T265/D435i相机和相机与IMU参数获取，也可以通过realsense-viewer直接获取
2024-05-17 02:14:33
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
{"baseline": "-49.6296","intrinsic_left.x.x": "0.495791","intrinsic_left.x.y": "0.7927","intrinsic_left.x.z": "0.498696","intrinsic_left.y.x": "0.50141","intrinsic_left.y.y": "-0.0561602","intrinsic_left.y.z": "0.0678906","intrinsic_left.z.x": "0.000170687","intrinsic_left.z.y": "-0.000435408","intrinsic_left.z.z": "-0.0214294","intrinsic_right.x.x": "0.494061","intrinsic_right.x.y": "0.789781","intrinsic_right.x.z": "0.499182","intrinsic_right.y.x": "0.507852","intrinsic_right.y.y": "-0.0587788","intrinsic_right.y.z": "0.0720991","intrinsic_right.z.x": "-3.93086e-05","intrinsic_right.z.y": "-0.000202735","intrinsic_right.z.z": "-0.0230006","rectified.0.fx": "953.567","rectified.0.fy": "953.567","rectified.0.height": "1080","rectified.0.ppx": "955.007","rectified.0.ppy": "545.199","rectified.0.width": "1920","rectified.1.fx": "635.711","rectified.1.fy": "635.711","rectified.1.height": "720","rectified.1.ppx": "636.671","rectified.1.ppy": "363.466","rectified.1.width": "1280","rectified.10.fx": "572.14","rectified.10.fy": "572.14","rectified.10.height": "0","rectified.10.ppx": "357.004","rectified.10.ppy": "363.12","rectified.10.width": "0","rectified.11.fx": "457.712","rectified.11.fy": "457.712","rectified.11.height": "0","rectified.11.ppx": "285.603","rectified.11.ppy": "290.496","rectified.11.width": "0","rectified.12.fx": "0","rectified.12.fy": "0","rectified.12.height": "400","rectified.12.ppx": "0","rectified.12.ppy": "0","rectified.12.width": "640","rectified.13.fx": "0","rectified.13.fy": "0","rectified.13.height": "576","rectified.13.ppx": "0","rectified.13.ppy": "0","rectified.13.width": "576","rectified.14.fx": "0","rectified.14.fy": "0","rectified.14.height": "720","rectified.14.ppx": "0","rectified.14.ppy": "0","rectified.14.width": "720","rectified.15.fx": "0","rectified.15.fy": "0","rectified.15.height": "1152","rectified.15.ppx": "0","rectified.15.ppy": "0","rectified.15.width": "1152","rectified.2.fx": "381.427","rectified.2.fy": "381.427","rectified.2.height": "480","rectified.2.ppx": "318.003","rectified.2.ppy": "242.08","rectified.2.width": "640","rectified.3.fx": "421.159","rectified.3.fy": "421.159","rectified.3.height": "480","rectified.3.ppx": "421.795","rectified.3.ppy": "242.296","rectified.3.width": "848","rectified.4.fx": "317.856","rectified.4.fy": "317.856","rectified.4.height": "360","rectified.4.ppx": "318.336","rectified.4.ppy": "181.733","rectified.4.width": "640","rectified.5.fx": "210.579","rectified.5.fy": "210.579","rectified.5.height": "240","rectified.5.ppx": "210.897","rectified.5.ppy": "121.148","rectified.5.width": "424","rectified.6.fx": "190.713","rectified.6.fy": "190.713","rectified.6.height": "240","rectified.6.ppx": "159.001","rectified.6.ppy": "121.04","rectified.6.width": "320","rectified.7.fx": "238.392","rectified.7.fy": "238.392","rectified.7.height": "270","rectified.7.ppx": "238.752","rectified.7.ppy": "136.3","rectified.7.width": "480","rectified.8.fx": "635.711","rectified.8.fy": "635.711","rectified.8.height": "800","rectified.8.ppx": "636.671","rectified.8.ppy": "403.466","rectified.8.width": "1280","rectified.9.fx": "476.783","rectified.9.fy": "476.783","rectified.9.height