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T265/D435i相机和相机与IMU参数获取，也可以通过realsense-viewer直接获取_获取t265

作者：思考机器 | 2024-02-04 18:37:02

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获取t265

T265/D435i相机和相机与IMU参数获取

参考这篇博文

https://blog.csdn.net/crp997576280/article/details/109544456

我想我们也需要理解里面的含义，里面有比如 fisheye 1  to fisheye 2 可能就是指两个鱼眼镜头间的旋转矩阵 rotation matric也应该是旋转矩阵的意思。我感觉双目之间的标定，双目和IMU的标定应该就是指两者之间的旋转矩阵吧？应该和单个相机标定出的参数含义不同吧？这么再看上面终端输出的信息是不是清楚了。

https://blog.csdn.net/weixin_43247057/article/details/102501856

 https://blog.csdn.net/sinat_16643223/article/details/114711290

这里也说是相机内参，相机到IMU是外参。确实我觉得单个相机的那些畸变参数那是自己的内参，但是相机和相机之前的旋转平移矩阵，相机和IMU之间的旋转平移矩阵，应该是外参。

那如何转化为stereo_imu.yaml里面的形式呢

是两个4*4的矩阵，还是直接搞清楚双目IMU标定得到的参数的真实含义，这样好些。

https://gitee.com/robin_shaun/XTDrone/tree/master/sensing/slam/vio/VINS-Fusion/config/realsense_d435i

阿木做的IMU和相机的联合标定最后得到的两个矩阵也是这样的形式，一个是左目和IMU的，一个是右目和IMU的。

https://blog.csdn.net/sinat_16643223/article/details/119463003

又有新的重大发现

 

 

但为什么我这点more只有这种显示呢

我按照提示它自动给我升级固件后我就可以看了。

点了右上角提示的Install,它既自动给你下载升级固件了，期间你不需要操作什么（中途可能要点击一个弹出的窗口上的OK），会有进度条显示，速度还可以。 中途会有一阵子realsense-viewer没有识别到D435i，不用管，升级完后会自动识别到的。

有进度调显示

 中途会弹出一个这个，点OK即可。

升级完固件它自动重新连上后再点more就可以看到标定参数了。

现在的固件版本是

我选择导出，导出的是一个json格式的文件，内容如下

  1. {
  2.   "baseline": "-49.6296",
  3.   "intrinsic_left.x.x": "0.495791",
  4.   "intrinsic_left.x.y": "0.7927",
  5.   "intrinsic_left.x.z": "0.498696",
  6.   "intrinsic_left.y.x": "0.50141",
  7.   "intrinsic_left.y.y": "-0.0561602",
  8.   "intrinsic_left.y.z": "0.0678906",
  9.   "intrinsic_left.z.x": "0.000170687",
  10.   "intrinsic_left.z.y": "-0.000435408",
  11.   "intrinsic_left.z.z": "-0.0214294",
  12.   "intrinsic_right.x.x": "0.494061",
  13.   "intrinsic_right.x.y": "0.789781",
  14.   "intrinsic_right.x.z": "0.499182",
  15.   "intrinsic_right.y.x": "0.507852",
  16.   "intrinsic_right.y.y": "-0.0587788",
  17.   "intrinsic_right.y.z": "0.0720991",
  18.   "intrinsic_right.z.x": "-3.93086e-05",
  19.   "intrinsic_right.z.y": "-0.000202735",
  20.   "intrinsic_right.z.z": "-0.0230006",
  21.   "rectified.0.fx": "953.567",
  22.   "rectified.0.fy": "953.567",
  23.   "rectified.0.height": "1080",
  24.   "rectified.0.ppx": "955.007",
  25.   "rectified.0.ppy": "545.199",
  26.   "rectified.0.width": "1920",
  27.   "rectified.1.fx": "635.711",
  28.   "rectified.1.fy": "635.711",
  29.   "rectified.1.height": "720",
  30.   "rectified.1.ppx": "636.671",
  31.   "rectified.1.ppy": "363.466",
  32.   "rectified.1.width": "1280",
  33.   "rectified.10.fx": "572.14",
  34.   "rectified.10.fy": "572.14",
  35.   "rectified.10.height": "0",
  36.   "rectified.10.ppx": "357.004",
  37.   "rectified.10.ppy": "363.12",
  38.   "rectified.10.width": "0",
  39.   "rectified.11.fx": "457.712",
  40.   "rectified.11.fy": "457.712",
  41.   "rectified.11.height": "0",
  42.   "rectified.11.ppx": "285.603",
  43.   "rectified.11.ppy": "290.496",
  44.   "rectified.11.width": "0",
  45.   "rectified.12.fx": "0",
  46.   "rectified.12.fy": "0",
  47.   "rectified.12.height": "400",
  48.   "rectified.12.ppx": "0",
  49.   "rectified.12.ppy": "0",
  50.   "rectified.12.width": "640",
  51.   "rectified.13.fx": "0",
  52.   "rectified.13.fy": "0",
  53.   "rectified.13.height": "576",
  54.   "rectified.13.ppx": "0",
  55.   "rectified.13.ppy": "0",
  56.   "rectified.13.width": "576",
  57.   "rectified.14.fx": "0",
  58.   "rectified.14.fy": "0",
  59.   "rectified.14.height": "720",
  60.   "rectified.14.ppx": "0",
  61.   "rectified.14.ppy": "0",
  62.   "rectified.14.width": "720",
  63.   "rectified.15.fx": "0",
  64.   "rectified.15.fy": "0",
  65.   "rectified.15.height": "1152",
  66.   "rectified.15.ppx": "0",
  67.   "rectified.15.ppy": "0",
  68.   "rectified.15.width": "1152",
  69.   "rectified.2.fx": "381.427",
  70.   "rectified.2.fy": "381.427",
  71.   "rectified.2.height": "480",
  72.   "rectified.2.ppx": "318.003",
  73.   "rectified.2.ppy": "242.08",
  74.   "rectified.2.width": "640",
  75.   "rectified.3.fx": "421.159",
  76.   "rectified.3.fy": "421.159",
  77.   "rectified.3.height": "480",
  78.   "rectified.3.ppx": "421.795",
  79.   "rectified.3.ppy": "242.296",
  80.   "rectified.3.width": "848",
  81.   "rectified.4.fx": "317.856",
  82.   "rectified.4.fy": "317.856",
  83.   "rectified.4.height": "360",
  84.   "rectified.4.ppx": "318.336",
  85.   "rectified.4.ppy": "181.733",
  86.   "rectified.4.width": "640",
  87.   "rectified.5.fx": "210.579",
  88.   "rectified.5.fy": "210.579",
  89.   "rectified.5.height": "240",
  90.   "rectified.5.ppx": "210.897",
  91.   "rectified.5.ppy": "121.148",
  92.   "rectified.5.width": "424",
  93.   "rectified.6.fx": "190.713",
  94.   "rectified.6.fy": "190.713",
  95.   "rectified.6.height": "240",
  96.   "rectified.6.ppx": "159.001",
  97.   "rectified.6.ppy": "121.04",
  98.   "rectified.6.width": "320",
  99.   "rectified.7.fx": "238.392",
  100.   "rectified.7.fy": "238.392",
  101.   "rectified.7.height": "270",
  102.   "rectified.7.ppx": "238.752",
  103.   "rectified.7.ppy": "136.3",
  104.   "rectified.7.width": "480",
  105.   "rectified.8.fx": "635.711",
  106.   "rectified.8.fy": "635.711",
  107.   "rectified.8.height": "800",
  108.   "rectified.8.ppx": "636.671",
  109.   "rectified.8.ppy": "403.466",
  110.   "rectified.8.width": "1280",
  111.   "rectified.9.fx": "476.783",
  112.   "rectified.9.fy": "476.783",
  113.   "rectified.9.height": "540",
  114.   "rectified.9.ppx": "477.503",
  115.   "rectified.9.ppy": "272.6",
  116.   "rectified.9.width": "960",
  117.   "world2left_rot.x.x": "0.999997",
  118.   "world2left_rot.x.y": "0.00216216",
  119.   "world2left_rot.x.z": "0.00103252",
  120.   "world2left_rot.y.x": "-0.00216406",
  121.   "world2left_rot.y.y": "0.999996",
  122.   "world2left_rot.y.z": "0.0018427",
  123.   "world2left_rot.z.x": "-0.00102854",
  124.   "world2left_rot.z.y": "-0.00184493",
  125.   "world2left_rot.z.z": "0.999998",
  126.   "world2right_rot.x.x": "0.999992",
  127.   "world2right_rot.x.y": "0.00176079",
  128.   "world2right_rot.x.z": "-0.00350629",
  129.   "world2right_rot.y.x": "-0.00176725",
  130.   "world2right_rot.y.y": "0.999997",
  131.   "world2right_rot.y.z": "-0.00184072",
  132.   "world2right_rot.z.x": "0.00350304",
  133.   "world2right_rot.z.y": "0.0018469",
  134.   "world2right_rot.z.z": "0.999992"
  135. }

