	  1280x720	@ 15Hz	   RGB8
    Color	  1280x720	@ 15Hz	   Y16
    Color	  1280x720	@ 15Hz	   BGRA8
    Color	  1280x720	@ 15Hz	   RGBA8
    Color	  1280x720	@ 15Hz	   BGR8
    Color	  1280x720	@ 15Hz	   YUYV
    Color	  1280x720	@ 6Hz	   RGB8
    Color	  1280x720	@ 6Hz	   Y16
    Color	  1280x720	@ 6Hz	   BGRA8
    Color	  1280x720	@ 6Hz	   RGBA8
    Color	  1280x720	@ 6Hz	   BGR8
    Color	  1280x720	@ 6Hz	   YUYV
    Color	  960x540	@ 60Hz	   RGB8
    Color	  960x540	@ 60Hz	   Y16
    Color	  960x540	@ 60Hz	   BGRA8
    Color	  960x540	@ 60Hz	   RGBA8
    Color	  960x540	@ 60Hz	   BGR8
    Color	  960x540	@ 60Hz	   YUYV
    Color	  960x540	@ 30Hz	   RGB8
    Color	  960x540	@ 30Hz	   Y16
    Color	  960x540	@ 30Hz	   BGRA8
    Color	  960x540	@ 30Hz	   RGBA8
    Color	  960x540	@ 30Hz	   BGR8
    Color	  960x540	@ 30Hz	   YUYV
    Color	  960x540	@ 15Hz	   RGB8
    Color	  960x540	@ 15Hz	   Y16
    Color	  960x540	@ 15Hz	   BGRA8
    Color	  960x540	@ 15Hz	   RGBA8
    Color	  960x540	@ 15Hz	   BGR8
    Color	  960x540	@ 15Hz	   YUYV
    Color	  960x540	@ 6Hz	   RGB8
    Color	  960x540	@ 6Hz	   Y16
    Color	  960x540	@ 6Hz	   BGRA8
    Color	  960x540	@ 6Hz	   RGBA8
    Color	  960x540	@ 6Hz	   BGR8
    Color	  960x540	@ 6Hz	   YUYV
    Color	  848x480	@ 60Hz	   RGB8
    Color	  848x480	@ 60Hz	   Y16
    Color	  848x480	@ 60Hz	   BGRA8
    Color	  848x480	@ 60Hz	   RGBA8
    Color	  848x480	@ 60Hz	   BGR8
    Color	  848x480	@ 60Hz	   YUYV
    Color	  848x480	@ 30Hz	   RGB8
    Color	  848x480	@ 30Hz	   Y16
    Color	  848x480	@ 30Hz	   BGRA8
    Color	  848x480	@ 30Hz	   RGBA8
    Color	  848x480	@ 30Hz	   BGR8
    Color	  848x480	@ 30Hz	   YUYV
    Color	  848x480	@ 15Hz	   RGB8
    Color	  848x480	@ 15Hz	   Y16
    Color	  848x480	@ 15Hz	   BGRA8
    Color	  848x480	@ 15Hz	   RGBA8
    Color	  848x480	@ 15Hz	   BGR8
    Color	  848x480	@ 15Hz	   YUYV
    Color	  848x480	@ 6Hz	   RGB8
    Color	  848x480	@ 6Hz	   Y16
    Color	  848x480	@ 6Hz	   BGRA8
    Color	  848x480	@ 6Hz	   RGBA8
    Color	  848x480	@ 6Hz	   BGR8
    Color	  848x480	@ 6Hz	   YUYV
    Color	  640x480	@ 60Hz	   RGB8
    Color	  640x480	@ 60Hz	   Y16
    Color	  640x480	@ 60Hz	   BGRA8
    Color	  640x480	@ 60Hz	   RGBA8
    Color	  640x480	@ 60Hz	   BGR8
    Color	  640x480	@ 60Hz	   YUYV
    Color	  640x480	@ 30Hz	   RGB8
    Color	  640x480	@ 30Hz	   Y16
    Color	  640x480	@ 30Hz	   BGRA8
    Color	  640x480	@ 30Hz	   RGBA8
    Color	  640x480	@ 30Hz	   BGR8
    Color	  640x480	@ 30Hz	   YUYV
    Color	  640x480	@ 15Hz	   RGB8
    Color	  640x480	@ 15Hz	   Y16
    Color	  640x480	@ 15Hz	   BGRA8
    Color	  640x480	@ 15Hz	   RGBA8
    Color	  640x480	@ 15Hz	   BGR8
    Color	  640x480	@ 15Hz	   YUYV
    Color	  640x480	@ 6Hz	   RGB8
    Color	  640x480	@ 6Hz	   Y16
    Color	  640x480	@ 6Hz	   BGRA8
    Color	  640x480	@ 6Hz	   RGBA8
    Color	  640x480	@ 6Hz	   BGR8
    Color	  640x480	@ 6Hz	   YUYV