": "540","rectified.9.ppx": "477.503","rectified.9.ppy": "272.6","rectified.9.width": "960","world2left_rot.x.x": "0.999997","world2left_rot.x.y": "0.00216216","world2left_rot.x.z": "0.00103252","world2left_rot.y.x": "-0.00216406","world2left_rot.y.y": "0.999996","world2left_rot.y.z": "0.0018427","world2left_rot.z.x": "-0.00102854","world2left_rot.z.y": "-0.00184493","world2left_rot.z.z": "0.999998","world2right_rot.x.x": "0.999992","world2right_rot.x.y": "0.00176079","world2right_rot.x.z": "-0.00350629","world2right_rot.y.x": "-0.00176725","world2right_rot.y.y": "0.999997","world2right_rot.y.z": "-0.00184072","world2right_rot.z.x": "0.00350304","world2right_rot.z.y": "0.0018469","world2right_rot.z.z": "0.999992"
}
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。
maxi@maxi:~$ rs-enumerate-devices -c
Device info: Name : Intel RealSense D435ISerial Number : 109622075085Firmware Version : 05.12.06.00Recommended Firmware Version : 05.12.08.200Physical Port : /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video2Debug Op Code : 15Advanced Mode : YESProduct Id : 0B3ACamera Locked : YESUsb Type Descriptor : 3.2Product Line : D400Asic Serial Number : 104623050310Firmware Update Id : 104623050310Stream Profiles supported by Stereo ModuleSupported modes:stream resolution fps format Infrared 1 1280x800 @ 30Hz Y8Infrared 1 1280x800 @ 25Hz Y16Infrared 1 1280x800 @ 15Hz Y16Infrared 1 1280x800 @ 15Hz Y8Infrared 1 1280x720 @ 30Hz Y8Infrared 1 1280x720 @ 15Hz Y8Infrared 1 1280x720 @ 6Hz Y8Infrared 1 848x480 @ 90Hz Y8Infrared 1 848x480 @ 60Hz Y8Infrared 1 848x480 @ 30Hz Y8Infrared 1 848x480 @ 15Hz Y8Infrared 1 848x480 @ 6Hz Y8Infrared 1 848x100 @ 300Hz Y8Infrared 1 848x100 @ 100Hz Y8Infrared 1 640x480 @ 90Hz Y8Infrared 1 640x480 @ 60Hz Y8Infrared 1 640x480 @ 30Hz Y8Infrared 1 640x480 @ 15Hz Y8Infrared 1 640x480 @ 6Hz Y8Infrared 1 640x400 @ 25Hz Y16Infrared 1 640x400 @ 15Hz Y16Infrared 1 640x360 @ 90Hz Y8Infrared 1 640x360 @ 60Hz Y8Infrared 1 640x360 @ 30Hz Y8Infrared 1 640x360 @ 15Hz Y8Infrared 1 640x360 @ 6Hz Y8Infrared 1 480x270 @ 90Hz Y8Infrared 1 480x270 @ 60Hz Y8Infrared 1 480x270 @ 30Hz Y8Infrared 1 480x270 @ 15Hz Y8Infrared 1 480x270 @ 6Hz Y8Infrared 1 424x240 @ 90Hz Y8Infrared 1 424x240 @ 60Hz Y8Infrared 1 424x240 @ 30Hz Y8Infrared 1 424x240 @ 15Hz Y8Infrared 1 424x240 @ 6Hz Y8Infrared 1 256x144 @ 300Hz Y8Infrared 1 256x144 @ 90Hz Y8Infrared 2 1280x800 @ 30Hz Y8Infrared 2 1280x800 @ 25Hz Y16Infrared 2 1280x800 @ 15Hz Y16Infrared 2 1280x800 @ 15Hz Y8Infrared 2 1280x720 @ 30Hz Y8Infrared 2 1280x720 @ 15Hz Y8Infrared 2 1280x720 @ 6Hz Y8Infrared 2 848x480 @ 90Hz Y8Infrared 2 848x480 @ 60Hz Y8Infrared 2 848x480 @ 30Hz Y8Infrared 2 848x480 @ 15Hz Y8Infrared 2 848x480 @ 6Hz Y8Infrared 2 848x100 @ 300Hz Y8Infrared 2 848x100 @ 100Hz Y8Infrared 2 640x480 @ 90Hz Y8Infrared 2 640x480 @ 60Hz Y8Infrared 2 640x480 @ 30Hz Y8Infrared 2 640x480 @ 15Hz Y8Infrared 2 640x480 @ 6Hz Y8Infrared 2 640x400 @ 25Hz Y16Infrared 2 640x400 @ 15Hz Y16Infrared 2 640x360 @ 90Hz Y8Infrared 2 640x360 @ 60Hz Y8Infrared 2 640x360 @ 30Hz Y8Infrared 2 640x360 @ 15Hz Y8Infrared 2 640x360 @ 6Hz Y8Infrared 2 480x270 @ 90Hz Y8Infrared 2 480x270 @ 60Hz Y8Infrared 2 480x270 @ 30Hz Y8Infrared 2 480x270 @ 15Hz Y8Infrared 2 480x270 @ 6Hz Y8Infrared 2 424x240 @ 90Hz Y8Infrared 2 424x240 @ 60Hz