https://github.com/IntelRealSense/librealsense/tree/master/tools/enumerate-devices
 

这里确实明确说了这个是给标定参数的

我用rs-enumerate-devices -c 查看我的D435i的标定参数，终端列出的所有参数如下，这比realsense-viewer给出的似乎多多了。

Rotation Matrix 是旋转矩阵

Translation Vector 是平移向量，所以只有三个数字，表示平移x y z就够了嘛。

  1. maxi@maxi:~$ rs-enumerate-devices -c
  2. Device info: 
  3.     Name                          : 	Intel RealSense D435I
  4.     Serial Number                 : 	109622075085
  5.     Firmware Version              : 	05.12.06.00
  6.     Recommended Firmware Version  : 	05.12.08.200
  7.     Physical Port                 : 	/sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video2
  8.     Debug Op Code                 : 	15
  9.     Advanced Mode                 : 	YES
  10.     Product Id                    : 	0B3A
  11.     Camera Locked                 : 	YES
  12.     Usb Type Descriptor           : 	3.2
  13.     Product Line                  : 	D400
  14.     Asic Serial Number            : 	104623050310
  15.     Firmware Update Id            : 	104623050310
  16.  
  17. Stream Profiles supported by Stereo Module
  18.  Supported modes:
  19.     stream       resolution      fps       format   
  20.     Infrared 1	  1280x800	@ 30Hz	   Y8
  21.     Infrared 1	  1280x800	@ 25Hz	   Y16
  22.     Infrared 1	  1280x800	@ 15Hz	   Y16
  23.     Infrared 1	  1280x800	@ 15Hz	   Y8
  24.     Infrared 1	  1280x720	@ 30Hz	   Y8
  25.     Infrared 1	  1280x720	@ 15Hz	   Y8
  26.     Infrared 1	  1280x720	@ 6Hz	   Y8
  27.     Infrared 1	  848x480	@ 90Hz	   Y8
  28.     Infrared 1	  848x480	@ 60Hz	   Y8
  29.     Infrared 1	  848x480	@ 30Hz	   Y8
  30.     Infrared 1	  848x480	@ 15Hz	   Y8
  31.     Infrared 1	  848x480	@ 6Hz	   Y8
  32.     Infrared 1	  848x100	@ 300Hz	   Y8
  33.     Infrared 1	  848x100	@ 100Hz	   Y8
  34.     Infrared 1	  640x480	@ 90Hz	   Y8
  35.     Infrared 1	  640x480	@ 60Hz	   Y8
  36.     Infrared 1	  640x480	@ 30Hz	   Y8
  37.     Infrared 1	  640x480	@ 15Hz	   Y8
  38.     Infrared 1	  640x480	@ 6Hz	   Y8
  39.     Infrared 1	  640x400	@ 25Hz	   Y16
  40.     Infrared 1	  640x400	@ 15Hz	   Y16
  41.     Infrared 1	  640x360	@ 90Hz	   Y8
  42.     Infrared 1	  640x360	@ 60Hz	   Y8
  43.     Infrared 1	  640x360	@ 30Hz	   Y8
  44.     Infrared 1	  640x360	@ 15Hz	   Y8
  45.     Infrared 1	  640x360	@ 6Hz	   Y8
  46.     Infrared 1	  480x270	@ 90Hz	   Y8
  47.     Infrared 1	  480x270	@ 60Hz	   Y8
  48.     Infrared 1	  480x270	@ 30Hz	   Y8
  49.     Infrared 1	  480x270	@ 15Hz	   Y8
  50.     Infrared 1	  480x270	@ 6Hz	   Y8
  51.     Infrared 1	  424x240	@ 90Hz	   Y8
  52.     Infrared 1	  424x240	@ 60Hz	   Y8
  53.     Infrared 1	  424x240	@ 30Hz	   Y8
  54.     Infrared 1	  424x240	@ 15Hz	   Y8
  55.     Infrared 1	  424x240	@ 6Hz	   Y8
  56.     Infrared 1	  256x144	@ 300Hz	   Y8
  57.     Infrared 1	  256x144	@ 90Hz	   Y8
  58.     Infrared 2	  1280x800	@ 30Hz	   Y8
  59.     Infrared 2	  1280x800	@ 25Hz	   Y16
  60.     Infrared 2	  1280x800	@ 15Hz	   Y16
  61.     Infrared 2	  1280x800	@ 15Hz	   Y8
  62.     Infrared 2	  1280x720	@ 30Hz	   Y8
  63.     Infrared 2	  1280x720	@ 15Hz	   Y8
  64.     Infrared 2	  1280x720	@ 6Hz	   Y8
  65.     Infrared 2	  848x480	@ 90Hz	   Y8
  66.     Infrared 2	  848x480	@ 60Hz	   Y8
  67.     Infrared 2	  848x480	@ 30Hz	   Y8
  68.     Infrared 2	  848x480	@ 15Hz	   Y8
  69.     Infrared 2	  848x480	@ 6Hz	   Y8
  70.     Infrared 2	  848x100	@ 300Hz	   Y8
  71.     Infrared 2	  848x100	@ 100Hz	   Y8
  72.     Infrared 2	  640x480	@ 90Hz	   Y8
  73.     Infrared 2	  640x480	@ 60Hz	   Y8
  74.     Infrared 2	  640x480	@ 30Hz	   Y8
  75.     Infrared 2	  640x480	@ 15Hz	   Y8
  76.     Infrared 2	  640x480	@ 6Hz	   Y8
  77.     Infrared 2	  640x400	@ 25Hz	   Y16
  78.     Infrared 2	  640x400	@ 15Hz	   Y16
  79.     Infrared 2	  640x360	@ 90Hz	   Y8
  80.     Infrared 2	  640x360	@ 60Hz	   Y8
  81.     Infrared 2	  640x360	@ 30Hz	   Y8
  82.     Infrared 2	  640x360	@ 15Hz	   Y8
  83.     Infrared 2	  640x360	@ 6Hz	   Y8
  84.     Infrared 2	  480x270	@ 90Hz	   Y8
  85.     Infrared 2	  480x270	@ 60Hz	   Y8
  86.     Infrared 2	  480x270	@ 30Hz	   Y8
  87.     Infrared 2	  480x270	@ 15Hz	   Y8
  88.     Infrared 2	  480x270	@ 6Hz	   Y8
  89.     Infrared 2	  424x240	@ 90Hz	   Y8
  90.     Infrared 2	  424x240	@ 60Hz	   Y8
  91.     Infrared 2	  424x240	@ 30Hz	   Y8
  92.     Infrared 2	  424x240	@ 15Hz	   Y8
  93.     Infrared 2	  424x240	@ 6Hz	   Y8
  94.     Infrared 2	  256x144	@ 300Hz	   Y8
  95.     Infrared 2	  256x144	@ 90Hz	   Y8
  96.     Depth	  1280x720	@ 30Hz	   Z16
  97.     Depth	  1280x720	@ 15Hz	   Z16
  98.     Depth	  1280x720	@ 6Hz	   Z16
  99.     Depth	  848x480	@ 90Hz	   Z16
  100.     Depth	  848x480	@ 60Hz	   Z16
  101.     Depth	  848x480	@ 30Hz	   Z16
  102.     Depth	  848x480	@ 15Hz	   Z16
  103.     Depth	  848x480	@ 6Hz	   Z16
  104.     Depth	  848x100	@ 300Hz	   Z16
  105.     Depth	  848x100	@ 100Hz	   Z16
  106.     Depth	  640x480	@ 90Hz	   Z16
  107.     Depth	  640x480	@ 60Hz	   Z16
  108.     Depth	  640x480	@ 30Hz	   Z16
  109.     Depth	  640x480	@ 15Hz	   Z16
  110.     Depth	  640x480	@ 6Hz	   Z16
  111.     Depth	  640x360	@ 90Hz	   Z16
  112.     Depth	  640x360	@ 60Hz	   Z16
  113.     Depth	  640x360	@ 30Hz	   Z16
  114.     Depth	  640x360	@ 15Hz	   Z16
  115.     Depth	  640x360	@ 6Hz	   Z16
  116.     Depth	  480x270	@ 90Hz	   Z16
  117.     Depth	  480x270	@ 60Hz	   Z16
  118.     Depth	  480x270	@ 30Hz	   Z16
  119.     Depth	  480x270	@ 15Hz	   Z16
  120.     Depth	  480x270	@ 6Hz	   Z16