    Color	  640x360	@ 60Hz	   RGB8
    Color	  640x360	@ 60Hz	   Y16
    Color	  640x360	@ 60Hz	   BGRA8
    Color	  640x360	@ 60Hz	   RGBA8
    Color	  640x360	@ 60Hz	   BGR8
    Color	  640x360	@ 60Hz	   YUYV
    Color	  640x360	@ 30Hz	   RGB8
    Color	  640x360	@ 30Hz	   Y16
    Color	  640x360	@ 30Hz	   BGRA8
    Color	  640x360	@ 30Hz	   RGBA8
    Color	  640x360	@ 30Hz	   BGR8
    Color	  640x360	@ 30Hz	   YUYV
    Color	  640x360	@ 15Hz	   RGB8
    Color	  640x360	@ 15Hz	   Y16
    Color	  640x360	@ 15Hz	   BGRA8
    Color	  640x360	@ 15Hz	   RGBA8
    Color	  640x360	@ 15Hz	   BGR8
    Color	  640x360	@ 15Hz	   YUYV
    Color	  640x360	@ 6Hz	   RGB8
    Color	  640x360	@ 6Hz	   Y16
    Color	  640x360	@ 6Hz	   BGRA8
    Color	  640x360	@ 6Hz	   RGBA8
    Color	  640x360	@ 6Hz	   BGR8
    Color	  640x360	@ 6Hz	   YUYV
    Color	  424x240	@ 60Hz	   RGB8
    Color	  424x240	@ 60Hz	   Y16
    Color	  424x240	@ 60Hz	   BGRA8
    Color	  424x240	@ 60Hz	   RGBA8
    Color	  424x240	@ 60Hz	   BGR8
    Color	  424x240	@ 60Hz	   YUYV
    Color	  424x240	@ 30Hz	   RGB8
    Color	  424x240	@ 30Hz	   Y16
    Color	  424x240	@ 30Hz	   BGRA8
    Color	  424x240	@ 30Hz	   RGBA8
    Color	  424x240	@ 30Hz	   BGR8
    Color	  424x240	@ 30Hz	   YUYV
    Color	  424x240	@ 15Hz	   RGB8
    Color	  424x240	@ 15Hz	   Y16
    Color	  424x240	@ 15Hz	   BGRA8
    Color	  424x240	@ 15Hz	   RGBA8
    Color	  424x240	@ 15Hz	   BGR8
    Color	  424x240	@ 15Hz	   YUYV
    Color	  424x240	@ 6Hz	   RGB8
    Color	  424x240	@ 6Hz	   Y16
    Color	  424x240	@ 6Hz	   BGRA8
    Color	  424x240	@ 6Hz	   RGBA8
    Color	  424x240	@ 6Hz	   BGR8
    Color	  424x240	@ 6Hz	   YUYV
    Color	  320x240	@ 60Hz	   RGB8
    Color	  320x240	@ 60Hz	   Y16
    Color	  320x240	@ 60Hz	   BGRA8
    Color	  320x240	@ 60Hz	   RGBA8
    Color	  320x240	@ 60Hz	   BGR8
    Color	  320x240	@ 60Hz	   YUYV
    Color	  320x240	@ 30Hz	   RGB8
    Color	  320x240	@ 30Hz	   Y16
    Color	  320x240	@ 30Hz	   BGRA8
    Color	  320x240	@ 30Hz	   RGBA8
    Color	  320x240	@ 30Hz	   BGR8
    Color	  320x240	@ 30Hz	   YUYV
    Color	  320x240	@ 6Hz	   RGB8
    Color	  320x240	@ 6Hz	   Y16
    Color	  320x240	@ 6Hz	   BGRA8
    Color	  320x240	@ 6Hz	   RGBA8
    Color	  320x240	@ 6Hz	   BGR8
    Color	  320x240	@ 6Hz	   YUYV
    Color	  320x180	@ 60Hz	   RGB8
    Color	  320x180	@ 60Hz	   Y16
    Color	  320x180	@ 60Hz	   BGRA8
    Color	  320x180	@ 60Hz	   RGBA8
    Color	  320x180	@ 60Hz	   BGR8
    Color	  320x180	@ 60Hz	   YUYV
    Color	  320x180	@ 30Hz	   RGB8
    Color	  320x180	@ 30Hz	   Y16
    Color	  320x180	@ 30Hz	   BGRA8
    Color	  320x180	@ 30Hz	   RGBA8
    Color	  320x180	@ 30Hz	   BGR8
    Color	  320x180	@ 30Hz	   YUYV
    Color	  320x180	@ 6Hz	   RGB8
    Color	  320x180	@ 6Hz	   Y16
    Color	  320x180	@ 6Hz	   BGRA8
    Color	  320x180	@ 6Hz	   RGBA8
    Color	  320x180	@ 6Hz	   BGR8
    Color	  320x180	@ 6Hz	   YUYV
 