Y8Infrared 2 424x240 @ 30Hz Y8Infrared 2 424x240 @ 15Hz Y8Infrared 2 424x240 @ 6Hz Y8Infrared 2 256x144 @ 300Hz Y8Infrared 2 256x144 @ 90Hz Y8Depth 1280x720 @ 30Hz Z16Depth 1280x720 @ 15Hz Z16Depth 1280x720 @ 6Hz Z16Depth 848x480 @ 90Hz Z16Depth 848x480 @ 60Hz Z16Depth 848x480 @ 30Hz Z16Depth 848x480 @ 15Hz Z16Depth 848x480 @ 6Hz Z16Depth 848x100 @ 300Hz Z16Depth 848x100 @ 100Hz Z16Depth 640x480 @ 90Hz Z16Depth 640x480 @ 60Hz Z16Depth 640x480 @ 30Hz Z16Depth 640x480 @ 15Hz Z16Depth 640x480 @ 6Hz Z16Depth 640x360 @ 90Hz Z16Depth 640x360 @ 60Hz Z16Depth 640x360 @ 30Hz Z16Depth 640x360 @ 15Hz Z16Depth 640x360 @ 6Hz Z16Depth 480x270 @ 90Hz Z16Depth 480x270 @ 60Hz Z16Depth 480x270 @ 30Hz Z16Depth 480x270 @ 15Hz Z16Depth 480x270 @ 6Hz Z16Depth 424x240 @ 90Hz Z16Depth 424x240 @ 60Hz Z16Depth 424x240 @ 30Hz Z16Depth 424x240 @ 15Hz Z16Depth 424x240 @ 6Hz Z16Depth 256x144 @ 300Hz Z16Depth 256x144 @ 90Hz Z16Stream Profiles supported by RGB CameraSupported modes:stream resolution fps format Color 1920x1080 @ 30Hz RGB8Color 1920x1080 @ 30Hz Y16Color 1920x1080 @ 30Hz BGRA8Color 1920x1080 @ 30Hz RGBA8Color 1920x1080 @ 30Hz BGR8Color 1920x1080 @ 30Hz YUYVColor 1920x1080 @ 15Hz RGB8Color 1920x1080 @ 15Hz Y16Color 1920x1080 @ 15Hz BGRA8Color 1920x1080 @ 15Hz RGBA8Color 1920x1080 @ 15Hz BGR8Color 1920x1080 @ 15Hz YUYVColor 1920x1080 @ 6Hz RGB8Color 1920x1080 @ 6Hz Y16Color 1920x1080 @ 6Hz BGRA8Color 1920x1080 @ 6Hz RGBA8Color 1920x1080 @ 6Hz BGR8Color 1920x1080 @ 6Hz YUYVColor 1280x720 @ 30Hz RGB8Color 1280x720 @ 30Hz Y16Color 1280x720 @ 30Hz BGRA8Color 1280x720 @ 30Hz RGBA8Color 1280x720 @ 30Hz BGR8Color 1280x720 @ 30Hz YUYVColor 1280x720 @ 15Hz RGB8Color 1280x720 @ 15Hz Y16Color 1280x720 @ 15Hz BGRA8Color 1280x720 @ 15Hz RGBA8Color 1280x720 @ 15Hz BGR8Color 1280x720 @ 15Hz YUYVColor 1280x720 @ 6Hz RGB8Color 1280x720 @ 6Hz Y16Color 1280x720 @ 6Hz BGRA8Color 1280x720 @ 6Hz RGBA8Color 1280x720 @ 6Hz BGR8Color 1280x720 @ 6Hz YUYVColor 960x540 @ 60Hz RGB8Color 960x540 @ 60Hz Y16Color 960x540 @ 60Hz BGRA8Color 960x540 @ 60Hz RGBA8Color 960x540 @ 60Hz BGR8Color 960x540 @ 60Hz YUYVColor 960x540 @ 30Hz RGB8Color 960x540 @ 30Hz Y16Color 960x540 @ 30Hz BGRA8Color 960x540 @ 30Hz RGBA8Color 960x540 @ 30Hz BGR8Color 960x540 @ 30Hz YUYVColor 960x540 @ 15Hz RGB8Color 960x540 @ 15Hz Y16Color 960x540 @ 15Hz BGRA8Color 960x540 @ 15Hz RGBA8Color 960x540 @ 15Hz BGR8Color 960x540 @ 15Hz YUYVColor 960x540 @ 6Hz RGB8Color 960x540 @ 6Hz Y16Color 960x540 @ 6Hz BGRA8Color 960x540 @ 6Hz RGBA8Color 960x540 @ 6Hz BGR8Color 960x540 @ 6Hz YUYVColor 848x480 @ 60Hz RGB8Color 848x480 @ 60Hz Y16Color 848x480 @ 60Hz BGRA8Color 848x480 @ 60Hz RGBA8Color 848x480 @ 60Hz BGR8Color 848x480 @ 60Hz YUYVColor 848x480 @ 30Hz RGB8Color 848x480 @ 30Hz Y16Color 848x480 @ 30Hz BGRA8Color 848x480 @ 30Hz RGBA8Color 848x480 @ 30Hz BGR8Color 848x480 @ 30Hz YUYVColor 848x480 @ 15Hz RGB8Color 848x480 @ 15Hz Y16Color 848x480 @ 15Hz BGRA8Color 848x480 @ 15Hz RGBA8Color 848x480 @ 15Hz BGR8Color 848x480 @ 15Hz YUYVColor 848x480 @ 6Hz RGB8Color 848x480 @ 6Hz Y16Color 848x480 @ 6Hz BGRA8Color 848x480 @ 6Hz RGBA8Color 848x480 @ 6Hz BGR8Color 848x480 @ 6Hz YUYVColor 640x480 @ 60Hz RGB8Color 640x480 @ 60Hz Y16Color 640x480 @ 60Hz BGRA8Color 640x480 @ 60Hz RGBA8Color 640x480 @ 60Hz BGR8Color 640x480 @ 60Hz YUYVColor 640x480 @ 30Hz