Intel® RealSense™ Tracking Camera T265 (VIO)

The Intel® RealSense™ Tracking Camera T265 (opens new window) provides odometry information that can be used for VIO, augmenting or replacing other positioning systems on PX4.

TIP

This camera is recommended, and is used in the Visual Inertial Odometry (VIO) > Suggested Setup.

Where to Buy

Intel® RealSense™ Tracking Camera T265 (opens new window) (store.intelrealsense.com)

설정 방법

At a high level:

• The realsense-ros wrapper (opens new window) provided by Intel should be used to extract the raw data from the camera.
• 카메라는 렌즈가 아래를 향하도록 장착하여야 합니다 (기본값). Be sure to specify the camera orientation by publishing the static transform between the base_link and camera_pose_frame in a ROS launch file, for example:

  <node pkg="tf" type="static_transform_publisher" name="tf_baseLink_cameraPose"
      args="0 0 0 0 1.5708 0 base_link camera_pose_frame 1000"/>
  

  This is a static transform that links the camera ROS frame camera_pose_frame to the MAVROS drone frame base_link.
  • the first three args specify translation x,y,z in metres from the center of the flight controller to the camera. 예를 들어 카메라가 컨트롤러 앞 10cm, 위쪽 4cm 인 경우 처음 세 숫자는 [0.1, 0, 0.04, ...]입니다.
  • 다음 세 개의 인수는 라디안 (요, 피치, 롤)으로 회전을 지정합니다. So [... 0, 1.5708, 0] means pitch down by 90° (facing the ground). 정면을 바라보는 것은 [... 0 0 0]입니다.
• The camera is sensitive to high-frequency vibrations! 방진 폼을 사용하여 장착하여야 합니다.