3D reconstruction/ SFM with a monocular camera and The T265
Hello, has there been any prior work on using the T265 with a monocular camera for 3D reconstruction since the T265 by itself is not ideal for this?
I know there is support for D435(i) + T265, but I want to use it along with a standard monocular camera.
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T265 questions are now handled by the RealSense GitHub forum. you can post your question there by visiting the link below and clicking the 'New Issue' button.
https://github.com/IntelRealSense/librealsense/issues
Having said that, if you are asking whether the T265 can work with a non-RealSense depth camera, the answer should be yes. Point number 2 of an FAQ for the T265 on its documentation page says about the question of whether it can be used with a depth camera: "Yes, this device can be used with RealSense (and most likely any 3rd-party) depth cameras. It is passive and comes with an IR-cut filter".
https://github.com/IntelRealSense/librealsense/blob/master/doc/t265.md#faq
I cannot offer guarantees that the T265 will work with a specific non-RealSense model of depth camera though.
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Hello MartyG,
Thank you for your response. I will pose further queries in the github repo Issues.
I was wondering if anyone had done any work for such a case where a monocular camera + T265 was done. -
I did a extensive search for examples of the T265 being used with a monocular camera but could not find any. One approach might be to use a D435 stereo camera instead of the D435i. The T265 has the same IMU component as the D435i (though processes the IMU data in a different way) and so you only need the T265 for the IMU data and can use the IMU-less D435 model for the depth data.
There was a video on YouTube where the T265 was being used with the RealSense SR305, which is a depth camera but not stereo like the D435 / D435i (it is Structured Light technology instead).
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