T265 Combined with Depth Camera within Unity
Hi,
I was wondering how one can go about using both the T265 and a D400 series camera combined within Unity Engine, I'm wanting to possibly increase the accuracy of the tracking provided by the T265 and make it more resilient to drift over time.
When I try to combine the pose stream with depth and infrared within the RsDevice game object it causes a "couldn't resolve requests" exception.
Any help would be appreciated.
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T265 has an example SLAM program in the SDK's Unity wrapper.
I believe the "couldn't resolve request" error is related to a camera being asked to carry out a function that it does not support (for example, requesting a resolution not supported by that camera model).
It would be difficult, though not impossible, to sync 400 Series data with T265 data. The link below provides advice on the subject.
https://github.com/IntelRealSense/librealsense/issues/3670#issuecomment-479851256
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Thanks for the information.
I'm able to get both the cameras working fine one at a time - my issue with the "couldn't resolve requests" error is when I'm trying to bring in, for example, depth information and pose information at the same time. I assume it's trying to get all the information from a single device instead of whichever one is most appropriate. I'm probably doing it totally wrong though.
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As there are few precedents for multiple-device use in Unity, it is difficult to provide guidance. You could ask at the RealSense GitHub forum, as the developers who work on the Unity wrapper are there.
https://github.com/IntelRealSense/librealsense/issues
Having said that, I wonder if it related to a previously documented issue with the Unity wrapper where it could only access one RealSense device because the wrapper treats that device as a 'singleton', preventing other devices from starting. The subject is discussed in the link below.
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