# Starling 2 TOF Instrinsic Calibration information

Source: https://forum.modalai.com/topic/3236/starling-2-tof-instrinsic-calibration-information
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-03-19 15:53:08 UTC by Kashish Garg 0
Replies: 1 · Views: 693

## Kashish Garg 0 · 2024-03-19 15:53:08 UTC

Hello, because voxl-mpa-to-ros does not output any information on camera_info topic, we were curious if there was a file somewhere on board that could provide the intrinsic calibration information of the TOF Sensor on board?

## Reply by Moderator (ModalAI staff) · 2024-03-22 16:16:47 UTC

@Kashish-Garg-0 

You might be able to find the raw lens parameters [here](https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/src/tof_interface.cpp?ref_type=heads#L188)

The PMD libraries use those calibrations to adjust the point cloud data, so it may be corrected prior to being published as a depth map or point cloud. We have not used those lens parameters directly ourslves.