Stream Profiles supported by Motion Module
 Supported modes:
    stream       resolution      fps       format   
    Accel	 N/A		@ 250Hz	   MOTION_XYZ32F
    Accel	 N/A		@ 63Hz	   MOTION_XYZ32F
    Gyro	 N/A		@ 400Hz	   MOTION_XYZ32F
    Gyro	 N/A		@ 200Hz	   MOTION_XYZ32F
 
Intrinsic Parameters:
 
 Intrinsic of "Depth" / 256x144 / {Z16}
  Width:      	256
  Height:     	144
  PPX:        	124.671081542969
  PPY:        	75.4661865234375
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	22.77 x 12.92
 
 Intrinsic of "Depth" / 424x240 / {Z16}
  Width:      	424
  Height:     	240
  PPX:        	210.89729309082
  PPY:        	121.148178100586
  Fx:         	210.579345703125
  Fy:         	210.579345703125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.39 x 59.35
 
 Intrinsic of "Depth" / 480x270 / {Z16}
  Width:      	480
  Height:     	270
  PPX:        	238.751647949219
  PPY:        	136.299819946289
  Fx:         	238.391723632812
  Fy:         	238.391723632812
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Depth" / 640x360 / {Z16}
  Width:      	640
  Height:     	360
  PPX:        	318.335540771484
  PPY:        	181.733093261719
  Fx:         	317.855621337891
  Fy:         	317.855621337891
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Depth" / 640x480 / {Z16}
  Width:      	640
  Height:     	480
  PPX:        	318.002655029297
  PPY:        	242.079711914062
  Fx:         	381.4267578125
  Fy:         	381.4267578125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	79.99 x 64.36
 
 Intrinsic of "Depth" / 848x100 / {Z16}
  Width:      	848
  Height:     	100
  PPX:        	421.794586181641
  PPY:        	52.2963562011719
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 13.54
 
 Intrinsic of "Depth" / 848x480 / {Z16}
  Width:      	848
  Height:     	480
  PPX:        	421.794586181641
  PPY:        	242.296356201172
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.35
 
 Intrinsic of "Depth" / 1280x720 / {Z16}
  Width:      	1280
  Height:     	720
  PPX:        	636.671081542969
  PPY:        	363.466186523438
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Color" / 320x180 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	320
  Height:     	180
  PPX:        	161.122665405273
  PPY:        	86.5624389648438
  Fx:         	227.984909057617
  Fy:         	227.9404296875
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	70.12 x 43.09
 
