Get pose stream from D435i

May 07, 2022 07:23

Hi,

I would like to get pose stream with D435i. As I know T265 can do this, but I do not want to use multiple cameras in my project. D435i can output IMU stream. I think I can output the Gyro and Accel streams and do integral to get the translation and rotation. Is OK with this?

Thanks.

Yixun

Comments

1 comment

MartyX Grover

May 07, 2022 09:59
Hi Yixun Liu The D435i camera model does not support pose stream data like the T265 does. You can though output gyro and accel streams and obtain IMU extrinsics (translation and rotation).

At the link below, a RealSense user created an adaptation of Intel's D435i SLAM guide that added localization with RTABMAP and obtaining the relative position of the camera from a recorded pointcloud map.

https://shinkansan.github.io/2019-UGRP-DPoom/SLAM

You can also establish the camera orientation by using trigonometry or by implementing a plane-fit algorithm (which does not require the IMU), as described at the link below.

https://support.intelrealsense.com/hc/en-us/community/posts/360050861454-How-to-find-the-angle-of-the-camera-by-given-four-coordinates-?page=1#community_comment_360014558693
0

Comment actions Permalink

Please sign in to leave a comment.

Comments

Didn't find what you were looking for?