MartyG-RealSense
commented
4 years ago In the context of the T265 data sheet, the ASIC in the T265 is the Movidius Myriad 2 VPU. Below is a quote and image from the official T265 promotional information page.
The Intel Movidius Myriad 2 VPU is a system-on-chip component that is purpose-built for image processing and computer vision at very high performance per watt, including for space-constrained implementations. Its key architectural features are the following:
• Vector processor cores are optimized for machine vision workloads. • Hardware accelerators increase throughput for imaging and computer vision. • General-purpose RISC CPU cores coordinate and direct workloads and interaction with external systems.
To quote Intel's guide to getting IMU data:
T265 redirects IMU readings into an Intel Movidius Myriad 2 Vision Processing Unit (VPU). The inertial sensor data is also complemented by video from two fisheye monochrome sensors that are fed into the VPU as well.
The VPU employed with T265 is capable of fusing inertial and video sensors to produce a reliable and persistent six degrees of freedom (6DOF) pose, offloading the CPU-intensive calculations from the host PC.
This processing of data in the T265's onboard Movidius VPU is different from the IMU implementation on the D435i, which delivers the raw IMU data directly to the host PC,
talbenach
RealSenseCustomerSupport
The T265 datasheet states that it equipped with an ASIC for on board calculations. I could not find details on what these calculations are and what is the output of the camera to the computer.