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 rsdef 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()