Intel RealSense Cameras: D435i, T265, ZR300
Last updated on November 26, 2023 pm
[TOC]
Overview
Install and Run [2]
Install SDK
Add Keys
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Add Repositories
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Install Libs
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Install Dev and Debug tools
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Install ROS
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Run
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run with ROS
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run multiple RS Cams
RS D435i [1]
RS T265 [5]
Tech Specs
- Intel® Movidius™ Myriad™ 2.0 VPU: Visual Processing Unit optimized to run V‑SLAM at low power
- Two Fisheye lenses
- FOV: close to hemispherical 163±5° field of view
- Resolution: 840x800
- Frame Rate: 30 FPS
- Image Format: Y8
- sensor: OV9282
- BMI055 IMU
- Gyroscope
- Frame Rate: 200 FPS
- Accelerator
- Frame Rate: 62 FPS
- Gyroscope
- infrared cut filter: The T265 features an infrared cut filter over the lenses, allowing it to ignore the projected patterns from D400 series depth cameras
- pose output
- Format: 6DOF
- Frame Rate: 200 FPS
Test
Results
相机前视,运行正常,回到原点
相机下视,运行正常,最终离原点误差 0.8m 左右
快速运动(某些地方来回快速挥动),正常运行,不飞,最终离原点误差 2m 左右
遮挡右目,正常运行,最终离原点误差 0.7m 左右
遮挡左目,正常运行,最终离原点误差 2m 左右
Conclusion
pros
- 相机前视,正常运动,回到原点
- 快速运动(手快速来回挥动)不会飞,不过最终到原点的误差会差些
- 相机下视(看到的都是地毯),也会正常运行,不过最终到原点的误差会差些
- 遮挡任一相机(单目状态),也会正常运行,不过最终到原点的误差会差些
cons
- 回环检测(貌似没有,待确定)
- 运行中静止一段时间,有时SLAM挂掉
- SLAM挂掉后有时需要重新插拔T265后才能正常启动
RS ZR300 [6]
Reference
Intel RealSense Cameras: D435i, T265, ZR300
https://cgabc.xyz/posts/d468fb33/