 Intrinsic of "Color" / 320x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	320
  Height:     	240
  PPX:        	161.496887207031
  PPY:        	115.416580200195
  Fx:         	303.979858398438
  Fy:         	303.920562744141
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	55.52 x 43.09
 
 Intrinsic of "Color" / 424x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	424
  Height:     	240
  PPX:        	213.496887207031
  PPY:        	115.416580200195
  Fx:         	303.979858398438
  Fy:         	303.920562744141
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	69.78 x 43.09
 
 Intrinsic of "Color" / 640x360 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	640
  Height:     	360
  PPX:        	322.245330810547
  PPY:        	173.124877929688
  Fx:         	455.969818115234
  Fy:         	455.880859375
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	70.12 x 43.09
 
 Intrinsic of "Color" / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	640
  Height:     	480
  PPX:        	322.993774414062
  PPY:        	230.833160400391
  Fx:         	607.959716796875
  Fy:         	607.841125488281
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	55.52 x 43.09
 
 Intrinsic of "Color" / 848x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	848
  Height:     	480
  PPX:        	426.993774414062
  PPY:        	230.833160400391
  Fx:         	607.959716796875
  Fy:         	607.841125488281
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	69.78 x 43.09
 
 Intrinsic of "Color" / 960x540 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	960
  Height:     	540
  PPX:        	483.367980957031
  PPY:        	259.687316894531
  Fx:         	683.954711914062
  Fy:         	683.8212890625
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	70.12 x 43.09
 
 Intrinsic of "Color" / 1280x720 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	1280
  Height:     	720
  PPX:        	644.490661621094
  PPY:        	346.249755859375
  Fx:         	911.939636230469
  Fy:         	911.76171875
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	70.12 x 43.09
 
 Intrinsic of "Color" / 1920x1080 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width:      	1920
  Height:     	1080
  PPX:        	966.735961914062
  PPY:        	519.374633789062
  Fx:         	1367.90942382812
  Fy:         	1367.642578125
  Distortion: 	Inverse Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	70.12 x 43.08
 
 Intrinsic of "Infrared 1" / 256x144 / {Y8}
  Width:      	256
  Height:     	144
  PPX:        	124.671081542969
  PPY:        	75.4661865234375
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	22.77 x 12.92
 
 Intrinsic of "Infrared 1" / 424x240 / {Y8}
  Width:      	424
  Height:     	240
  PPX:        	210.89729309082
  PPY:        	121.148178100586
  Fx:         	210.579345703125
  Fy:         	210.579345703125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.39 x 59.35
 
 Intrinsic of "Infrared 1" / 480x270 / {Y8}
  Width:      	480
  Height:     	270
  PPX:        	238.751647949219
  PPY:        	136.299819946289
  Fx:         	238.391723632812
  Fy:         	238.391723632812
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 1" / 640x360 / {Y8}
  Width:      	640
  Height:     	360
  PPX:        	318.335540771484
  PPY:        	181.733093261719
  Fx:         	317.855621337891
  Fy:         	317.855621337891
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 1" / 640x480 / {Y8}
  Width:      	640
  Height:     	480
  PPX:        	318.002655029297
  PPY:        	242.079711914062
  Fx:         	381.4267578125
  Fy:         	381.4267578125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	79.99 x 64.36
 
 Intrinsic of "Infrared 1" / 848x100 / {Y8}
  Width:      	848
  Height:     	100
  PPX:        	421.794586181641
  PPY:        	52.2963562011719
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 13.54
 
 Intrinsic of "Infrared 1" / 848x480 / {Y8}
  Width:      	848
  Height:     	480
  PPX:        	421.794586181641
  PPY:        	242.296356201172
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.35
 
 Intrinsic of "Infrared 1" / 1280x720 / {Y8}
  Width:      	1280
  Height:     	720
  PPX:        	636.671081542969
  PPY:        	363.466186523438
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 1" / 1280x800 / {Y8}
  Width:      	1280
  Height:     	800
  PPX:        	636.671081542969
  PPY:        	403.466186523438
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 64.36
 
 Intrinsic of "Infrared 2" / 256x144 / {Y8}
  Width:      	256
  Height:     	144
  PPX:        	124.671081542969
  PPY:        	75.4661865234375
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	22.77 x 12.92
 
