algorithm topic about Output camera pose with d435i

[987428377]

Thank you for your answers and support! I can already run rtabslam with d435i. So what function should I use to get the position and attitude of camera in modeling? Does he have any existing algorithm topic

[MartyG-RealSense]

Hello, the D435i does not have built-in support for pose data (position and angle). There are a range of ways to obtain pose of the camera or of an observed object though. It sounds as though you wish to retrieve the pose of the camera.

Intel have a ROS guide for using D435i with RTABMAP for the purposes of SLAM. A RealSense user expanded upon that guide to describe how to retrieve the camera's relative position from the generated map by performing localization. The guide describes that the pose can then be published to ROS.

#8094 (comment)

That discussion is also worth reading from the start for information about other methods for obtaining camera pose.

The subject of localization for D435i is discussed further here:

IntelRealSense/realsense-ros#1529 (comment)

[987428377]

Hello, the D435i does not have built-in support for pose data (position and angle). There are a range of ways to obtain pose of the camera or of an observed object though. It sounds as though you wish to retrieve the pose of the camera.

Intel have a ROS guide for using D435i with RTABMAP for the purposes of SLAM. A RealSense user expanded upon that guide to describe how to retrieve the camera's relative position from the generated map by performing localization. The guide describes that the pose can then be published to ROS.

#8094 (comment)

That discussion is also worth reading from the start for information about other methods for obtaining camera pose.

The subject of localization for D435i is discussed further here:

IntelRealSense/realsense-ros#1529 (comment)

If you are using RTABSLAM and would prefer a pose solution based around the system that you are already using, the RTABSLAM discussion about pose in the link below may be helpful.

introlab/find-object#23
Thank you for you reply!

[MartyG-RealSense]

hi @987428377 Do you require further assistance with this case, please? Thanks!

[987428377]

hi @987428377 Do you require further assistance with this case, please? Thank you very much !

Thanks！ I will try this method http://docs.px4.io/master/en/computer_vision/visual_inertial_odometry.html

[MartyG-RealSense]

Thanks very much for the update!