  121.     Depth	  424x240	@ 90Hz	   Z16
  122.     Depth	  424x240	@ 60Hz	   Z16
  123.     Depth	  424x240	@ 30Hz	   Z16
  124.     Depth	  424x240	@ 15Hz	   Z16
  125.     Depth	  424x240	@ 6Hz	   Z16
  126.     Depth	  256x144	@ 300Hz	   Z16
  127.     Depth	  256x144	@ 90Hz	   Z16
  128.  
  129. Stream Profiles supported by RGB Camera
  130.  Supported modes:
  131.     stream       resolution      fps       format   
  132.     Color	  1920x1080	@ 30Hz	   RGB8
  133.     Color	  1920x1080	@ 30Hz	   Y16
  134.     Color	  1920x1080	@ 30Hz	   BGRA8
  135.     Color	  1920x1080	@ 30Hz	   RGBA8
  136.     Color	  1920x1080	@ 30Hz	   BGR8
  137.     Color	  1920x1080	@ 30Hz	   YUYV
  138.     Color	  1920x1080	@ 15Hz	   RGB8
  139.     Color	  1920x1080	@ 15Hz	   Y16
  140.     Color	  1920x1080	@ 15Hz	   BGRA8
  141.     Color	  1920x1080	@ 15Hz	   RGBA8
  142.     Color	  1920x1080	@ 15Hz	   BGR8
  143.     Color	  1920x1080	@ 15Hz	   YUYV
  144.     Color	  1920x1080	@ 6Hz	   RGB8
  145.     Color	  1920x1080	@ 6Hz	   Y16
  146.     Color	  1920x1080	@ 6Hz	   BGRA8
  147.     Color	  1920x1080	@ 6Hz	   RGBA8
  148.     Color	  1920x1080	@ 6Hz	   BGR8
  149.     Color	  1920x1080	@ 6Hz	   YUYV
  150.     Color	  1280x720	@ 30Hz	   RGB8
  151.     Color	  1280x720	@ 30Hz	   Y16
  152.     Color	  1280x720	@ 30Hz	   BGRA8
  153.     Color	  1280x720	@ 30Hz	   RGBA8
  154.     Color	  1280x720	@ 30Hz	   BGR8
  155.     Color	  1280x720	@ 30Hz	   YUYV
  156.     Color	  1280x720	@ 15Hz	   RGB8
  157.     Color	  1280x720	@ 15Hz	   Y16
  158.     Color	  1280x720	@ 15Hz	   BGRA8
  159.     Color	  1280x720	@ 15Hz	   RGBA8
  160.     Color	  1280x720	@ 15Hz	   BGR8
  161.     Color	  1280x720	@ 15Hz	   YUYV
  162.     Color	  1280x720	@ 6Hz	   RGB8
  163.     Color	  1280x720	@ 6Hz	   Y16
  164.     Color	  1280x720	@ 6Hz	   BGRA8
  165.     Color	  1280x720	@ 6Hz	   RGBA8
  166.     Color	  1280x720	@ 6Hz	   BGR8
  167.     Color	  1280x720	@ 6Hz	   YUYV
  168.     Color	  960x540	@ 60Hz	   RGB8
  169.     Color	  960x540	@ 60Hz	   Y16
  170.     Color	  960x540	@ 60Hz	   BGRA8
  171.     Color	  960x540	@ 60Hz	   RGBA8
  172.     Color	  960x540	@ 60Hz	   BGR8
  173.     Color	  960x540	@ 60Hz	   YUYV
  174.     Color	  960x540	@ 30Hz	   RGB8
  175.     Color	  960x540	@ 30Hz	   Y16
  176.     Color	  960x540	@ 30Hz	   BGRA8
  177.     Color	  960x540	@ 30Hz	   RGBA8
  178.     Color	  960x540	@ 30Hz	   BGR8
  179.     Color	  960x540	@ 30Hz	   YUYV
  180.     Color	  960x540	@ 15Hz	   RGB8
  181.     Color	  960x540	@ 15Hz	   Y16
  182.     Color	  960x540	@ 15Hz	   BGRA8
  183.     Color	  960x540	@ 15Hz	   RGBA8
  184.     Color	  960x540	@ 15Hz	   BGR8
  185.     Color	  960x540	@ 15Hz	   YUYV
  186.     Color	  960x540	@ 6Hz	   RGB8
  187.     Color	  960x540	@ 6Hz	   Y16
  188.     Color	  960x540	@ 6Hz	   BGRA8
  189.     Color	  960x540	@ 6Hz	   RGBA8
  190.     Color	  960x540	@ 6Hz	   BGR8
  191.     Color	  960x540	@ 6Hz	   YUYV
  192.     Color	  848x480	@ 60Hz	   RGB8
  193.     Color	  848x480	@ 60Hz	   Y16
  194.     Color	  848x480	@ 60Hz	   BGRA8
  195.     Color	  848x480	@ 60Hz	   RGBA8
  196.     Color	  848x480	@ 60Hz	   BGR8
  197.     Color	  848x480	@ 60Hz	   YUYV
  198.     Color	  848x480	@ 30Hz	   RGB8
  199.     Color	  848x480	@ 30Hz	   Y16
  200.     Color	  848x480	@ 30Hz	   BGRA8
  201.     Color	  848x480	@ 30Hz	   RGBA8
  202.     Color	  848x480	@ 30Hz	   BGR8
  203.     Color	  848x480	@ 30Hz	   YUYV
  204.     Color	  848x480	@ 15Hz	   RGB8
  205.     Color	  848x480	@ 15Hz	   Y16
  206.     Color	  848x480	@ 15Hz	   BGRA8
  207.     Color	  848x480	@ 15Hz	   RGBA8
  208.     Color	  848x480	@ 15Hz	   BGR8
  209.     Color	  848x480	@ 15Hz	   YUYV
  210.     Color	  848x480	@ 6Hz	   RGB8
  211.     Color	  848x480	@ 6Hz	   Y16
  212.     Color	  848x480	@ 6Hz	   BGRA8
  213.     Color	  848x480	@ 6Hz	   RGBA8
  214.     Color	  848x480	@ 6Hz	   BGR8
  215.     Color	  848x480	@ 6Hz	   YUYV
  216.     Color	  640x480	@ 60Hz	   RGB8
  217.     Color	  640x480	@ 60Hz	   Y16
  218.     Color	  640x480	@ 60Hz	   BGRA8
  219.     Color	  640x480	@ 60Hz	   RGBA8
  220.     Color	  640x480	@ 60Hz	   BGR8
  221.     Color	  640x480	@ 60Hz	   YUYV
  222.     Color	  640x480	@ 30Hz	   RGB8
  223.     Color	  640x480	@ 30Hz	   Y16
  224.     Color	  640x480	@ 30Hz	   BGRA8
  225.     Color	  640x480	@ 30Hz	   RGBA8
  226.     Color	  640x480	@ 30Hz	   BGR8
  227.     Color	  640x480	@ 30Hz	   YUYV
  228.     Color	  640x480	@ 15Hz	   RGB8
  229.     Color	  640x480	@ 15Hz	   Y16
  230.     Color	  640x480	@ 15Hz	   BGRA8
  231.     Color	  640x480	@ 15Hz	   RGBA8
  232.     Color	  640x480	@ 15Hz	   BGR8
  233.     Color	  640x480	@ 15Hz	   YUYV
  234.     Color	  640x480	@ 6Hz	   RGB8
  235.     Color	  640x480	@ 6Hz	   Y16
  236.     Color	  640x480	@ 6Hz	   BGRA8
  237.     Color	  640x480	@ 6Hz	   RGBA8
  238.     Color	  640x480	@ 6Hz	   BGR8
  239.     Color	  640x480	@ 6Hz	   YUYV
  240.     Color	  640x360	@ 60Hz	   RGB8
  241.     Color	  640x360	@ 60Hz	   Y16
  242.     Color	  640x360	@ 60Hz	   BGRA8
  243.     Color	  640x360	@ 60Hz	   RGBA8
  244.     Color	  640x360	@ 60Hz	   BGR8
  245.     Color	  640x360	@ 60Hz	   YUYV
  246.     Color	  640x360	@ 30Hz	   RGB8
  247.     Color	  640x360	@ 30Hz	   Y16
  248.     Color	  640x360	@ 30Hz	   BGRA8
  249.     Color	  640x360	@ 30Hz	   RGBA8
  250.     Color	  640x360	@ 30Hz	   BGR8
  251.     Color	  640x360	@ 30Hz	   YUYV
  252.     Color	  640x360	@ 15Hz	   RGB8