RGB8Color 640x480 @ 30Hz Y16Color 640x480 @ 30Hz BGRA8Color 640x480 @ 30Hz RGBA8Color 640x480 @ 30Hz BGR8Color 640x480 @ 30Hz YUYVColor 640x480 @ 15Hz RGB8Color 640x480 @ 15Hz Y16Color 640x480 @ 15Hz BGRA8Color 640x480 @ 15Hz RGBA8Color 640x480 @ 15Hz BGR8Color 640x480 @ 15Hz YUYVColor 640x480 @ 6Hz RGB8Color 640x480 @ 6Hz Y16Color 640x480 @ 6Hz BGRA8Color 640x480 @ 6Hz RGBA8Color 640x480 @ 6Hz BGR8Color 640x480 @ 6Hz YUYVColor 640x360 @ 60Hz RGB8Color 640x360 @ 60Hz Y16Color 640x360 @ 60Hz BGRA8Color 640x360 @ 60Hz RGBA8Color 640x360 @ 60Hz BGR8Color 640x360 @ 60Hz YUYVColor 640x360 @ 30Hz RGB8Color 640x360 @ 30Hz Y16Color 640x360 @ 30Hz BGRA8Color 640x360 @ 30Hz RGBA8Color 640x360 @ 30Hz BGR8Color 640x360 @ 30Hz YUYVColor 640x360 @ 15Hz RGB8Color 640x360 @ 15Hz Y16Color 640x360 @ 15Hz BGRA8Color 640x360 @ 15Hz RGBA8Color 640x360 @ 15Hz BGR8Color 640x360 @ 15Hz YUYVColor 640x360 @ 6Hz RGB8Color 640x360 @ 6Hz Y16Color 640x360 @ 6Hz BGRA8Color 640x360 @ 6Hz RGBA8Color 640x360 @ 6Hz BGR8Color 640x360 @ 6Hz YUYVColor 424x240 @ 60Hz RGB8Color 424x240 @ 60Hz Y16Color 424x240 @ 60Hz BGRA8Color 424x240 @ 60Hz RGBA8Color 424x240 @ 60Hz BGR8Color 424x240 @ 60Hz YUYVColor 424x240 @ 30Hz RGB8Color 424x240 @ 30Hz Y16Color 424x240 @ 30Hz BGRA8Color 424x240 @ 30Hz RGBA8Color 424x240 @ 30Hz BGR8Color 424x240 @ 30Hz YUYVColor 424x240 @ 15Hz RGB8Color 424x240 @ 15Hz Y16Color 424x240 @ 15Hz BGRA8Color 424x240 @ 15Hz RGBA8Color 424x240 @ 15Hz BGR8Color 424x240 @ 15Hz YUYVColor 424x240 @ 6Hz RGB8Color 424x240 @ 6Hz Y16Color 424x240 @ 6Hz BGRA8Color 424x240 @ 6Hz RGBA8Color 424x240 @ 6Hz BGR8Color 424x240 @ 6Hz YUYVColor 320x240 @ 60Hz RGB8Color 320x240 @ 60Hz Y16Color 320x240 @ 60Hz BGRA8Color 320x240 @ 60Hz RGBA8Color 320x240 @ 60Hz BGR8Color 320x240 @ 60Hz YUYVColor 320x240 @ 30Hz RGB8Color 320x240 @ 30Hz Y16Color 320x240 @ 30Hz BGRA8Color 320x240 @ 30Hz RGBA8Color 320x240 @ 30Hz BGR8Color 320x240 @ 30Hz YUYVColor 320x240 @ 6Hz RGB8Color 320x240 @ 6Hz Y16Color 320x240 @ 6Hz BGRA8Color 320x240 @ 6Hz RGBA8Color 320x240 @ 6Hz BGR8Color 320x240 @ 6Hz YUYVColor 320x180 @ 60Hz RGB8Color 320x180 @ 60Hz Y16Color 320x180 @ 60Hz BGRA8Color 320x180 @ 60Hz RGBA8Color 320x180 @ 60Hz BGR8Color 320x180 @ 60Hz YUYVColor 320x180 @ 30Hz RGB8Color 320x180 @ 30Hz Y16Color 320x180 @ 30Hz BGRA8Color 320x180 @ 30Hz RGBA8Color 320x180 @ 30Hz BGR8Color 320x180 @ 30Hz YUYVColor 320x180 @ 6Hz RGB8Color 320x180 @ 6Hz Y16Color 320x180 @ 6Hz BGRA8Color 320x180 @ 6Hz RGBA8Color 320x180 @ 6Hz BGR8Color 320x180 @ 6Hz YUYVStream Profiles supported by Motion ModuleSupported modes:stream resolution fps format Accel N/A @ 250Hz MOTION_XYZ32FAccel N/A @ 63Hz MOTION_XYZ32FGyro N/A @ 400Hz MOTION_XYZ32FGyro N/A @ 200Hz MOTION_XYZ32FIntrinsic Parameters:Intrinsic of "Depth" / 256x144 / {Z16}Width: 256Height: 144PPX: 124.671081542969PPY: 75.4661865234375Fx: 635.711242675781Fy: 635.711242675781Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 22.77 x 12.92Intrinsic of "Depth" / 424x240 / {Z16}Width: 424Height: 240PPX: 210.89729309082PPY: 121.148178100586Fx: 210.579345703125Fy: 210.579345703125Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.39 x 59.35Intrinsic of "Depth" / 480x270 / {Z16}Width: 480Height: 270PPX: 238.751647949219PPY: 136.299819946289Fx: 238.391723632812Fy: 