t265 possible to see tracked features?

[HDiet]

Is it possible to see the tracked features in an image of the enviroment the t265 uses for the slam algorithm?

best regards

[MartyG]

The RealSense Viewer software provides 2D visualization of IMU and Tracking data. 3D visualization is available for Pose samples.

Another way to visualize tracking information would be through ​ROS.

https://youtu.be/GhHvuAoFC6I

[HDiet]

thx. Am I right, that the cameras track special information in a room, for example the edge of a chair or something. And this is what I want to see in an image. Is that possible? Is it also possible to change the (min/max)number of features the cameras should track or is it fixed somewhere deep in the hardware/software?

[MartyG]

The T265 can recognize visual cues, patterns and landmarks in the environment (such as patterns on walls and floors) and use them for navigation. An Intel spokesperson said: "“You can use things like patterns on the wall or on the floor or on the ceiling to infer your location, which would not be observable with a depth camera or lidar”. It helps robots to avoid getting lost, something known as the "kidnapped robot" problem.

I carefully researched your question about the min-max number of trackable features but could not find such a feature. I believe the  163 ±5° combined FOV of the fisheye lenses is designed to capture as many landmarks as possible.