Where can I find the camera calibration file for Realsense T265?

[RNagy]

Hi All,

I'm using the Intel Realsense T265 in OpenCV and Python environment. I can see the video stream from the stereo fisheye cameras and the position of it, so the setup worked well with the product. My problem is, I would like to include computer vision algorithms for my application, so I need the the camera calibration files of the T265. I know that this camera is previously calibrated, but for the algorithms I need the intrinsic and extrinsic parameters. Do you know, where can I find the calibration file? Obviously, I can recalibrate the camera by myself, but I would like to avoid it if the calibration file is accessible.

Thank You!

Renata

[MartyG]

A sample wheel odometry calibration file was added to the T265's documentation a week ago when SDK version 2.21.0 was released.

https://github.com/IntelRealSense/librealsense/blob/master/doc/t265.md#wheel-odometry-calibration-file-format

[RNagy]

Thanks Marty! Unfortunately, I need the calibration file for the fisheye cameras (e.g. to undistort the fisheye images, etc.). Can you tell me is it accessible or not? It is not a rocket science to calibrate the fisheye cameras but why do it if others did it to me :)

[MartyG · Accepted solution]

Intrinsics and extrinsics of the T265 were exposed from SDK version 2.20.0 onward. Below is an example using both to render a virtual object in the fisheye frame:

https://github.com/IntelRealSense/librealsense/tree/master/examples/ar-basic

[RNagy]

This is what I needed, thank you so much!

[MartyG]

You're totally welcome. I'm very glad I could help. :)