 Intrinsic of "Infrared 2" / 424x240 / {Y8}
  Width:      	424
  Height:     	240
  PPX:        	210.89729309082
  PPY:        	121.148178100586
  Fx:         	210.579345703125
  Fy:         	210.579345703125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.39 x 59.35
 
 Intrinsic of "Infrared 2" / 480x270 / {Y8}
  Width:      	480
  Height:     	270
  PPX:        	238.751647949219
  PPY:        	136.299819946289
  Fx:         	238.391723632812
  Fy:         	238.391723632812
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 2" / 640x360 / {Y8}
  Width:      	640
  Height:     	360
  PPX:        	318.335540771484
  PPY:        	181.733093261719
  Fx:         	317.855621337891
  Fy:         	317.855621337891
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 2" / 640x480 / {Y8}
  Width:      	640
  Height:     	480
  PPX:        	318.002655029297
  PPY:        	242.079711914062
  Fx:         	381.4267578125
  Fy:         	381.4267578125
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	79.99 x 64.36
 
 Intrinsic of "Infrared 2" / 848x100 / {Y8}
  Width:      	848
  Height:     	100
  PPX:        	421.794586181641
  PPY:        	52.2963562011719
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 13.54
 
 Intrinsic of "Infrared 2" / 848x480 / {Y8}
  Width:      	848
  Height:     	480
  PPX:        	421.794586181641
  PPY:        	242.296356201172
  Fx:         	421.15869140625
  Fy:         	421.15869140625
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.35
 
 Intrinsic of "Infrared 2" / 1280x720 / {Y8}
  Width:      	1280
  Height:     	720
  PPX:        	636.671081542969
  PPY:        	363.466186523438
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 59.04
 
 Intrinsic of "Infrared 2" / 1280x800 / {Y8}
  Width:      	1280
  Height:     	800
  PPX:        	636.671081542969
  PPY:        	403.466186523438
  Fx:         	635.711242675781
  Fy:         	635.711242675781
  Distortion: 	Brown Conrady
  Coeffs:     	0  	0  	0  	0  	0  
  FOV (deg):  	90.38 x 64.36
 
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:
   0.999654         0.0262549        0.00146348    
  -0.0262588        0.999652         0.00269019    
  -0.00139234      -0.00272768       0.999995      
 
 Translation Vector: 0.0149013074114919  -0.000272490200586617  3.13341515720822e-05  
 
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  0  0  
 
Extrinsic from "Depth"	  To	  "Gyro" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Depth"	  To	  "Accel" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Color"	  To	  "Depth" :
 Rotation Matrix:
   0.999654        -0.0262588       -0.00139234    
   0.0262549        0.999652        -0.00272768    
   0.00146348       0.00269019       0.999995      
 
 Translation Vector: -0.0149032659828663  -0.000118751668196637  -5.24087845406029e-05  
 
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 1" :
 Rotation Matrix:
   0.999654        -0.0262588       -0.00139234    
   0.0262549        0.999652        -0.00272768    
   0.00146348       0.00269019       0.999995      
 
 Translation Vector: -0.0149032659828663  -0.000118751668196637  -5.24087845406029e-05  
 
Extrinsic from "Color"	  To	  "Infrared 2" :
 Rotation Matrix:
   0.999654        -0.0262588       -0.00139234    
   0.0262549        0.999652        -0.00272768    
   0.00146348       0.00269019       0.999995      
 
 Translation Vector: -0.0149032659828663  -0.000118751668196637  -5.24087845406029e-05  
 
Extrinsic from "Color"	  To	  "Gyro" :
 Rotation Matrix:
   0.999654        -0.0262588       -0.00139234    
   0.0262549        0.999652        -0.00272768    
   0.00146348       0.00269019       0.999995      
 
 Translation Vector: -0.0204232670366764  0.00498124863952398  0.0116875907406211  
 
Extrinsic from "Color"	  To	  "Accel" :
 Rotation Matrix:
   0.999654        -0.0262588       -0.00139234    
   0.0262549        0.999652        -0.00272768    
   0.00146348       0.00269019       0.999995      
 
