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Intel® RealSense™ Tracking Camera T265 (VIO)
The Intel® RealSense™ Tracking Camera T265 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. :::
구매처
Intel® RealSense™ Tracking Camera T265 (store.intelrealsense.com)
Setup Instructions
At a high level:
- The
realsense-roswrapper provided by Intel should be used to extract the raw data from the camera. - The camera should be mounted with lenses facing down (default).
Be sure to specify the camera orientation by publishing the static transform between the
base_linkandcamera_pose_framein a ROS launch file, for example:This is a static transform that links the camera ROS frame<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"/>camera_pose_frameto the MAVROS drone framebase_link.- the first three
argsspecify translation x,y,z in metres from the center of the flight controller to the camera. For example, if the camera is 10cm in front of the controller and 4cm up, the first three numbers would be : [0.1, 0, 0.04,...] - the next three
argsspecify rotation in radians (yaw, pitch, roll). So[... 0, 1.5708, 0]means pitch down by 90° (facing the ground). Facing straight forward would be [... 0 0 0].
- the first three
- The camera is sensitive to high-frequency vibrations! It should be soft-mounted with, for example, vibration isolation foam.