Does having the T265 cover not having the IMU in the d435
I have the d435 camera without the IMU. I also have the T265 camera. I am starting to learn how to program with ROS. What would be the short comings of not having the d435i (with the IMU), when it comes to doing robot navigation with ROS. Does having the T265 cover not having the IMU in the d435? To me it seems that the T265 has the position information. If I fix mount the T265 with the d435, I should be able to offset the position difference from what the d435's distance information. I have seen people posting about calibration so once that is performed I should be set? Is there information about this? That would be why I could see having the IMU built into the d435i would be an advantage. Does this over come not having the IMU?
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The T265 has the same IMU component as the D435i (though IMU works a bit differently in D435i and T265). There is no problem at all with pairing the T265 with an ordinary IMU-less D435, as shown in the long YouTube presentation by a member of the RealSense team in the link below.
https://www.youtube.com/watch?v=62vm0_RZ1nU
The D435 part of the presentation starts at 17 minutes 15 seconds into the video.
Intel have also published a guide to getting IMU data with D435i or with T265 that explains the differences in how the two devices implement the IMU.
https://www.intelrealsense.com/how-to-getting-imu-data-from-d435i-and-t265/
The T265 does not need to be calibrated (though if you are making use of robot 'wheel odometry' with the T265 to aid accuracy, that can be calibrated). You are welcome to calibrate the D435 though if you believe that it is required.
https://github.com/IntelRealSense/librealsense/blob/master/doc/t265.md#calibration
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