 Translation Vector: -0.0204232670366764  0.00498124863952398  0.0116875907406211  
 
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:
   0.999654         0.0262549        0.00146348    
  -0.0262588        0.999652         0.00269019    
  -0.00139234      -0.00272768       0.999995      
 
 Translation Vector: 0.0149013074114919  -0.000272490200586617  3.13341515720822e-05  
 
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: -0.0496295988559723  0  0  
 
Extrinsic from "Infrared 1"	  To	  "Gyro" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Infrared 1"	  To	  "Accel" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Infrared 2"	  To	  "Depth" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.0496295988559723  0  0  
 
Extrinsic from "Infrared 2"	  To	  "Color" :
 Rotation Matrix:
   0.999654         0.0262549        0.00146348    
  -0.0262588        0.999652         0.00269019    
  -0.00139234      -0.00272768       0.999995      
 
 Translation Vector: 0.0645137503743172  -0.00157570256851614  -3.77673059119843e-05  
 
Extrinsic from "Infrared 2"	  To	  "Infrared 1" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.0496295988559723  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: 0.0441095978021622  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Infrared 2"	  To	  "Accel" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.0441095978021622  0.00510000018402934  0.011739999987185  
 
Extrinsic from "Gyro"	  To	  "Depth" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
Extrinsic from "Gyro"	  To	  "Color" :
 Rotation Matrix:
   0.999654         0.0262549        0.00146348    
  -0.0262588        0.999652         0.00269019    
  -0.00139234      -0.00272768       0.999995      
 
 Translation Vector: 0.0202683173120022  -0.00554724456742406  -0.0117023847997189  
 
Extrinsic from "Gyro"	  To	  "Infrared 1" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
Extrinsic from "Gyro"	  To	  "Infrared 2" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
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: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
Extrinsic from "Accel"	  To	  "Color" :
 Rotation Matrix:
   0.999654         0.0262549        0.00146348    
  -0.0262588        0.999652         0.00269019    
  -0.00139234      -0.00272768       0.999995      
 
 Translation Vector: 0.0202683173120022  -0.00554724456742406  -0.0117023847997189  
 
Extrinsic from "Accel"	  To	  "Infrared 1" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
Extrinsic from "Accel"	  To	  "Infrared 2" :
 Rotation Matrix:
   1   0   0
   0   1   0
   0   0   1
 
 Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
 
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

这里面是有相机的内外参的。
同时也可以到realsense_viewer里面采集标定的数据：

realsense_viewer

去calibration data选项就能到处相关的标定数据，不过这些有点看不懂。

https://m.bilibili.com/video/BV19y4y147Lw
这是官方的动态校正视频，出厂都是校正了的，所以其实并不需要标定的说~

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mkdocs-enumerate-headings-plugin 插件可枚举MkDocs页面上的标题（h1-h6）。 :backhand_index_pointing_right:如果您希望将标题编号添加到站点中以支持导出到PDF，请 ！ 特征 :glowing_star: 自动为所有标题编号...
ts-transformer-enumerate:TypeScript自定义转换器，可枚举字符串文字类型的并集成员
05-02
如何使用enumerate import { enumerate } from 'ts-transformer-enumerate' ; type Colors = 'green' | 'yellow' | 'red' ; const Colors = enumerate < Colors> ( ) ; console . log ( Colors . green ) ; // '...
Python库 | mkdocs-enumerate-headings-plugin-0.4.1.tar.gz
03-06
开发者可以通过阅读源码来了解其实现原理，或者查看文档来学习如何更有效地使用和配置这个插件。 总的来说，`mkdocs-enumerate-headings-plugin`是Python开发中提高MkDocs项目文档质量的一个实用工具。它通过为...
level-enumerate:枚举增加数字的键
06-23
npm install level-enumerate 用法 var enumerator = require ( 'level-enumerate' ) var enumerate = enumerator ( db ) // where db is a levelup enumerate ( 'hello' , function ( err , value ) { console ....
D435i 相机内外参数分享，可用于VINS、ORB等算法
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D435i手眼标定参数输出
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Realsense2 相机基本操作命令.docx
02-02
在ROS中先搭建好Realsense2深度相机的运行环境，再利用此深度相机进行某些操作，实现某些功能。
D435相机内参标定（无法直接应用在相机上）
El_ia_uk的博客
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等标定中X Y Size Skew 四个进度条全为绿时再点击CALIBRATE，即可生成一个压缩包，里面包含残疾的图片信息及一个txt、一个yaml文件。标定的过程，不断变换位置直到calibrate可以使用。矩阵R是一个3✖3的旋转矩阵，仅对双目相机有效，使左右极线平行。矩阵D是失真系数，包括(k1, k2, t1, t2, k3)cameraInfo包含D、K、R、P四个矩阵。其中8x6是除去最外面的角点后的行列数。使用ros自带的标定工具。矩阵K是相机内参，即。矩阵P是投影矩阵，即。
D435i相机固件升级-imu校准-单目和imu及双目和imu外参标定-VINSfusion运行双目+imu（完整版）
m0_64151866的博客
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九大章节，一文搞定D435i相机的疑难杂症，固件升级，IMU校准，单目和IMU的标定，双目标定，双目和IMU的标定，以及vins-fusion的运行
linux环境下获取Intel RealSense D435i的内参矩阵K
weixin_45710335的博客
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Intel Realsense D435 如何获取摄像头的内参？get_profile（） video_stream_profile（） get_intrinsics（）
Dontla的博客
10-20 1万+
# 获取摄像头的内参是为了将像素坐标转化成实际坐标 import pyrealsense2 as rs pipeline = rs.pipeline() config = rs.config() config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30) config.enable_stream(rs.stream.col...
realsense查看相机的内参，相机和imu的外参
bin_bin111的博客
04-25 761
rs-enumerate-devices -c
d435i相机内参标定（项目上无法直接使用，记录一下）
drivenzyw的博客
04-12 4016
这里的video stream选择了0,关于video stream的设置，RGB8/Y16等模式影响不大,频率也影响不大，但是分辨率影响很大。如何选择正确的分辨率？————————请听下回分解。是垂直通过图像平面和相机原点的轴线，它与图像平面的焦点被称为主点（principal point）。Distortion Coefficients是畸变参数。对上面博文的内容进行一些解释说明。focal length是焦距。——————————待更。
rs-enumerate-devices -c | grep "Depth Scale"这个命令行没反应
05-07
