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The T265 and depth mapping


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  • Yu-Chern Peh

    Hi Dave,


    T265 is not a depth camera and the quality of passive-only depth options will always be limited compared to (e.g.) the D4XX series cameras. However, T265 does have two global shutter cameras in a stereo configuration. 


    Here is an example ( shows how to use T265 intrinsics and extrinsics in OpenCV to asynchronously compute depth maps from T265 fisheye images on the host.


    The Intel RealSense Tracking Camera performs inside-out tracking, meaning that it does not depend on external sensors for its understanding of the environment. The tracking is based primarily on information gathered from two onboard fish-eye cameras, each with approximately a 163-degree range of view (±5 degrees) and performing image capture at 30 frames per second. The wide field of view from each camera sensor helps keep points of reference visible to the system for a relatively long time, even if the platform is moving quickly through space.


    A key strength of visual-inertial odometry is that the various sensors available complement each other. The images from the visual sensors are supplemented by data from an onboard inertial measurement unit (IMU), which includes a gyroscope and accelerometer. The aggregated data from these sensors is fed into simultaneous localization and mapping (SLAM) algorithms running on the Intel Movidius Myriad 2 VPU for visual-inertial odometry.





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