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pietroglyph / ftc265

An Intel RealSense T265 driver for Android
GNU Lesser General Public License v3.0
32 stars 21 forks source link

Wheel Odometry Fusion #1

Closed samsonli closed 4 years ago

samsonli commented 4 years ago

Hi, our team is attempting to try and use the T265 Camera in conjunction with dead tracking wheels. However, we just can't understand T265Camera.sendOdometry(velX, velY) as well as its relationship with the RelocalizationMap. We have also noticed a comment saying that "Only 1 odometry sensor is supported for now (index 0)". Does this mean that it is unable to send the data from two encoders; it can only use one wheel?

Any help is appreciated.

Edit: Not the RelocalizationMap, I meant the calibration file

pietroglyph commented 4 years ago

As many wheels as you have are supported; the trick is to use forward kinematics to convert your wheel's velocities into whole-robot velocities. velX and velY are the X and Y components of the whole-robot velocity in the robot coordinate frame (i.e. +X points forwards from the center of the robot, and +Y points to the left from the perspective of an observer standing behind the robot.)

The relocalization map is almost entirely unrelated to this; it allows you to map a scene and import that map for use later.

samsonli commented 4 years ago

What's the use of the calibration file?

pietroglyph commented 4 years ago

That file is filled in by ftc265 for you based on the information you pass to the T265Camera constructor. If you read the native code you can see how this works.

samsonli commented 4 years ago

Thanks, that made it work.