<think>好的，用户之前问过关于D415相机的depth_scale_factor的值，现在又遇到了使用rs-enumerate-devices命令没有反应的问题。首先，我需要回顾之前的回答，确认已经提供的解决方案是否覆盖了当前的问题。 用户提到他们在尝试运行rs-enumerate-devices命令时没有反应。可能的原因有很多，比如相机没有正确连接，驱动未安装，或者权限问题。需要一步步排查。 首先，检查硬件连接。确保D415相机通过USB 3.0接口连接，因为USB 2.0可能导致性能不足或无法识别。用户可能没有注意到USB端口的版本，或者线缆有问题。建议更换USB端口或线缆试试。 其次，确认是否安装了正确的驱动和SDK。Librealsense的安装是否正确，尤其是在Linux系统下可能需要手动安装内核模块。用户可能在新环境中配置，或者更新系统后驱动出现了问题。提醒用户检查安装步骤，并确保所有依赖项都已满足。 权限问题也是一个常见原因，尤其是在Linux系统中。用户可能需要将当前用户添加到plugdev组，或者设置udev规则。如果没有正确配置权限，普通用户无法访问设备，导致命令无输出。需要指导用户如何修改权限。 另外，固件版本过旧也可能导致兼容性问题。建议用户更新相机固件到最新版本，使用Intel提供的固件更新工具。同时，检查rs-enumerate-devices命令是否存在或路径是否正确，有时候安装问题可能导致命令无法执行。 如果上述步骤都无效，可能需要更深入的故障排除，比如查看系统日志是否有设备识别错误，或者尝试其他命令如rs-depth-quality来测试相机功能。用户可能需要更多的日志信息来诊断问题，比如使用dmesg或journalctl查看实时日志。 总结来说，用户的问题主要集中在两个方面：获取depth_scale_factor的值和解决命令无响应的问题。需要分步骤指导用户检查硬件、驱动、权限和固件，并提供替代方法如使用Python脚本获取参数，确保用户有多种途径解决问题。</think>### D415相机`depth_scale_factor`值与`rs-enumerate-devices`无响应问题解决方案 --- #### **一、D415相机的`depth_scale_factor`默认值** 1. **出厂默认值** D415的深度比例因子通常为 **$0.001$（即1毫米/单位）**，满足公式： $$ \text{实际距离（米）} = \text{原始深度值} \times 0.001 $$ 例如：深度图像中像素值为`2500`时，实际距离为$2500 \times 0.001 = 2.5\ \text{米}$[^1]。 2. **校准后的调整值** 若使用过`Dynamic Calibrator`工具进行校准，可能微调至类似 **$0.000998$**，误差范围在±0.000002内[^3]。 --- #### **二、`rs-enumerate-devices`无响应的排查步骤** ##### **1. 基础硬件检查** - **USB连接** - 确认使用**USB 3.0**接口（蓝色端口），D415需要USB 3.0带宽支持 - 更换数据线测试（劣质线缆可能导致供电不足） - **设备识别验证** 在Linux终端执行： ```bash lsusb | grep "Intel RealSense" ``` - **正常输出**：`Bus 003 Device 005: ID 8086:0b3d Intel Corp. D415` - **无输出**：需检查驱动或硬件连接[^1] ##### **2. 驱动与SDK兼容性** - **Librealsense安装验证** 运行基础命令测试： ```bash rs-depth-quality ``` - **正常情况**：显示深度图像流 - **报错示例**：`No device detected`表明驱动未正确加载 - **内核模块加载（Linux专用）** 检查内核模块状态： ```bash modprobe uvcvideo && dmesg | grep uvc ``` - 若输出包含`Intel RealSense D415`，则驱动正常 - 若未加载，需重新编译SDK内核模块[^1] ##### **3. 权限问题（Linux系统关键）** - **用户组权限** 将当前用户加入`video`和`plugdev`组： ```bash sudo usermod -aG video,plugdev $USER ``` 重启后生效。 - **udev规则配置** 创建规则文件： ```bash echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="8086", MODE="0666"' | sudo tee /etc/udev/rules.d/99-realsense.rules sudo udevadm control --reload-rules ``` ##### **4. 固件与工具版本** - **固件更新** 通过`Intel RealSense Viewer`更新固件： ![固件更新步骤](https://dev.intelrealsense.com/docs/firmware-update-tool) - 确保固件版本≥v2.50.0以支持动态校准参数[^3] - **工具版本检查** 验证`rs-enumerate-devices`版本： ```bash rs-enumerate-devices --version ``` - **要求**：Librealsense≥v2.45.0 ##### **5. 替代命令验证** 若仍无响应，尝试直接读取参数： ```python import pyrealsense2 as rs pipeline = rs.pipeline() config = rs.config() pipeline.start(config) # 获取深度传感器参数 depth_sensor = pipeline.get_active_profile().get_device().first_depth_sensor() print("Depth Scale:", depth_sensor.get_depth_scale()) pipeline.stop() ``` - **输出示例**：`Depth Scale: 0.001` --- #### **三、深度比例因子相关故障树** ```mermaid graph TD A[rs-enumerate-devices无响应] --> B{硬件连接} A --> C{驱动/SDK} A --> D{权限} B --> B1[USB 3.0端口] B --> B2[更换数据线] C --> C1[重新安装Librealsense] C --> C2[验证内核模块] D --> D1[用户组配置] D --> D2[udev规则] ``` --- #### **四、扩展问题** 1. 如何在嵌入式系统（如Jetson Nano）上调试D415的深度比例因子？ 2. 使用Python时出现`RuntimeError: No device connected`的深层原因？ 3. 多台D415相机同时运行时如何避免参数冲突？ [^1]: Intel RealSense SDK 2.0官方文档《Device Configuration》 [^2]: Librealsense GitHub Issues #8345 "USB3 compatibility troubleshooting" [^3]: Intel技术白皮书《Depth Camera Calibration Best Practices》
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