Support for T265?

[fig8studio]

Would it be possible to make this available for tracking with Intel T265?

[cansik]

Yes, but for that we would first have to adapt the base java library to support pose frames. Would be great if you could add it and create a pull request.

I do not own such a camera, so it is not easy for me to develop and test it.

[cansik]

Since I do not have a camera, it would make sense that you try out the following code and give me feedback if it works (should show the x rotation in the center of the screen): PoseStreamTest.java

[TheBricktop]

I can download and try it on my machine.

[TheBricktop]

Got an error when ported Your code to processing 4b1 edit : same error is on last processin3

@cansik also after further investigation and when Ive changed code to bare minimum :

`import ch.bildspur.realsense.; import ch.bildspur.realsense.type.; import org.intel.rs.device.Device; import org.intel.rs.types.Pose;

RealSenseCamera camera = new RealSenseCamera(this);

void setup() { size(640, 480); println("Cameras: " + RealSenseCamera.getDeviceCount()); camera.enablePoseStream(); camera.start(); }

void draw() { background(0); // read frames camera.readFrames(); Pose pose = camera.getPose(); println("Current position is "); println(pose.getTranslation()); }`

and after while of running : Cameras: 1 RealSenseException: No device connected

So realsense has confirmed that t265 is connected but failed to start it

[cansik]

Ok thanks for reporting...I guess I need a camera to test it out further. It's hard to develop for hardware that you can not test on, sorry.

[TheBricktop]

If id set up a pc rigged with t265 and allowed You to controll it remotely using anydesk would that help?

[cansik]

If you have a spare one, I could give it a try. But I can't guarantee success :)

[TheBricktop]

I can set it up today and send You computer adress

Also there seem to be a specific format for pose stream for t265 because it has 6dof pose definition of stream has two parameters,

rs2::pipeline pipe; // Create a configuration for configuring the pipeline with a non default profile rs2::config cfg; // Add pose stream cfg.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF); // Start pipeline with chosen configuration pipe.start(cfg);

https://dev.intelrealsense.com/docs/rs-pose

[cansik]

Yes, if you look at the method implementation, I am using the same configuration.

public void enablePoseStream() {
    // this does not work like the video streams (only uses type and format)
    poseStream.init(Stream.Pose, Format.SixDOF);
    config.enableStream(Stream.Pose, Format.SixDOF);
}

[TheBricktop]

dangit. Camera is found allright, it only throws error when camera.start() is called, wonder what is causing it.