Example: Stereo from T265 images using OpenCV #3951
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t265_stereo.py shows how to use T265 intrinsics and extrinsics in OpenCV to compute a passive only stereo image on the center of the field of view of the fisheye cameras
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Looking good! |
dorodnic
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May 16, 2019
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anyone calibrate the camera parameter，is the pre-calibrated paramter accurate? i found the disparity is noisy, and the undistorted image still has Distortion,that will make the disparity which computed by stereo matcher invalid. |
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This example shows how to use T265 intrinsics and extrinsics in OpenCV to asynchronously compute depth maps from T265 fisheye images on the host.
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, and in this example we show how to set up OpenCV to undistort the images using OpenCV's fisheye model and compute stereo depth from them.