如何获得D435的RGB相机和深度相机之间的相对位置？

D435是一款Strereoscopic型相机。
这意味着它有一个RGB传感器和一对红外传感器（左和右）。
左和右IR成像器用于构建深度图像。
如果您的目标是对齐多个RealSense相机但不需要精确同步它们的流，我想知道'Multicam'示例程序是否可以满足您的需求。
master上的librealsense / examples / multicam·IntelRealSense / librealsense·GitHub
如果您需要将D435与非RealSense设备对齐，那么多摄像头硬件同步将是最佳选择。
https://realsense.intel.com/wp-content/uploads/sites/63/Multiple_Camera_WhitePaper_rev1.1.pdf
值得注意的是，使用D435启动同步时，您还需要额外的D415相机作为同步触发脉冲发生器或使用外部信号发生器。



以下为原文

The D435 is a Strereoscopic type camera.  This means that it has an RGB sensor and a pair of infrared sensors (left and right).  The left and right IR imagers are used to construct a depth image.
 
If you are aiming to align more than one RealSense camera but do not need their streams to be precisely synchronized, I wonder if the 'Multicam' sample program might meet your needs.
 
librealsense/examples/multicam at master · IntelRealSense/librealsense · GitHub
 
If you are needing to align a D435 with a non-RealSense device, then multi-camera hardware sync would be the way to go.
 
https://realsense.intel.com/wp-content/uploads/sites/63/Multiple_Camera_WhitePaper_rev1.1.pdf
 
It is worth bearing in mind though that with a D435, to initiate the syncronization you would also need an additional D415 camera to act as the sync trigger pulse generator or use an external signal generator.

是的，Extrinsics对象包含两个传感器之间的平移，以米为单位。
要获得它，根据您使用的语言，您需要执行以下操作：
var extrinsics = depthStream.GetExtrinsicsTo（colourStream）;
或者，IIRC，校准工具/ api包括用于从设备输出校准数据的命令行app。



以下为原文

Yes, the Extrinsics object contains the translation between the two sensors in metres.
To get it, depending on what language you're using, you'll need to do something like this:
 
var extrinsics = depthStream.GetExtrinsicsTo(colourStream);
 
Alternatively, IIRC, the calibration tools/api includes a command line app for outputting calibration data from a device.

谢谢，我会试一试。
实际上我想将D435与投影仪对齐。
目前，我找到了一种将RGB传感器与投影仪对齐的方法。
所以我想知道将D435与投影仪对齐是否可以直接对齐RGB传感器。



以下为原文

thank you, I will take a try.
 
Actually I want to align a D435 with a projector. Currently I find a method to align a RGB sensor with a projector.
 
So I want to know whether it is OK to align a D435 with a projector directly just align the RGB sensor.

谢谢，我会试一试。
那么D435中两个传感器之间的位置是这样的吗？
RT = [1 0 0 extrinsics 
0 1 0 0 
0 0 1 0 
0 0 0 1]



以下为原文

thank you, I will take a try.
 
So the position between the two sensors in D435 is just like this?
 
RT=[1 0 0 extrinsics
        0 1 0 0
        0 0 1 0
        0 0 0 1]