Intel RealSense T265鱼眼相机图像获取并矫正畸变(Unity)

最新推荐文章于 2026-04-21 13:49:19 发布

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最新推荐文章于 2026-04-21 13:49:19 发布 · 2.8k 阅读

1.添加RsDevice：

2.设置开启鱼眼相机：

3.新建RsStreamTextureRendererFisheye.cs和Fisheye.shader：

using Intel.RealSense;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using System.Threading;
using UnityEngine;
using UnityEngine.Events;

public class RsStreamTextureRendererFisheye : MonoBehaviour
{
    private static TextureFormat Convert(Format lrsFormat)
    {
        switch (lrsFormat)
        {
            case Format.Z16: return TextureFormat.R16;
            case Format.Disparity16: return TextureFormat.R16;
            case Format.Rgb8: return TextureFormat.RGB24;
            case Format.Rgba8: return TextureFormat.RGBA32;
            case Format.Bgra8: return TextureFormat.BGRA32;
            case Format.Y8: return TextureFormat.Alpha8;
            case Format.Y16: return TextureFormat.R16;
            case Format.Raw16: return TextureFormat.R16;
            case Format.Raw8: return TextureFormat.Alpha8;
            case Format.Disparity32: return TextureFormat.RFloat;
            case Format.Yuyv:
            case Format.Bgr8:
            case Format.Raw10:
            case Format.Xyz32f:
            case Format.Uyvy:
            case Format.MotionRaw:
            case Format.MotionXyz32f:
            case Format.GpioRaw:
            case Format.Any:
            default:
                throw new ArgumentException(string.Format("librealsense format: {0}, is not supported by Unity", lrsFormat));
        }
    }

    private static int BPP(TextureFormat format)
    {
        switch (format)
        {
            case TextureFormat.ARGB32:
            case TextureFormat.BGRA32:
            case TextureFormat.RGBA32:
                return 32;
            case TextureFormat.RGB24:
                return 24;
            case TextureFormat.R16:
                return 16