238.391723632812Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.04Intrinsic of "Depth" / 640x360 / {Z16}Width: 640Height: 360PPX: 318.335540771484PPY: 181.733093261719Fx: 317.855621337891Fy: 317.855621337891Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.04Intrinsic of "Depth" / 640x480 / {Z16}Width: 640Height: 480PPX: 318.002655029297PPY: 242.079711914062Fx: 381.4267578125Fy: 381.4267578125Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 79.99 x 64.36Intrinsic of "Depth" / 848x100 / {Z16}Width: 848Height: 100PPX: 421.794586181641PPY: 52.2963562011719Fx: 421.15869140625Fy: 421.15869140625Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 13.54Intrinsic of "Depth" / 848x480 / {Z16}Width: 848Height: 480PPX: 421.794586181641PPY: 242.296356201172Fx: 421.15869140625Fy: 421.15869140625Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.35Intrinsic of "Depth" / 1280x720 / {Z16}Width: 1280Height: 720PPX: 636.671081542969PPY: 363.466186523438Fx: 635.711242675781Fy: 635.711242675781Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.04Intrinsic of "Color" / 320x180 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}Width: 320Height: 180PPX: 161.122665405273PPY: 86.5624389648438Fx: 227.984909057617Fy: 227.9404296875Distortion: Inverse Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 70.12 x 43.09Intrinsic of "Color" / 320x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}Width: 320Height: 240PPX: 161.496887207031PPY: 115.416580200195Fx: 303.979858398438Fy: 303.920562744141Distortion: Inverse Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 55.52 x 43.09Intrinsic of "Color" / 424x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}Width: 424Height: 240PPX: 213.496887207031PPY: 115.416580200195Fx: 303.979858398438Fy: 303.920562744141Distortion: Inverse Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 69.78 x 43.09Intrinsic of "Color" / 640x360 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}Width: 640Height: 360PPX: 322.245330810547PPY: 173.124877929688Fx: 455.969818115234Fy: 455.880859375Distortion: Inverse Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 70.12 x 43.09Intrinsic of "Color" / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}Width: 640Height: 480PPX: 322.993774414062PPY: 230.833160400391Fx: 607.959716796875Fy: 607.841125488281Distortion: Inverse Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 55.52 x 43.09Intrinsic of "Color" / 848x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}Width: 848Height: 480PPX: 426.993774414062PPY: 230.833160400391Fx: 607.959716796875Fy: 607.841125488281Distortion: Inverse Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 69.78 x 43.09Intrinsic of "Color" / 960x540 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}Width: 960Height: 540PPX: 483.367980957031PPY: 259.687316894531Fx: 683.954711914062Fy: 683.8212890625Distortion: Inverse Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 70.12 x 43.09Intrinsic of "Color" / 1280x720 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}Width: 1280Height: 720PPX: 644.490661621094PPY: 346.249755859375Fx: 911.939636230469Fy: 911.76171875Distortion: Inverse Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 70.12 x 43.09Intrinsic of "Color" / 1920x1080 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}Width: 1920Height: 1080PPX: 