  253.     Color	  640x360	@ 15Hz	   Y16
  254.     Color	  640x360	@ 15Hz	   BGRA8
  255.     Color	  640x360	@ 15Hz	   RGBA8
  256.     Color	  640x360	@ 15Hz	   BGR8
  257.     Color	  640x360	@ 15Hz	   YUYV
  258.     Color	  640x360	@ 6Hz	   RGB8
  259.     Color	  640x360	@ 6Hz	   Y16
  260.     Color	  640x360	@ 6Hz	   BGRA8
  261.     Color	  640x360	@ 6Hz	   RGBA8
  262.     Color	  640x360	@ 6Hz	   BGR8
  263.     Color	  640x360	@ 6Hz	   YUYV
  264.     Color	  424x240	@ 60Hz	   RGB8
  265.     Color	  424x240	@ 60Hz	   Y16
  266.     Color	  424x240	@ 60Hz	   BGRA8
  267.     Color	  424x240	@ 60Hz	   RGBA8
  268.     Color	  424x240	@ 60Hz	   BGR8
  269.     Color	  424x240	@ 60Hz	   YUYV
  270.     Color	  424x240	@ 30Hz	   RGB8
  271.     Color	  424x240	@ 30Hz	   Y16
  272.     Color	  424x240	@ 30Hz	   BGRA8
  273.     Color	  424x240	@ 30Hz	   RGBA8
  274.     Color	  424x240	@ 30Hz	   BGR8
  275.     Color	  424x240	@ 30Hz	   YUYV
  276.     Color	  424x240	@ 15Hz	   RGB8
  277.     Color	  424x240	@ 15Hz	   Y16
  278.     Color	  424x240	@ 15Hz	   BGRA8
  279.     Color	  424x240	@ 15Hz	   RGBA8
  280.     Color	  424x240	@ 15Hz	   BGR8
  281.     Color	  424x240	@ 15Hz	   YUYV
  282.     Color	  424x240	@ 6Hz	   RGB8
  283.     Color	  424x240	@ 6Hz	   Y16
  284.     Color	  424x240	@ 6Hz	   BGRA8
  285.     Color	  424x240	@ 6Hz	   RGBA8
  286.     Color	  424x240	@ 6Hz	   BGR8
  287.     Color	  424x240	@ 6Hz	   YUYV
  288.     Color	  320x240	@ 60Hz	   RGB8
  289.     Color	  320x240	@ 60Hz	   Y16
  290.     Color	  320x240	@ 60Hz	   BGRA8
  291.     Color	  320x240	@ 60Hz	   RGBA8
  292.     Color	  320x240	@ 60Hz	   BGR8
  293.     Color	  320x240	@ 60Hz	   YUYV
  294.     Color	  320x240	@ 30Hz	   RGB8
  295.     Color	  320x240	@ 30Hz	   Y16
  296.     Color	  320x240	@ 30Hz	   BGRA8
  297.     Color	  320x240	@ 30Hz	   RGBA8
  298.     Color	  320x240	@ 30Hz	   BGR8
  299.     Color	  320x240	@ 30Hz	   YUYV
  300.     Color	  320x240	@ 6Hz	   RGB8
  301.     Color	  320x240	@ 6Hz	   Y16
  302.     Color	  320x240	@ 6Hz	   BGRA8
  303.     Color	  320x240	@ 6Hz	   RGBA8
  304.     Color	  320x240	@ 6Hz	   BGR8
  305.     Color	  320x240	@ 6Hz	   YUYV
  306.     Color	  320x180	@ 60Hz	   RGB8
  307.     Color	  320x180	@ 60Hz	   Y16
  308.     Color	  320x180	@ 60Hz	   BGRA8
  309.     Color	  320x180	@ 60Hz	   RGBA8
  310.     Color	  320x180	@ 60Hz	   BGR8
  311.     Color	  320x180	@ 60Hz	   YUYV
  312.     Color	  320x180	@ 30Hz	   RGB8
  313.     Color	  320x180	@ 30Hz	   Y16
  314.     Color	  320x180	@ 30Hz	   BGRA8
  315.     Color	  320x180	@ 30Hz	   RGBA8
  316.     Color	  320x180	@ 30Hz	   BGR8
  317.     Color	  320x180	@ 30Hz	   YUYV
  318.     Color	  320x180	@ 6Hz	   RGB8
  319.     Color	  320x180	@ 6Hz	   Y16
  320.     Color	  320x180	@ 6Hz	   BGRA8
  321.     Color	  320x180	@ 6Hz	   RGBA8
  322.     Color	  320x180	@ 6Hz	   BGR8
  323.     Color	  320x180	@ 6Hz	   YUYV
  324.  
  325. Stream Profiles supported by Motion Module
  326.  Supported modes:
  327.     stream       resolution      fps       format   
  328.     Accel	 N/A		@ 250Hz	   MOTION_XYZ32F
  329.     Accel	 N/A		@ 63Hz	   MOTION_XYZ32F
  330.     Gyro	 N/A		@ 400Hz	   MOTION_XYZ32F
  331.     Gyro	 N/A		@ 200Hz	   MOTION_XYZ32F
  332.  
  333. Intrinsic Parameters:
  334.  
  335.  Intrinsic of "Depth" / 256x144 / {Z16}
  336.   Width:      	256
  337.   Height:     	144
  338.   PPX:        	124.671081542969
  339.   PPY:        	75.4661865234375
  340.   Fx:         	635.711242675781
  341.   Fy:         	635.711242675781
  342.   Distortion: 	Brown Conrady
  343.   Coeffs:     	0  	0  	0  	0  	0  
  344.   FOV (deg):  	22.77 x 12.92
  345.  
  346.  Intrinsic of "Depth" / 424x240 / {Z16}
  347.   Width:      	424
  348.   Height:     	240
  349.   PPX:        	210.89729309082
  350.   PPY:        	121.148178100586
  351.   Fx:         	210.579345703125
  352.   Fy:         	210.579345703125
  353.   Distortion: 	Brown Conrady
  354.   Coeffs:     	0  	0  	0  	0  	0  
  355.   FOV (deg):  	90.39 x 59.35
  356.  
  357.  Intrinsic of "Depth" / 480x270 / {Z16}
  358.   Width:      	480
  359.   Height:     	270
  360.   PPX:        	238.751647949219
  361.   PPY:        	136.299819946289
  362.   Fx:         	238.391723632812
  363.   Fy:         	238.391723632812
  364.   Distortion: 	Brown Conrady
  365.   Coeffs:     	0  	0  	0  	0  	0  
  366.   FOV (deg):  	90.38 x 59.04
  367.  
  368.  Intrinsic of "Depth" / 640x360 / {Z16}
  369.   Width:      	640
  370.   Height:     	360
  371.   PPX:        	318.335540771484
  372.   PPY:        	181.733093261719
  373.   Fx:         	317.855621337891
  374.   Fy:         	317.855621337891
  375.   Distortion: 	Brown Conrady
  376.   Coeffs:     	0  	0  	0  	0  	0  
  377.   FOV (deg):  	90.38 x 59.04
  378.  
  379.  Intrinsic of "Depth" / 640x480 / {Z16}
  380.   Width:      	640
  381.   Height:     	480
  382.   PPX:        	318.002655029297
  383.   PPY:        	242.079711914062
  384.   Fx:         	381.4267578125
  385.   Fy:         	381.4267578125
  386.   Distortion: 	Brown Conrady
  387.   Coeffs:     	0  	0  	0  	0  	0  
  388.   FOV (deg):  	79.99 x 64.36
  389.  
  390.  Intrinsic of "Depth" / 848x100 / {Z16}
  391.   Width:      	848
  392.   Height:     	100
  393.   PPX:        	421.794586181641
  394.   PPY:        	52.2963562011719
  395.   Fx:         	421.15869140625
  396.   Fy:         	421.15869140625
  397.   Distortion: 	Brown Conrady
