Skip to content

Genom3 component used to get pose and images asynchronously from Intel RealSense T265 sensor. Pose is published at 200Hz. Processing on images can be enabled to detect AprilTags and output the desired parameters (corners, center, pose, message,...)

Notifications You must be signed in to change notification settings

jnader/T265-genom3

Repository files navigation

T265 component

This component interfaces with Intel T265 Realsense device.

Ports

odom_state (out)

Data structure
  • struct ::or_pose_estimator::state odom_state

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[6]

    • optional< struct ::or::t3d::att_cov > att_cov

      • double cov[10]

    • optional< struct ::or::t3d::att_pos_cov > att_pos_cov

      • double cov[12]

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[6]

    • optional< struct ::or::t3d::avel_cov > avel_cov

      • double cov[6]

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

    • optional< struct ::or::t3d::aacc_cov > aacc_cov

      • double cov[6]


port_tags (out)

Data structure
  • sequence< struct ::apriltag::tag > port_tags

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • short id

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::point > center

      • double u

      • double v

    • struct ::point uv_corners_pos[4]

      • double u

      • double v

    • optional< double > area

    • optional< string<128> > message


Services

set_tag_size (attribute)

Inputs
  • double tag_size


start_publishing (function)

Start retreiving data from T265 sensor. (To be used after pause_publish)


pause_publishing (function)

Pauses retreiving data from T265 sensor.


set_pre_tf (function)

Inputs
  • sequence< double, 4 > new_pre_tf

Set precedent multiplication transformation. See documentation for more info.


set_post_tf (function)

Inputs
  • sequence< double, 4 > new_post_tf

Set post multiplication transformation. See documentation for more info.


set_display_frequency (function)

Inputs
  • double frequency

Set display frequency. Maximum possible display frequency is 30Hz. 0 will disable display.


enable_pose (function)

Enable publishing pose data.


disable_pose (function)

Disable pose data.


enable_detection (function)

Enable detection. (AprilTag, …​)


disable_detection (function)

Disable detection.


get_tags_ID (function)

Outputs
  • sequence< short > tags_id

List all detected tags IDs.


log (function)

Inputs
  • string<64> path (default "/tmp/T265.log") : Log file name

  • unsigned long decimation (default "1") : Reduced logging frequency

Throws
  • exception ::T265::e_sys

    • short code

    • string<128> what

Log odometry data


log_stop (function)

Stop logging


Tasks

pose_port_refresh

Context

This task is used to refresh pose output port at 200Hz.


apriltag_detection

Context

AprilTag detection.


image_display

Context
  • Frequency 30.3030303030303 Hz

This task is used to display images.


About

Genom3 component used to get pose and images asynchronously from Intel RealSense T265 sensor. Pose is published at 200Hz. Processing on images can be enabled to detect AprilTags and output the desired parameters (corners, center, pose, message,...)

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published