966.735961914062PPY: 519.374633789062Fx: 1367.90942382812Fy: 1367.642578125Distortion: Inverse Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 70.12 x 43.08Intrinsic of "Infrared 1" / 256x144 / {Y8}Width: 256Height: 144PPX: 124.671081542969PPY: 75.4661865234375Fx: 635.711242675781Fy: 635.711242675781Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 22.77 x 12.92Intrinsic of "Infrared 1" / 424x240 / {Y8}Width: 424Height: 240PPX: 210.89729309082PPY: 121.148178100586Fx: 210.579345703125Fy: 210.579345703125Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.39 x 59.35Intrinsic of "Infrared 1" / 480x270 / {Y8}Width: 480Height: 270PPX: 238.751647949219PPY: 136.299819946289Fx: 238.391723632812Fy: 238.391723632812Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.04Intrinsic of "Infrared 1" / 640x360 / {Y8}Width: 640Height: 360PPX: 318.335540771484PPY: 181.733093261719Fx: 317.855621337891Fy: 317.855621337891Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.04Intrinsic of "Infrared 1" / 640x480 / {Y8}Width: 640Height: 480PPX: 318.002655029297PPY: 242.079711914062Fx: 381.4267578125Fy: 381.4267578125Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 79.99 x 64.36Intrinsic of "Infrared 1" / 848x100 / {Y8}Width: 848Height: 100PPX: 421.794586181641PPY: 52.2963562011719Fx: 421.15869140625Fy: 421.15869140625Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 13.54Intrinsic of "Infrared 1" / 848x480 / {Y8}Width: 848Height: 480PPX: 421.794586181641PPY: 242.296356201172Fx: 421.15869140625Fy: 421.15869140625Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.35Intrinsic of "Infrared 1" / 1280x720 / {Y8}Width: 1280Height: 720PPX: 636.671081542969PPY: 363.466186523438Fx: 635.711242675781Fy: 635.711242675781Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.04Intrinsic of "Infrared 1" / 1280x800 / {Y8}Width: 1280Height: 800PPX: 636.671081542969PPY: 403.466186523438Fx: 635.711242675781Fy: 635.711242675781Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 64.36Intrinsic of "Infrared 2" / 256x144 / {Y8}Width: 256Height: 144PPX: 124.671081542969PPY: 75.4661865234375Fx: 635.711242675781Fy: 635.711242675781Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 22.77 x 12.92Intrinsic of "Infrared 2" / 424x240 / {Y8}Width: 424Height: 240PPX: 210.89729309082PPY: 121.148178100586Fx: 210.579345703125Fy: 210.579345703125Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.39 x 59.35Intrinsic of "Infrared 2" / 480x270 / {Y8}Width: 480Height: 270PPX: 238.751647949219PPY: 136.299819946289Fx: 238.391723632812Fy: 238.391723632812Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.04Intrinsic of "Infrared 2" / 640x360 / {Y8}Width: 640Height: 360PPX: 318.335540771484PPY: 181.733093261719Fx: 317.855621337891Fy: 317.855621337891Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.04Intrinsic of "Infrared 2" / 640x480 / {Y8}Width: 640Height: 480PPX: 318.002655029297PPY: 242.079711914062Fx: 381.4267578125Fy: 381.4267578125Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 79.99 x 64.36Intrinsic of "Infrared 2" / 848x100 / {Y8}Width: 848Height: 100PPX: 421.794586181641PPY: 52.2963562011719Fx: 421.15869140625Fy: 421.15869140625Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 13.54Intrinsic of "Infrared 2" / 848x480 / {Y8}Width: 848Height: 480PPX: 