环境

ros kinetic

ubuntu 16.04

相机 realsense D455i

想着realsense是否和kinect一样进行内参标定，输出yaml文件，但是搜了一堆内容，并没有什么完整或是可靠的说法。

https://github.com/IntelRealSense/realsense-ros/issues/508

里面提到：

The output of the calibration process is set in the firmware and so,

no file is needed for the operation of realsense2_camera ROS wrapper

or other realsense based applications. That’s why there is no file. I

am not familiar with the camera_calibration application. If you need

to obtain the values of the calibration to create your own .yaml file

you can get the current values by typing:

rs-enumerate-devices -c

https://github.com/IntelRealSense/librealsense/issues/2666

我在github里的回复得到了回应：

https://github.com/IntelRealSense/realsense-ros/issues/2556#issuecomment-1321133936