Re: Comparison between realsense D435 vs T265 vs T265+D435 dual setup

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-tp6456p6531.html

Hi,

The example above was done in rtabmap standalone (without ROS) built with realsense2 support. Just click on Calibrate button in the source panel (like on the screenshot) to calibrate the T265.

To use T265 with rtabmap's odometry under ROS, you would still have to calibrate using rtabmap standalone, then publish the calibration in new camera_info that can be used by rtabmap's odometry to rectify the images (note that you will need this new fix so that rtabmap's odometry can rectify the stereo images for convenience). Based on that example using T265 odometry with rtabmap on ROS, to use rtabmap's odometry with T265 images and imu:

# Start realsense2:
$ roslaunch realsense2_camera rs_t265.launch unite_imu_method:="linear_interpolation"

# Start the camera_info publishers with the stereo fisheye calibration files:
$ python camera_info_pub.py \
   _url:=/home/mathieu/Documents/RTAB-Map/camera_info/905312112011_left.yaml \
   image:=/camera/fisheye1/image_raw \
   camera_info:=/camera/fisheye1/camera_info_calib
$ python camera_info_pub.py \
   _url:=/home/mathieu/Documents/RTAB-Map/camera_info/905312112011_right.yaml \
   image:=/camera/fisheye2/image_raw \
   camera_info:=/camera/fisheye2/camera_info_calib

# Start imu filtering
$ rosrun imu_filter_madgwick imu_filter_node _use_mag:=false _publish_tf:=false _world_frame:="enu" /imu/data_raw:=/camera/imu /imu/data:=/rtabmap/imu

# Start RTAB-Map in stereo mode, use T265 odometry and do rectification:
$ roslaunch rtabmap_ros rtabmap.launch \
   args:="-d --Rtabmap/ImagesAlreadyRectified false --Optimizer/GravitySigma 0.3" \
   stereo:=true \
   left_image_topic:=/camera/fisheye1/image_raw \
   right_image_topic:=/camera/fisheye2/image_raw \
   left_camera_info_topic:=/camera/fisheye1/camera_info_calib \
   right_camera_info_topic:=/camera/fisheye2/camera_info_calib \
   wait_imu_to_init:=true \
   imu_topic:=/rtabmap/imu  

cheers,
Mathieu