Point corresponding to the /realsense/odom

[SMish7]

Hi,

The pose data which is published in the /nav_msgs/odom topic corresponds to which point on the Euclid sensor system? I want to know this because I want to do some ground truth verification with the motion capture system and see how true the pose published by euclid is to the pose published by the euclid sensor.

It will be great is intel_corp can share the cad model of the device with the measurements and the relative distance between different links. Now I know that there are two two important tf frames, the /odom frame and the /base_link but I don't know what point on the euclid sensor system corresponds to this base_link?

Regards,

S.

[idata]

Hi SubMarln,

Thanks for your interest in the Intel® Euclid™ Development Kit. I would like to investigate a little bit more regarding your question and as soon as I have useful information, I'll let you know. I'll appreciate your patience during the meantime. Regards,-Yermi A.

[SMish7]

Thanks! Please let me know if you need more explanation.

[Tsahi_M_Intel]

HI SubMarin,

i have requested our designer if its possible to share measurements of the vision layer for the Euclid device.

please also review https://click.intel.com/media/productid2100_10052017/335926-001_public.pdf Euclid specification as it contains more info about the device.

Regards,

Tsahi.

Intel Euclid Development Team

[SMish7]

Thanks! I have already been thru this document and it doesnt (correct me if i am wrong) contain the info i have requested here..

[MSrou2]

Hi,

If i'm not mistaken, the pointcloud/depth is relative to the left IR camera.

Best,

Majd

[idata · Accepted solution]

Hi SubMarln,

We would like to let you know that the pose is relative to the fisheye camera. Please see more details about the coordinate systems here: https://software.intel.com/sites/products/realsense/slam/developer_guide.html https://software.intel.com/sites/products/realsense/slam/developer_guide.html, under "6DoF Tracking" section. Hope you find this information useful. Regards,-Yermi A.

[SMish7]

Thanks!

[SMish7]

Hi,

Thanks for the response, so, you mean that the "camera_fisheye_optical_frame" corresponds to the base_link frame that I can visualize moving on rviz when I move the sensor?

[SMish7]

It will be great if you can give some numbers, for example, what is the distance of the principal point of the fisheye camera from the front face of the sensor system?

[idata]

Hi SubMarin,

Our apologies for the delay in our response. We would like to let you know that we currently do not have the CAD files for Euclid, but are digging deep to try to obtain them. However, we cannot promise that we will be able to provide the CAD files. Moreover, we are working on your query regarding the "camera_fisheye_optical_frame", and as soon as we have useful information we'll let you know. Regards,-Yermi A.

[SMish7]

Good to know that!

Thanks!

[idata]

Hi SubMarln,

We have an update for this case and would like to share the Euclid CAD files, please look at the attachment. Have a nice day! Regards,-Yermi A.

[SMish7]

Thanks a lot!