text: # 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, 1280, 720, rs.format.z16, 30)
  config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
  profile = pipeline.start(config)
  frames = pipeline.wait_for_frames()
  depth = frames.get_depth_frame()
  color = frames.get_color_frame()
  # 获取内参
  depth_profile = depth.get_profile()
  print(depth_profile)
  # <pyrealsense2.video_stream_profile: 1(0) 640x480 @ 30fps 1>
  print(type(depth_profile))
  # <class 'pyrealsense2.pyrealsense2.stream_profile'>
  print(depth_profile.fps())
  # 30
  print(depth_profile.stream_index())
  # 0
  print(depth_profile.stream_name())
  # Depth
  print(depth_profile.stream_type())
  # stream.depth
  print('', depth_profile.unique_id)
  # <bound method PyCapsule.unique_id of <pyrealsense2.video_stream_profile: 1(0) 640x480 @ 30fps 1>>
  
  color_profile = color.get_profile()
  print(color_profile)
  # <pyrealsense2.video_stream_profile: 2(0) 640x480 @ 30fps 6>
  print(type(color_profile))
  # <class 'pyrealsense2.pyrealsense2.stream_profile'>
  print(depth_profile.fps())
  # 30
  print(depth_profile.stream_index())
  # 0
  
  cvsprofile = rs.video_stream_profile(color_profile)
  dvsprofile = rs.video_stream_profile(depth_profile)
  
  color_intrin = cvsprofile.get_intrinsics()
  print(color_intrin)
  # width: 640, height: 480, ppx: 318.482, ppy: 241.167, fx: 616.591, fy: 616.765, model: 2, coeffs: [0, 0, 0, 0, 0]
  depth_intrin = dvsprofile.get_intrinsics()
  
  # print(depth_intrin.fx)
  # width: 640, height: 480, ppx: 317.78, ppy: 236.709, fx: 382.544, fy: 382.544, model: 4, coeffs: [0, 0, 0, 0, 0]
  extrin = depth_profile.get_extrinsics_to(color_profile)
  # print(extrin)
  # rotation: [0.999984, -0.00420567, -0.00380472, 0.00420863, 0.999991, 0.00076919, 0.00380145, -0.00078519, 0.999992]
  # translation: [0.0147755, 0.000203265, 0.00051274]
  
  