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Using T265 with additional laser scanners

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  • MartyG

    A RealSense users has successfully used the RPLidar system with the T265.

    https://github.com/IntelRealSense/realsense-ros/issues/711#issuecomment-498133068

    Regarding whether the lidar would affect the depth camera ... the 400 Series cameras tend to be immune to interference from each other but can interfere with non-RealSense cameras (T265 and 400 Series combinations are not affected).  Having said that, a combination of lidar and RealSense depth cameras has been used on the 'Roboat' robot boat, with the lidar on the top of the boat and RealSense on the bottom.  So the level of interference, if there is any, may be a matter of their proximity to each other.

    https://forums.intel.com/s/question/0D50P00004MCjWOSA1/roboat-robotic-boats-and-their-use-of-realsense?language=en_US 

    Regarding multiple D435, yes you can certainly arrange multiple cameras to increase your field of view.  Typically, four is a good number for a 180 degree view and eight is a good number for a 360 degree view, though you can add as many as you want as long as the computer hardware can handle it.  The more cameras you have, the better the data, because you have fewer blind-spots and you have redundancy in the data because of camera views overlapping. 

    When the cameras are mounted close together, like on a drone, 360 degrees is achievable with 6 cameras, like on a drone from 2015 that used 6 caseless RealSense cameras arranged in a circle.

    You may be able to get a 360 or near 360 view with less cameras depending on the design of your particular robot and how / where the cameras are mounted so that their fields of view overlap.

    As an indicator of hardware requirements if you plan to connect multiple cameras to the same computer, a recommendation of an Intel i7 processor has been made for a 4-camera system.  More powerful systems, such as Intel's latest Core i9 processors, have come along since then though.

    Currently though, the SDK apparently only supports one T265 at a time.

    https://github.com/IntelRealSense/realsense-ros/issues/706 

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