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T265 Mapping/Relocalization/Jumping Options #4321
T265 Mapping/Relocalization/Jumping Options #4321
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@dorodnic, it looks like options that return |
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+1 for this PR. Any idea when this will be merged and the firmware update will be released? |
@@ -563,6 +589,7 @@ namespace librealsense | |||
case RS2_STREAM_POSE: | |||
{ | |||
auto tm_profile = _tm_supported_profiles.sixDof[stream_index]; | |||
tm_profile.mode = _tm_mode; |
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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 ?
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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 mode
s 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.
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
@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. |
@radfordi Thanks for the update. Eagerly awaiting this. Looks like you're working towards three mode flags:
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! |
set( FW_VERSION "0.0.18.5715") | ||
set( FW_SHA1 cc12cf05f387d80f65e98c4d41fc883725124a08) | ||
set( FW_VERSION "0.0.18.6100") | ||
set( FW_SHA1 858b786215ff66cf8cf93fa85393ca6268dedee4) |
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@radfordi , the FW 6100 has already been uploaded. If this PR was pending the FW release - then pls check and confirm to merge.
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@ev-mp, I confirmed that the FW had been uploaded before pushing this particular commit.
@@ -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 */ |
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The new features/usage also should be elaborated in Readme
Hi @rgreid, I added some documentation for these new T265 options in de76d3a. I suspect what you'll want is to disable just @schmidtp1, it was requested, in IntelRealSense/realsense-ros#779, for these options to make their way into IntelRealSense/realsense-ros. |
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Thank you, @radfordi
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. |
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