421.794586181641PPY: 242.296356201172Fx: 421.15869140625Fy: 421.15869140625Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.35Intrinsic of "Infrared 2" / 1280x720 / {Y8}Width: 1280Height: 720PPX: 636.671081542969PPY: 363.466186523438Fx: 635.711242675781Fy: 635.711242675781Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 59.04Intrinsic of "Infrared 2" / 1280x800 / {Y8}Width: 1280Height: 800PPX: 636.671081542969PPY: 403.466186523438Fx: 635.711242675781Fy: 635.711242675781Distortion: Brown ConradyCoeffs: 0 0 0 0 0 FOV (deg): 90.38 x 64.36Motion 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 00 1 00 0 1Translation 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 00 1 00 0 1Translation Vector: 0 0 0 Extrinsic from "Depth" To "Infrared 2" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: 0 0 0 Extrinsic from "Depth" To "Gyro" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185 Extrinsic from "Depth" To "Accel" :Rotation Matrix:1 0 00 1 00 0 1Translation 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 00 1 00 0 1Translation 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 00 1 00 0 1Translation 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 00 1 00 0 1Translation Vector: 0 0 0 Extrinsic from "Infrared 1" To "Infrared 2" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: -0.0496295988559723 0 0 Extrinsic from "Infrared 1" To "Gyro" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185 Extrinsic from "Infrared 1" To "Accel" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: -0.00552000012248755 0.00510000018402934 0.011739999987185 Extrinsic from "Infrared 2" To "Depth" :Rotation Matrix:1 0 00 1 00 0 1Translation 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 00 1 00 0 1Translation Vector: 0.0496295988559723 0 0 Extrinsic from "Infrared 2" To "Infrared 2" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: 0 0 0 Extrinsic from "Infrared 2" To "Gyro" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: 0.0441095978021622 0.00510000018402934 0.011739999987185 Extrinsic from "Infrared 2" To "Accel" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: 0.0441095978021622 0.00510000018402934 0.011739999987185 Extrinsic from "Gyro" To "Depth" :Rotation Matrix:1 0 00 1 00 0 1Translation 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 00 1 00 0 1Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185 Extrinsic from "Gyro" To "Infrared 2" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185 Extrinsic from "Gyro" To "Gyro" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: 0 0 0 Extrinsic from "Gyro" To "Accel" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: 0 0 0 Extrinsic from "Accel" To "Depth" :Rotation Matrix:1 0 00 1 00 0 1Translation 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 00 1 00 0 1Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185 Extrinsic from "Accel" To "Infrared 2" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: 0.00552000012248755 -0.00510000018402934 -0.011739999987185 Extrinsic from "Accel" To "Gyro" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: 0 0 0 Extrinsic from "Accel" To "Accel" :Rotation Matrix:1 0 00 1 00 0 1Translation Vector: 0 0 0 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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