D435i Data output compatible with T265 software
I have read a lot about T265 replacements and every response has been that the D435i is the replacement for it.
I have been researching and trying to understand how compatible it is.
So is the data being output from the D435i the same as what comes out of the T265? If i was to hook it up and run a program that reads location and rotational data from a T265 will it work with the D435i?
https://github.com/bjarque/t265_UE
This is a program that takes location and rotational data from the T265 and feeds it into unreal engine. I would like to use the D435i since it is the only product available now to purchase.
If it does not work, then does it simply require another program that would run in between the device and this software that would convert the data to be functional?
I read something about the D435i is missing something that the T265 has that would indicate that this would be a problem.
Thanks
-
Hi Teschkec The D435i camera model lacks the in-built ability of the T265 Tracking Camera model to know the camera's position and rotation (its pose stream), or to analyze the pose of objects observed by the camera. So the D435i would be very likely to be incompatible with the T265 project that you linked to, unfortunately. A guide at the link below describes the differences between the now-retired T265 model and the D435i.
https://www.intelrealsense.com/how-to-getting-imu-data-from-d435i-and-t265/
It is possible to obtain the pose of objects with a D435i through other methods, such as an OpenCV SolvePNP algorithm or ROS inference.
As the D435i is equipped with a motion IMU component, you may be able to obtain the tilt angle of the camera. The position of the camera in the real world would not be provided though. A couple of examples of such programs that are compatible with D435i are below.
Python
https://github.com/IntelRealSense/librealsense/issues/4391#issuecomment-510701377
C++
https://github.com/IntelRealSense/librealsense/tree/master/examples/motion
Please sign in to leave a comment.
Comments
1 comment