Is there a product like the T265 (pose data important) that I can generate a trajectory with?
Does the D435i with IMU provide some way to make a trajectory like the T265 with pose stream? Possibly using Intel RealSense SDK 2.0. I need to record X, Y, Z, roll, pitch , yaw to put the images in the correct locations.
Hi Chutchinson The D435i stereo depth camera model does not have built-in support for pose stream data like the T265 Tracking Camera model does.
If you want to obtain pose (position + angle) of the camera itself and not an observed object then whilst it is straightforward to retrieve roll, pitch and yaw from the camera's internal IMU component, the main challenge is obtaining the XYZ position of the camera relative to its current location in a scene.
You may therefore be interested in an adaptation of Intel's D435i SLAM navigation guide for ROS. The adaptation adds localization and the ability to track and display the camera's relative position compared to a loaded map.
The original Intel guide that does not include camera position information is here:
I do not have a map to load. I need to use it more like the T265. I did look at the Navigation2 tutorial but it looks like I need an existing map.
In SLAM navigation, a map of a location can be recorded by having a robot patrol the area that it will be used in and progressively build up the map as it travels. When it is decided that the map is sufficiently detailed, live recording is stopped and that pre-recorded map can then be used by the robot during live navigation to avoid obstacles. This is referred to in the Save Map Data section of the DPoom guide linked to earlier.
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