  398.   Coeffs:     	0  	0  	0  	0  	0  
  399.   FOV (deg):  	90.38 x 13.54
  400.  
  401.  Intrinsic of "Depth" / 848x480 / {Z16}
  402.   Width:      	848
  403.   Height:     	480
  404.   PPX:        	421.794586181641
  405.   PPY:        	242.296356201172
  406.   Fx:         	421.15869140625
  407.   Fy:         	421.15869140625
  408.   Distortion: 	Brown Conrady
  409.   Coeffs:     	0  	0  	0  	0  	0  
  410.   FOV (deg):  	90.38 x 59.35
  411.  
  412.  Intrinsic of "Depth" / 1280x720 / {Z16}
  413.   Width:      	1280
  414.   Height:     	720
  415.   PPX:        	636.671081542969
  416.   PPY:        	363.466186523438
  417.   Fx:         	635.711242675781
  418.   Fy:         	635.711242675781
  419.   Distortion: 	Brown Conrady
  420.   Coeffs:     	0  	0  	0  	0  	0  
  421.   FOV (deg):  	90.38 x 59.04
  422.  
  423.  Intrinsic of "Color" / 320x180 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  424.   Width:      	320
  425.   Height:     	180
  426.   PPX:        	161.122665405273
  427.   PPY:        	86.5624389648438
  428.   Fx:         	227.984909057617
  429.   Fy:         	227.9404296875
  430.   Distortion: 	Inverse Brown Conrady
  431.   Coeffs:     	0  	0  	0  	0  	0  
  432.   FOV (deg):  	70.12 x 43.09
  433.  
  434.  Intrinsic of "Color" / 320x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  435.   Width:      	320
  436.   Height:     	240
  437.   PPX:        	161.496887207031
  438.   PPY:        	115.416580200195
  439.   Fx:         	303.979858398438
  440.   Fy:         	303.920562744141
  441.   Distortion: 	Inverse Brown Conrady
  442.   Coeffs:     	0  	0  	0  	0  	0  
  443.   FOV (deg):  	55.52 x 43.09
  444.  
  445.  Intrinsic of "Color" / 424x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  446.   Width:      	424
  447.   Height:     	240
  448.   PPX:        	213.496887207031
  449.   PPY:        	115.416580200195
  450.   Fx:         	303.979858398438
  451.   Fy:         	303.920562744141
  452.   Distortion: 	Inverse Brown Conrady
  453.   Coeffs:     	0  	0  	0  	0  	0  
  454.   FOV (deg):  	69.78 x 43.09
  455.  
  456.  Intrinsic of "Color" / 640x360 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  457.   Width:      	640
  458.   Height:     	360
  459.   PPX:        	322.245330810547
  460.   PPY:        	173.124877929688
  461.   Fx:         	455.969818115234
  462.   Fy:         	455.880859375
  463.   Distortion: 	Inverse Brown Conrady
  464.   Coeffs:     	0  	0  	0  	0  	0  
  465.   FOV (deg):  	70.12 x 43.09
  466.  
  467.  Intrinsic of "Color" / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  468.   Width:      	640
  469.   Height:     	480
  470.   PPX:        	322.993774414062
  471.   PPY:        	230.833160400391
  472.   Fx:         	607.959716796875
  473.   Fy:         	607.841125488281
  474.   Distortion: 	Inverse Brown Conrady
  475.   Coeffs:     	0  	0  	0  	0  	0  
  476.   FOV (deg):  	55.52 x 43.09
  477.  
  478.  Intrinsic of "Color" / 848x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  479.   Width:      	848
  480.   Height:     	480
  481.   PPX:        	426.993774414062
  482.   PPY:        	230.833160400391
  483.   Fx:         	607.959716796875
  484.   Fy:         	607.841125488281
  485.   Distortion: 	Inverse Brown Conrady
  486.   Coeffs:     	0  	0  	0  	0  	0  
  487.   FOV (deg):  	69.78 x 43.09
  488.  
  489.  Intrinsic of "Color" / 960x540 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  490.   Width:      	960
  491.   Height:     	540
  492.   PPX:        	483.367980957031
  493.   PPY:        	259.687316894531
  494.   Fx:         	683.954711914062
  495.   Fy:         	683.8212890625
  496.   Distortion: 	Inverse Brown Conrady
  497.   Coeffs:     	0  	0  	0  	0  	0  
  498.   FOV (deg):  	70.12 x 43.09
  499.  
  500.  Intrinsic of "Color" / 1280x720 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  501.   Width:      	1280
  502.   Height:     	720
  503.   PPX:        	644.490661621094
  504.   PPY:        	346.249755859375
  505.   Fx:         	911.939636230469
  506.   Fy:         	911.76171875
  507.   Distortion: 	Inverse Brown Conrady
  508.   Coeffs:     	0  	0  	0  	0  	0  
  509.   FOV (deg):  	70.12 x 43.09
  510.  
  511.  Intrinsic of "Color" / 1920x1080 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  512.   Width:      	1920
  513.   Height:     	1080
  514.   PPX:        	966.735961914062
  515.   PPY:        	519.374633789062
  516.   Fx:         	1367.90942382812
  517.   Fy:         	1367.642578125
  518.   Distortion: 	Inverse Brown Conrady
  519.   Coeffs:     	0  	0  	0  	0  	0  
  520.   FOV (deg):  	70.12 x 43.08
  521.  
  522.  Intrinsic of "Infrared 1" / 256x144 / {Y8}
  523.   Width:      	256
  524.   Height:     	144
  525.   PPX:        	124.671081542969
  526.   PPY:        	75.4661865234375
  527.   Fx:         	635.711242675781
  528.   Fy:         	635.711242675781
  529.   Distortion: 	Brown Conrady
  530.   Coeffs:     	0  	0  	0  	0  	0  
  531.   FOV (deg):  	22.77 x 12.92
  532.  
  533.  Intrinsic of "Infrared 1" / 424x240 / {Y8}
  534.   Width:      	424
  535.   Height:     	240
  536.   PPX:        	210.89729309082
  537.   PPY:        	121.148178100586
  538.   Fx:         	210.579345703125
  539.   Fy:         	210.579345703125
  540.   Distortion: 	Brown Conrady
  541.   Coeffs:     	0  	0  	0  	0  	0  
  542.   FOV (deg):  	90.39 x 59.35
  543.  
  544.  Intrinsic of "Infrared 1" / 480x270 / {Y8}
  545.   Width:      	480
  546.   Height:     	270
