T265 fisheye stream intrinsic is not available

[AmadeusSVX]

Required Info
Camera Model	T265
Operating System & Version	Windows 10
Platform	PC x64
SDK Version	2.18.1
Language	C#
Segment	PC

I'm trying to use fisheye streams of T265.
Now they are available as streams. But I cannot get intrinsics of them from their profiles as depth/infrared streams of D4xx series.

I'm trying with below code. There is no error returned, but l_intrinsic and r_intrinsic values are all 0.
Do I need to do with something different manner or simply not implemented to expose their values yet?

rs2::pipeline_profile selection = pipe.start(cfg);

auto left_fisheye_stream = selection.get_stream(RS2_STREAM_FISHEYE, 1).as<rs2::video_stream_profile>();
auto right_fisheye_stream = selection.get_stream(RS2_STREAM_FISHEYE, 2).as<rs2::video_stream_profile>();
auto l_intrinsic = left_fisheye_stream.get_intrinsics();
auto r_intrinsic = right_fisheye_stream.get_intrinsics();

[dorodnic]

Hi @AmadeusSVX
No, this should work, we need to check why it doesn't.

[honpong]

@dorodnic I
If I get_instrinsics(), I got all 0 instrinsics and after that the wait_for_frames() will throw exception.
If I don't query instrincis, I have no problem wait_for_frames().
I am using Windows.

[RealSenseCustomerSupport]

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I can observe this issue based on the modified version of the rs-enumerate-devices tool. This issue needs to be addressed internally.

[seiya0412]

Just FYI (and for making this thread active).
This issue can be reproduced on Ubuntu 16.04 with SDK 2.19.0.

[bfulkers-i]

This is being worked on in #3541 and once that PR is merged the T265 intrinsics should be exposed. See also #3544 #3497

[bfulkers-i]

intrinsics and extrinsics are now exposed in librealsense 2.20.0, you can see an example using both to render a virtual object in the fisheye frame here:

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

Can I close this issue?