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How can I get the extrinsic and intrinsic parameter of the T265?

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Happenzj

Hi

I am tring to use the T265 to run a VIO algorithm（VINS-Fusion），so how can I read the extrinsic and intrinsic parameter of the camera(e.g:mirror_parameters \ distortion_parameters \ projection_parameters \ extrinsic parameters...)?

thanks!

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  • MartyG
    • Edited

    T265 extrinsics and intrinsics have been available from the RealSense SDK since version 2.20.0 in April 2019.  You can list them with the rs-enumerate-devices SDK tool, using the instruction rs-enumerate-devices -c

    https://github.com/IntelRealSense/librealsense/issues/3621 

    The source code for the rs-enumerate-devices tool can be found in the link below.

    https://github.com/IntelRealSense/librealsense/tree/master/tools/enumerate-devices 

    If you have Windows and have downloaded and installed the pre-built binary version of the SDK, a pre-built executable version of rs-enumerate-devices can also be found in the following SDK folder:

    C: > Program Files (x86) > Intel RealSense SDK 2.0 > Tools

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  • Happenzj

    Thanks Marty

     I have got  the extrinsic and intrinsic parameter of the camera!

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  • MartyG

    You're very welcome.   I'm glad I could help you to get what you needed.   :)

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