  547.   PPX:        	238.751647949219
  548.   PPY:        	136.299819946289
  549.   Fx:         	238.391723632812
  550.   Fy:         	238.391723632812
  551.   Distortion: 	Brown Conrady
  552.   Coeffs:     	0  	0  	0  	0  	0  
  553.   FOV (deg):  	90.38 x 59.04
  554.  
  555.  Intrinsic of "Infrared 1" / 640x360 / {Y8}
  556.   Width:      	640
  557.   Height:     	360
  558.   PPX:        	318.335540771484
  559.   PPY:        	181.733093261719
  560.   Fx:         	317.855621337891
  561.   Fy:         	317.855621337891
  562.   Distortion: 	Brown Conrady
  563.   Coeffs:     	0  	0  	0  	0  	0  
  564.   FOV (deg):  	90.38 x 59.04
  565.  
  566.  Intrinsic of "Infrared 1" / 640x480 / {Y8}
  567.   Width:      	640
  568.   Height:     	480
  569.   PPX:        	318.002655029297
  570.   PPY:        	242.079711914062
  571.   Fx:         	381.4267578125
  572.   Fy:         	381.4267578125
  573.   Distortion: 	Brown Conrady
  574.   Coeffs:     	0  	0  	0  	0  	0  
  575.   FOV (deg):  	79.99 x 64.36
  576.  
  577.  Intrinsic of "Infrared 1" / 848x100 / {Y8}
  578.   Width:      	848
  579.   Height:     	100
  580.   PPX:        	421.794586181641
  581.   PPY:        	52.2963562011719
  582.   Fx:         	421.15869140625
  583.   Fy:         	421.15869140625
  584.   Distortion: 	Brown Conrady
  585.   Coeffs:     	0  	0  	0  	0  	0  
  586.   FOV (deg):  	90.38 x 13.54
  587.  
  588.  Intrinsic of "Infrared 1" / 848x480 / {Y8}
  589.   Width:      	848
  590.   Height:     	480
  591.   PPX:        	421.794586181641
  592.   PPY:        	242.296356201172
  593.   Fx:         	421.15869140625
  594.   Fy:         	421.15869140625
  595.   Distortion: 	Brown Conrady
  596.   Coeffs:     	0  	0  	0  	0  	0  
  597.   FOV (deg):  	90.38 x 59.35
  598.  
  599.  Intrinsic of "Infrared 1" / 1280x720 / {Y8}
  600.   Width:      	1280
  601.   Height:     	720
  602.   PPX:        	636.671081542969
  603.   PPY:        	363.466186523438
  604.   Fx:         	635.711242675781
  605.   Fy:         	635.711242675781
  606.   Distortion: 	Brown Conrady
  607.   Coeffs:     	0  	0  	0  	0  	0  
  608.   FOV (deg):  	90.38 x 59.04
  609.  
  610.  Intrinsic of "Infrared 1" / 1280x800 / {Y8}
  611.   Width:      	1280
  612.   Height:     	800
  613.   PPX:        	636.671081542969
  614.   PPY:        	403.466186523438
  615.   Fx:         	635.711242675781
  616.   Fy:         	635.711242675781
  617.   Distortion: 	Brown Conrady
  618.   Coeffs:     	0  	0  	0  	0  	0  
  619.   FOV (deg):  	90.38 x 64.36
  620.  
  621.  Intrinsic of "Infrared 2" / 256x144 / {Y8}
  622.   Width:      	256
  623.   Height:     	144
  624.   PPX:        	124.671081542969
  625.   PPY:        	75.4661865234375
  626.   Fx:         	635.711242675781
  627.   Fy:         	635.711242675781
  628.   Distortion: 	Brown Conrady
  629.   Coeffs:     	0  	0  	0  	0  	0  
  630.   FOV (deg):  	22.77 x 12.92
  631.  
  632.  Intrinsic of "Infrared 2" / 424x240 / {Y8}
  633.   Width:      	424
  634.   Height:     	240
  635.   PPX:        	210.89729309082
  636.   PPY:        	121.148178100586
  637.   Fx:         	210.579345703125
  638.   Fy:         	210.579345703125
  639.   Distortion: 	Brown Conrady
  640.   Coeffs:     	0  	0  	0  	0  	0  
  641.   FOV (deg):  	90.39 x 59.35
  642.  
  643.  Intrinsic of "Infrared 2" / 480x270 / {Y8}
  644.   Width:      	480
  645.   Height:     	270
  646.   PPX:        	238.751647949219
  647.   PPY:        	136.299819946289
  648.   Fx:         	238.391723632812
  649.   Fy:         	238.391723632812
  650.   Distortion: 	Brown Conrady
  651.   Coeffs:     	0  	0  	0  	0  	0  
  652.   FOV (deg):  	90.38 x 59.04
  653.  
  654.  Intrinsic of "Infrared 2" / 640x360 / {Y8}
  655.   Width:      	640
  656.   Height:     	360
  657.   PPX:        	318.335540771484
  658.   PPY:        	181.733093261719
  659.   Fx:         	317.855621337891
  660.   Fy:         	317.855621337891
  661.   Distortion: 	Brown Conrady
  662.   Coeffs:     	0  	0  	0  	0  	0  
  663.   FOV (deg):  	90.38 x 59.04
  664.  
  665.  Intrinsic of "Infrared 2" / 640x480 / {Y8}
  666.   Width:      	640
  667.   Height:     	480
  668.   PPX:        	318.002655029297
  669.   PPY:        	242.079711914062
  670.   Fx:         	381.4267578125
  671.   Fy:         	381.4267578125
  672.   Distortion: 	Brown Conrady
  673.   Coeffs:     	0  	0  	0  	0  	0  
  674.   FOV (deg):  	79.99 x 64.36
  675.  
  676.  Intrinsic of "Infrared 2" / 848x100 / {Y8}
  677.   Width:      	848
  678.   Height:     	100
  679.   PPX:        	421.794586181641
  680.   PPY:        	52.2963562011719
  681.   Fx:         	421.15869140625
  682.   Fy:         	421.15869140625
  683.   Distortion: 	Brown Conrady
  684.   Coeffs:     	0  	0  	0  	0  	0  
  685.   FOV (deg):  	90.38 x 13.54
  686.  
  687.  Intrinsic of "Infrared 2" / 848x480 / {Y8}
  688.   Width:      	848
  689.   Height:     	480
  690.   PPX:        	421.794586181641
  691.   PPY:        	242.296356201172
  692.   Fx:         	421.15869140625
  693.   Fy:         	421.15869140625
  694.   Distortion: 	Brown Conrady
  695.   Coeffs:     	0  	0  	0  	0  	0  
  696.   FOV (deg):  	90.38 x 59.35
  697.  
  698.  Intrinsic of "Infrared 2" / 1280x720 / {Y8}
  699.   Width:      	1280
  700.   Height:     	720
  701.   PPX:        	636.671081542969
  702.   PPY:        	363.466186523438
  703.   Fx:         	635.711242675781
  704.   Fy:         	635.711242675781
  705.   Distortion: 	Brown Conrady
  706.   Coeffs:     	0  	0  	0  	0  	0  
