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Realsense2深度相机的基本操作命令 https://blog.youkuaiyun.com/weixin_42361804/article/details/104144690 语义栅格地图（六) realsense实际测试 https://blog.youkuaiyun.com/weixin_41680653/article/details/93302324 realsense d435i 获取点云数据 https://blog.youkuaiyun.com/weixin_43030192/article/detai