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T265 and D435i rtabmap

GBern14
Beginner
‎10-03-2019 12:15 PM
1,984 Views

How can i sync T265 and D435i to make rtabmap using t365/odom/sample? I'm trying to do that but t265 imu timestamp isn't synchronized with d435i timestamp so i need to se approx_sync to true but with approx_sync i get bad results. Any suggestions?

 

Thanks

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MartyG
Honored Contributor III
‎10-03-2019 12:47 PM
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The specialization of your question means that the RealSense ROS GitHub forum may be the best place to ask this question.

 

https://github.com/IntelRealSense/realsense-ros/issues

 

Having said that, I have recollection that aligning timestamps from depth and IMU streams can be tricky. Although the information in the link below relates to aligning depth and IMU data on a D435i, rather than between a D435i and T265, it may give useful technical insight about why timestamps may differ.

 

https://github.com/IntelRealSense/librealsense/issues/3205

 

There is also an article on using RTABMAP with a D435 and a Pixhawk (acting as the IMU) to align them.

 

https://answers.ros.org/question/317419/realsense-d435-rtabmap-pixhawk-imu-robot_localization/

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