  707.   FOV (deg):  	90.38 x 59.04
  708.  
  709.  Intrinsic of "Infrared 2" / 1280x800 / {Y8}
  710.   Width:      	1280
  711.   Height:     	800
  712.   PPX:        	636.671081542969
  713.   PPY:        	403.466186523438
  714.   Fx:         	635.711242675781
  715.   Fy:         	635.711242675781
  716.   Distortion: 	Brown Conrady
  717.   Coeffs:     	0  	0  	0  	0  	0  
  718.   FOV (deg):  	90.38 x 64.36
  719.  
  720. Motion Intrinsic Parameters:
  721.  
  722. Motion Intrinsic of "Gyro"	  MOTION_XYZ32F
  723. Bias Variances: 	0.000000000000000  0.000000000000000  0.000000000000000  
  724. Noise Variances: 	0.000000000000000  0.000000000000000  0.000000000000000  
  725. Sensitivity : 
  726.      1.000000       0.000000       0.000000       0.000000  
  727.      0.000000       1.000000       0.000000       0.000000  
  728.      0.000000       0.000000       1.000000       0.000000  
  729.  
  730.  
  731. Motion Intrinsic of "Accel"	  MOTION_XYZ32F
  732. Bias Variances: 	0.000000000000000  0.000000000000000  0.000000000000000  
  733. Noise Variances: 	0.000000000000000  0.000000000000000  0.000000000000000  
  734. Sensitivity : 
  735.      1.000000       0.000000       0.000000       0.000000  
  736.      0.000000       1.000000       0.000000       0.000000  
  737.      0.000000       0.000000       1.000000       0.000000  
  738.  
  739.  
  740.  
  741. Extrinsic Parameters:
  742. Extrinsic from "Depth"	  To	  "Depth" :
  743.  Rotation Matrix:
  744.    1   0   0
  745.    0   1   0
  746.    0   0   1
  747.  
  748.  Translation Vector: 0  0  0  
  749.  
  750. Extrinsic from "Depth"	  To	  "Color" :
  751.  Rotation Matrix:
  752.    0.999654         0.0262549        0.00146348    
  753.   -0.0262588        0.999652         0.00269019    
  754.   -0.00139234      -0.00272768       0.999995      
  755.  
  756.  Translation Vector: 0.0149013074114919  -0.000272490200586617  3.13341515720822e-05  
  757.  
  758. Extrinsic from "Depth"	  To	  "Infrared 1" :
  759.  Rotation Matrix:
  760.    1   0   0
  761.    0   1   0
  762.    0   0   1
  763.  
  764.  Translation Vector: 0  0  0  
  765.  
  766. Extrinsic from "Depth"	  To	  "Infrared 2" :
  767.  Rotation Matrix:
  768.    1   0   0
  769.    0   1   0
  770.    0   0   1
  771.  
  772.  Translation Vector: 0  0  0  
  773.  
  774. Extrinsic from "Depth"	  To	  "Gyro" :
  775.  Rotation Matrix:
  776.    1   0   0
  777.    0   1   0
  778.    0   0   1
  779.  
  780.  Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
  781.  
  782. Extrinsic from "Depth"	  To	  "Accel" :
  783.  Rotation Matrix:
  784.    1   0   0
  785.    0   1   0
  786.    0   0   1
  787.  
  788.  Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
  789.  
  790. Extrinsic from "Color"	  To	  "Depth" :
  791.  Rotation Matrix:
  792.    0.999654        -0.0262588       -0.00139234    
  793.    0.0262549        0.999652        -0.00272768    
  794.    0.00146348       0.00269019       0.999995      
  795.  
  796.  Translation Vector: -0.0149032659828663  -0.000118751668196637  -5.24087845406029e-05  
  797.  
  798. Extrinsic from "Color"	  To	  "Color" :
  799.  Rotation Matrix:
  800.    1   0   0
  801.    0   1   0
  802.    0   0   1
  803.  
  804.  Translation Vector: 0  0  0  
  805.  
  806. Extrinsic from "Color"	  To	  "Infrared 1" :
  807.  Rotation Matrix:
  808.    0.999654        -0.0262588       -0.00139234    
  809.    0.0262549        0.999652        -0.00272768    
  810.    0.00146348       0.00269019       0.999995      
  811.  
  812.  Translation Vector: -0.0149032659828663  -0.000118751668196637  -5.24087845406029e-05  
  813.  
  814. Extrinsic from "Color"	  To	  "Infrared 2" :
  815.  Rotation Matrix:
  816.    0.999654        -0.0262588       -0.00139234    
  817.    0.0262549        0.999652        -0.00272768    
  818.    0.00146348       0.00269019       0.999995      
  819.  
  820.  Translation Vector: -0.0149032659828663  -0.000118751668196637  -5.24087845406029e-05  
  821.  
  822. Extrinsic from "Color"	  To	  "Gyro" :
  823.  Rotation Matrix:
  824.    0.999654        -0.0262588       -0.00139234    
  825.    0.0262549        0.999652        -0.00272768    
  826.    0.00146348       0.00269019       0.999995      
  827.  
  828.  Translation Vector: -0.0204232670366764  0.00498124863952398  0.0116875907406211  
  829.  
  830. Extrinsic from "Color"	  To	  "Accel" :
  831.  Rotation Matrix:
  832.    0.999654        -0.0262588       -0.00139234    
  833.    0.0262549        0.999652        -0.00272768    
  834.    0.00146348       0.00269019       0.999995      
  835.  
  836.  Translation Vector: -0.0204232670366764  0.00498124863952398  0.0116875907406211  
  837.  
  838. Extrinsic from "Infrared 1"	  To	  "Depth" :
  839.  Rotation Matrix:
  840.    1   0   0
  841.    0   1   0
  842.    0   0   1
  843.  
  844.  Translation Vector: 0  0  0  
  845.  
  846. Extrinsic from "Infrared 1"	  To	  "Color" :
  847.  Rotation Matrix:
  848.    0.999654         0.0262549        0.00146348    
  849.   -0.0262588        0.999652         0.00269019    
  850.   -0.00139234      -0.00272768       0.999995      
  851.  
  852.  Translation Vector: 0.0149013074114919  -0.000272490200586617  3.13341515720822e-05  
  853.  
  854. Extrinsic from "Infrared 1"	  To	  "Infrared 1" :
  855.  Rotation Matrix:
  856.    1   0   0
  857.    0   1   0
  858.    0   0   1
  859.  
  860.  Translation Vector: 0  0  0  
