T265 Mapping/Relocalization/Jumping Options #4321

radfordi · 2019-06-28T01:59:43Z

Expose options to enable/disable mapping, relocalization and pose jumping. The options are also available in the realsense-viewer. Disabling pose jumping requires a firmware update which will be forthcoming. IntelRealSense/realsense-ros#779

radfordi · 2019-06-28T02:07:23Z

@dorodnic, it looks like options that return is_read_only() == true are not "dimmed" in the realsense-viewer, so I had to add extra code to throw when someone tries to set them. Is this a bug or the expected behavior?

radfordi · 2019-06-28T23:53:56Z

@dorodnic, it looks like ImGui::Checkbox doesn't support a disabled mode yet.

rgreid · 2019-07-01T07:47:31Z

+1 for this PR. Any idea when this will be merged and the firmware update will be released?

src/tm2/tm-device.cpp

ev-mp · 2019-07-02T14:46:15Z

src/tm2/tm-device.cpp

@@ -563,6 +589,7 @@ namespace librealsense
            case RS2_STREAM_POSE:
            {
                auto tm_profile = _tm_supported_profiles.sixDof[stream_index];
+                tm_profile.mode = _tm_mode;


These options are for Pose stream only. Is it possible to configure those as N/A if the user request raw IMU and/or FE streams without Pose ?

The mode is already set to reasonable defaults, as part of the profiles, for all stream types (including pose). For pose I override it rather than create a permutation of all possible modes in the profiles and then have to select the profile that is asked for. mode doesn't quite fit the profile concept, but it's the only way we have to pass these parameters for now.

…e glfw target)

o Clear old map first when loading a new one (until multiple maps are supported) o New run flags for enabling/disabling jumping/dynamic-calibration o Stop/stop/map-load now synchronous to avoid race conditions

radfordi · 2019-07-09T02:35:18Z

@rgreid, a candidate firmware for this PR should be available here as soon as I can get it uploaded, but a release with this PR is at least a week or two away.

rgreid · 2019-07-10T09:47:03Z

@radfordi Thanks for the update. Eagerly awaiting this. Looks like you're working towards three mode flags:

SIXDOF_MODE_ENABLE_MAPPING
SIXDOF_MODE_ENABLE_RELOCALIZATION
SIXDOF_MODE_ENABLE_JUMPING

Can you please explain these? In particular the difference between relocalization and jumping?

We're using the T265 for VO in a lidar-based SLAM system: Is there a simple way to disable relocalization in the near term? (i.e. we need visual odometry only). Thanks!

ev-mp · 2019-07-10T19:48:34Z

third-party/libtm/fw/CMakeLists.txt

-set( FW_VERSION "0.0.18.5715")
-set( FW_SHA1 cc12cf05f387d80f65e98c4d41fc883725124a08)
+set( FW_VERSION "0.0.18.6100")
+set( FW_SHA1 858b786215ff66cf8cf93fa85393ca6268dedee4)


@radfordi , the FW 6100 has already been uploaded. If this PR was pending the FW release - then pls check and confirm to merge.

@ev-mp, I confirmed that the FW had been uploaded before pushing this particular commit.

ev-mp · 2019-07-10T19:51:24Z

include/librealsense2/h/rs_option.h

@@ -76,6 +76,10 @@ extern "C" {
        RS2_OPTION_HARDWARE_PRESET, /**< Hardware stream configuration */
        RS2_OPTION_GLOBAL_TIME_ENABLED, /**< disable global time  */
        RS2_OPTION_APD_TEMPERATURE, /**< APD temperature*/
+        RS2_OPTION_ENABLE_MAPPING, /**< Enable an internal map */


The new features/usage also should be elaborated in Readme

radfordi · 2019-07-11T18:04:57Z

Hi @rgreid,

I added some documentation for these new T265 options in de76d3a. I suspect what you'll want is to disable just RS2_OPTION_ENABLE_POSE_JUMPING rather then RS2_OPTION_ENABLE_RELOCALIZATION. I would be surprised if you find disabling RS2_OPTION_ENABLE_MAPPING useful. Please do let us know what you end up using and why.

@schmidtp1, it was requested, in IntelRealSense/realsense-ros#779, for these options to make their way into IntelRealSense/realsense-ros.

ev-mp

Thank you, @radfordi

mmoyes · 2019-08-09T00:56:45Z

These dont seem to be changeable while streaming. It would be useful to change at least RS2_OPTION_ENABLE_POSE_JUMPING without losing the current tracking data.

radfordi added 4 commits June 27, 2019 18:44

Suppress warning about assigning in an if

38ca168

libtm: SIXDOF_MODE is a bit fields so allow bit field operations

143805a

libtm: add support for enabling/disabling jumping

43f6f56

tm-device: add options for mapping, relocalization and jumping

df925ab

radfordi mentioned this pull request Jun 28, 2019

t265 relocalization events #3516

Closed

PaulKrush mentioned this pull request Jun 28, 2019

Kidnapped T265 #4288

Closed

Give details when complaining about failures to inspect an option

8a7b749

radfordi force-pushed the t265-mapping-options branch from 4762e26 to 8a7b749 Compare June 28, 2019 23:57

ev-mp reviewed Jul 2, 2019

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src/tm2/tm-device.cpp Outdated Show resolved Hide resolved

ev-mp reviewed Jul 2, 2019

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radfordi added 5 commits July 8, 2019 12:15

Use rs_fourcc to avoid non-standard wide character constants

05f7b0c

Pose jumping flag should be inverted for backwards compatability

2f05c0c

Support disabling dynamic calibration

f263620

Remove explicit glfw droppings from realsense-gl (taken care of by th…

8510332

…e glfw target)

Upgrade TM2 firmware to 0.0.18.6100

15c47fe

o Clear old map first when loading a new one (until multiple maps are supported) o New run flags for enabling/disabling jumping/dynamic-calibration o Stop/stop/map-load now synchronous to avoid race conditions

ev-mp reviewed Jul 10, 2019

View reviewed changes

radfordi added 2 commits July 11, 2019 10:54

Trivial cleanups of doc/t265.md

f865e2f

Documentation of the T365 specific options

de76d3a

ev-mp marked this pull request as ready for review July 11, 2019 20:55

ev-mp approved these changes Jul 11, 2019

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ev-mp merged commit aab21de into IntelRealSense:development Jul 11, 2019

radfordi mentioned this pull request Jul 16, 2019

GPS vs T265 position data project #4412

Closed

kevinmehall mentioned this pull request Jul 26, 2019

Add t265 options to Python wrapper #4511

Merged

RealSenseCustomerSupport mentioned this pull request Sep 6, 2019

Exporting and importing localisation map for T265 from realsense-viewer #4526

Closed

MartyG-RealSense mentioned this pull request Oct 4, 2019

Is disabling relocalization possible in the new releases? #4980

Closed

radfordi mentioned this pull request Oct 15, 2019

Disable Relocalization/Loop Closure for T265 IntelRealSense/realsense-ros#779

Closed

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T265 Mapping/Relocalization/Jumping Options #4321

T265 Mapping/Relocalization/Jumping Options #4321

radfordi commented Jun 28, 2019

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rgreid commented Jul 1, 2019

ev-mp Jul 2, 2019

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mmoyes commented Aug 9, 2019

T265 Mapping/Relocalization/Jumping Options #4321

T265 Mapping/Relocalization/Jumping Options #4321

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radfordi commented Jun 28, 2019

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