  861.  
  862. Extrinsic from "Infrared 1"	  To	  "Infrared 2" :
  863.  Rotation Matrix:
  864.    1   0   0
  865.    0   1   0
  866.    0   0   1
  867.  
  868.  Translation Vector: -0.0496295988559723  0  0  
  869.  
  870. Extrinsic from "Infrared 1"	  To	  "Gyro" :
  871.  Rotation Matrix:
  872.    1   0   0
  873.    0   1   0
  874.    0   0   1
  875.  
  876.  Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
  877.  
  878. Extrinsic from "Infrared 1"	  To	  "Accel" :
  879.  Rotation Matrix:
  880.    1   0   0
  881.    0   1   0
  882.    0   0   1
  883.  
  884.  Translation Vector: -0.00552000012248755  0.00510000018402934  0.011739999987185  
  885.  
  886. Extrinsic from "Infrared 2"	  To	  "Depth" :
  887.  Rotation Matrix:
  888.    1   0   0
  889.    0   1   0
  890.    0   0   1
  891.  
  892.  Translation Vector: 0.0496295988559723  0  0  
  893.  
  894. Extrinsic from "Infrared 2"	  To	  "Color" :
  895.  Rotation Matrix:
  896.    0.999654         0.0262549        0.00146348    
  897.   -0.0262588        0.999652         0.00269019    
  898.   -0.00139234      -0.00272768       0.999995      
  899.  
  900.  Translation Vector: 0.0645137503743172  -0.00157570256851614  -3.77673059119843e-05  
  901.  
  902. Extrinsic from "Infrared 2"	  To	  "Infrared 1" :
  903.  Rotation Matrix:
  904.    1   0   0
  905.    0   1   0
  906.    0   0   1
  907.  
  908.  Translation Vector: 0.0496295988559723  0  0  
  909.  
  910. Extrinsic from "Infrared 2"	  To	  "Infrared 2" :
  911.  Rotation Matrix:
  912.    1   0   0
  913.    0   1   0
  914.    0   0   1
  915.  
  916.  Translation Vector: 0  0  0  
  917.  
  918. Extrinsic from "Infrared 2"	  To	  "Gyro" :
  919.  Rotation Matrix:
  920.    1   0   0
  921.    0   1   0
  922.    0   0   1
  923.  
  924.  Translation Vector: 0.0441095978021622  0.00510000018402934  0.011739999987185  
  925.  
  926. Extrinsic from "Infrared 2"	  To	  "Accel" :
  927.  Rotation Matrix:
  928.    1   0   0
  929.    0   1   0
  930.    0   0   1
  931.  
  932.  Translation Vector: 0.0441095978021622  0.00510000018402934  0.011739999987185  
  933.  
  934. Extrinsic from "Gyro"	  To	  "Depth" :
  935.  Rotation Matrix:
  936.    1   0   0
  937.    0   1   0
  938.    0   0   1
  939.  
  940.  Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
  941.  
  942. Extrinsic from "Gyro"	  To	  "Color" :
  943.  Rotation Matrix:
  944.    0.999654         0.0262549        0.00146348    
  945.   -0.0262588        0.999652         0.00269019    
  946.   -0.00139234      -0.00272768       0.999995      
  947.  
  948.  Translation Vector: 0.0202683173120022  -0.00554724456742406  -0.0117023847997189  
  949.  
  950. Extrinsic from "Gyro"	  To	  "Infrared 1" :
  951.  Rotation Matrix:
  952.    1   0   0
  953.    0   1   0
  954.    0   0   1
  955.  
  956.  Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
  957.  
  958. Extrinsic from "Gyro"	  To	  "Infrared 2" :
  959.  Rotation Matrix:
  960.    1   0   0
  961.    0   1   0
  962.    0   0   1
  963.  
  964.  Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
  965.  
  966. Extrinsic from "Gyro"	  To	  "Gyro" :
  967.  Rotation Matrix:
  968.    1   0   0
  969.    0   1   0
  970.    0   0   1
  971.  
  972.  Translation Vector: 0  0  0  
  973.  
  974. Extrinsic from "Gyro"	  To	  "Accel" :
  975.  Rotation Matrix:
  976.    1   0   0
  977.    0   1   0
  978.    0   0   1
  979.  
  980.  Translation Vector: 0  0  0  
  981.  
  982. Extrinsic from "Accel"	  To	  "Depth" :
  983.  Rotation Matrix:
  984.    1   0   0
  985.    0   1   0
  986.    0   0   1
  987.  
  988.  Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
  989.  
  990. Extrinsic from "Accel"	  To	  "Color" :
  991.  Rotation Matrix:
  992.    0.999654         0.0262549        0.00146348    
  993.   -0.0262588        0.999652         0.00269019    
  994.   -0.00139234      -0.00272768       0.999995      
  995.  
  996.  Translation Vector: 0.0202683173120022  -0.00554724456742406  -0.0117023847997189  
  997.  
  998. Extrinsic from "Accel"	  To	  "Infrared 1" :
  999.  Rotation Matrix:
  1000.    1   0   0
  1001.    0   1   0
  1002.    0   0   1
  1003.  
  1004.  Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
  1005.  
  1006. Extrinsic from "Accel"	  To	  "Infrared 2" :
  1007.  Rotation Matrix:
  1008.    1   0   0
  1009.    0   1   0
  1010.    0   0   1
  1011.  
  1012.  Translation Vector: 0.00552000012248755  -0.00510000018402934  -0.011739999987185  
  1013.  
  1014. Extrinsic from "Accel"	  To	  "Gyro" :
  1015.  Rotation Matrix:
  1016.    1   0   0
  1017.    0   1   0
  1018.    0   0   1
  1019.  
  1020.  Translation Vector: 0  0  0  
  1021.  
  1022. Extrinsic from "Accel"	  To	  "Accel" :
  1023.  Rotation Matrix:
  1024.    1   0   0
  1025.    0   1   0
  1026.    0   0   1
  1027.  
  1028.  Translation Vector: 0  0  0  
  1029.  
  1030. maxi@maxi:~$

至于为什么vins的双目IMU的标定参数，相机和IMU的是一个4*4的矩阵，而D435i给出的顶多是一个3*3的旋转矩阵和一个3*1的平移向量，而之前同事说是可以用D435i自己的标定参数去跑vins的，说明上面列出的D435i的标定参数是用得上的，我仔细观察到那个4*4的矩阵最后都是0 0 0 1，也就是没有实际的数值，实际数值还是12个，那么就对上了，所以我推测，写成4*4的是为了把旋转矩阵和平移向量写到一个矩阵里面表示。

https://blog.csdn.net/sinat_16643223/article/details/115362074

 https://blog.csdn.net/sinat_16643223/article/details/115276730

而且我怀疑旋转矩阵，平移向量对应的位置如下，因为差别明显，旋转矩阵可能没有怎么标定就给111了，代表方向都一致，那么剩下三个不是整数的应该是平移矩阵了。

而且具体平移向量三个数的顺序，明显左镜头相比于IMU和右边相机相比于IMU的平移向量，第一个数组相差很大，这第一个数字就体现了某个方向上的距离。

 

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